JPH0833404A - Paddy working machine - Google Patents
Paddy working machineInfo
- Publication number
- JPH0833404A JPH0833404A JP17217794A JP17217794A JPH0833404A JP H0833404 A JPH0833404 A JP H0833404A JP 17217794 A JP17217794 A JP 17217794A JP 17217794 A JP17217794 A JP 17217794A JP H0833404 A JPH0833404 A JP H0833404A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- front wheels
- control
- turning
- increasing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Guiding Agricultural Machines (AREA)
- Transplanting Machines (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、水田作業機に関し、詳
しくは、走行操作時に旋回半径を小さくする技術に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a paddy field working machine, and more particularly to a technique for reducing a turning radius during traveling operation.
【０００２】[0002]
【従来の技術】４輪駆動型の農用トラクタを例に挙げる
と、操向操作時に旋回半径を小さくする技術として特開
昭５７‐２０１７２４号公報に示されるものが存在し、
この従来例では前車輪を操向操作した場合には、非操向
型の後車輪の駆動速度に対して前車輪の駆動速度を増大
する制御を行うものとなっている。2. Description of the Related Art Taking a four-wheel drive type agricultural tractor as an example, there is a technique disclosed in Japanese Patent Application Laid-Open No. 57-201724 for reducing the turning radius during steering operation.
In this conventional example, when the front wheels are steered, control is performed to increase the drive speed of the front wheels with respect to the drive speed of the unsteered rear wheels.
【０００３】[0003]
【発明が解決しようとする課題】従来例と同様の制御を
行う農用トラクタは現在市販されており、旋回時には前
車輪の推力を増大させて旋回半径を小さくし、しかも、
前車輪がつくる轍の深さを小さくすると云う良好な面を
有するものとなっている。Agricultural tractors that perform the same control as the conventional example are currently on the market, and when turning, the thrust of the front wheels is increased to reduce the turning radius, and
It has a good surface that the depth of the rut formed by the front wheels is reduced.
【０００４】又、この良好な面を田植機のように水田を
走行する水田作業機に適用することも考えられる。しか
し、従来例のものでは操向操作を開始することによって
前車輪の駆動速度の増大が図られることから旋回開始直
後には前車輪の駆動速度が所望の速度まで増速していな
いこともあり、旋回時に前車輪を増速する有効性を充分
に発揮する面で改善の余地がある。It is also conceivable to apply this good surface to a paddy working machine that travels in a paddy field like a rice transplanter. However, in the conventional example, since the driving speed of the front wheels is increased by starting the steering operation, the driving speed of the front wheels may not be increased to a desired speed immediately after the start of turning. However, there is room for improvement in terms of fully exerting the effectiveness of increasing the speed of the front wheels during turning.
【０００５】特に、水田作業機として苗植付装置を機体
後端に昇降自在に連結した乗用型の田植機について考え
るに、この種の田植機では機体の旋回を行う直前に接地
フロートが圃場面から離間するレベルまで苗植付装置を
上昇させるものであり、この上昇操作時には整地フロー
トが圃場面から離間するに伴って苗植付装置の重量が機
体後部に作用して機体前後方向の重量バランスが崩れる
結果、前車輪の接地荷重が小さくなり、前車輪の推進力
を大きく低下させるものとなっている。Particularly, as a paddy field working machine, consider a riding-type rice transplanter in which a seedling planting device is vertically connected to the rear end of the machine body. This is to raise the seedling planting device to a level where the planting plant is separated from the plant.The weight of the seedling planting device acts on the rear part of the airframe as the leveling float moves away from the field during this raising operation, and the weight balance in the front-back direction of the airframe As a result, the ground contact load on the front wheels is reduced, and the propulsive force of the front wheels is greatly reduced.
【０００６】従って、苗植付装置を上昇させて機体を旋
回させる場合には前車輪の推力の低下に起因して所望な
速度で旋回を行えないこともあり改善の余地がある。Therefore, when raising the seedling planting device to turn the machine body, turning may not be performed at a desired speed due to a decrease in thrust of the front wheels, and there is room for improvement.
【０００７】本発明の目的は、機体の旋回時には旋回半
径を小さくし、前車輪がつくる轍の深さを小さくして圃
場を荒らすことのない水田作業機を合理的に構成する点
にある。An object of the present invention is to reasonably construct a paddy working machine which does not damage the field by reducing the turning radius when turning the machine body and reducing the depth of the ruts formed by the front wheels.
【０００８】[0008]
【課題を解決するための手段】本発明の特徴は、操向操
作自在に構成された駆動型の前車輪、及び、駆動型の後
車輪夫々を有した走行機体の後端に対して圃場面に接触
する接地部を有した作業装置をアクチュエータの駆動で
昇降自在に連結すると共に、後車輪の周速度に対する前
車輪の周速度を増大させる増速装置を備え、前記作業装
置の上昇動作の検出、あるいは、前記アクチュエータの
駆動で作業装置を上昇させるための制御の検出に伴って
前記増速装置を操作して前車輪の増速を行う制御手段を
備えている点にあり、その作用、及び、効果は次の通り
である。A feature of the present invention is that a rear end of a traveling machine body having a drive-type front wheel and a drive-type rear wheel, which are configured to be steerably operated, is used for a farm scene. A work device having a grounding part that comes into contact with the work device is connected to be movable up and down by driving an actuator, and a speed increasing device for increasing the peripheral speed of the front wheels with respect to the peripheral speed of the rear wheels is provided, and detection of a rising motion of the work device is performed. Alternatively, there is a control means for operating the speed increasing device in accordance with the detection of the control for raising the work device by driving the actuator, and increasing the speed of the front wheels. , The effects are as follows.
【０００９】[0009]
【作用】上記特徴によると、作業装置の上昇動作の検
出、あるいは、作業装置を上昇させる制御を検出すると
制御手段が増速装置を操作して前車輪を増速する。この
結果、作業装置の上昇の後、走行機体の旋回を行う際に
は前車輪の旋回方向への移動速度が大きくなって、後車
輪の推進力に起因する前車輪の前方への泥土の押し出し
量が小さくなるばかりで無く、旋回半径も小さくなる。
又、作業装置の上昇時には接地部が圃場面から離間する
に伴って前車輪の接地荷重が小さくなるものの、前車輪
の増速によって推力が増す。According to the above feature, the control means operates the speed increasing device to increase the speed of the front wheels when the raising operation of the working device is detected or the control for raising the working device is detected. As a result, the moving speed of the front wheels in the turning direction increases when the traveling machine body turns after the work equipment rises, and the mud is pushed forward of the front wheels due to the propulsive force of the rear wheels. Not only is the amount reduced, but the turning radius is also reduced.
Further, when the working device is lifted, the ground load of the front wheels is reduced as the ground contact part is separated from the field scene, but the thrust is increased by increasing the speed of the front wheels.
【００１０】つまり、作業装置の上昇に連動して前車輪
の周速度が自動的に増大するので、旋回開始時に前車輪
は既に高速で駆動されており、従来のように旋回開始直
後に前車輪が高速駆動状態に達していないと云う現象は
発生せず、作業装置の上昇に伴う機体重心の移動があっ
ても充分な推力で走行を行えるものとなる。That is, since the peripheral speed of the front wheels is automatically increased in association with the rise of the working device, the front wheels are already driven at high speed at the start of turning, and the front wheels are driven immediately after the start of turning as in the conventional case. Does not reach the high-speed driving state, and the vehicle can travel with sufficient thrust even if the body center of gravity moves due to the rise of the working device.
【００１１】[0011]
【発明の効果】従って、機体の旋回時には旋回開始直後
から旋回半径を小さくし、前車輪がつくる轍の深さを小
さくして圃場を荒らすことが無く、しかも、充分な推力
によって走行所望の速度で旋回を行える水田作業機が合
理的に構成された。Therefore, when the vehicle is turning, the turning radius is made small immediately after the turning is started, the depth of the ruts made by the front wheels is made small, and the field is not damaged. A paddy work machine that can swivel at a reasonable ratio was constructed.
【００１２】[0012]
【実施例】以下、本発明の実施例を図面に基づいて説明
する。図１に示すように、操向操作される駆動型の前車
輪１、及び、駆動型の後車輪２を備えた走行機体３の前
部にエンジン４、及び、このエンジン４からの動力を無
段階に変速するベルトテンション式の無段変速装置５、
この無段変速装置５からの動力が伝えられる伝動ケース
６を搭載すると共に、この走行機体３の中央部に運転座
席７を配置し、該走行機体３の後端部に対しアクチュエ
ータとしての油圧シリンダ８で駆動昇降するリンク機構
９を介して作業装置としての苗植付装置Ａを連結して水
田作業機の一例として乗用型の田植機を構成する。Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the engine 4 and the power from the engine 4 are not provided in the front part of the traveling machine body 3 including the drive-type front wheel 1 and the drive-type rear wheel 2 which are steered. Belt tension type continuously variable transmission 5 that shifts in stages,
A transmission case 6 to which power from the continuously variable transmission 5 is transmitted is mounted, a driver's seat 7 is arranged in the center of the traveling machine body 3, and a hydraulic cylinder as an actuator is provided to the rear end portion of the traveling machine body 3. A seedling planting device A as a working device is connected via a link mechanism 9 that is driven up and down by 8 to form a riding type rice transplanter as an example of a paddy working machine.
【００１３】前記運転座席７の前部のステアリングハン
ドル１０の支持部側面に前記伝動ケース６内の主変速装
置（図示せず）を操作する主変速レバー１１を備え、ス
テアリングハンドル１０の近傍位置に、その操作によっ
て苗植付装置Ａを所定レベルまで強制上昇させ、再度の
操作によって該苗植付装置Ａを作業レベルまで下降させ
る切換えレバー１２を備え、運転座席７の右側部に苗植
付装置Ａの昇降制御と植付クラッチＣの入切り操作とを
行う昇降レバー１３を備え、運転座席７の左側部に前記
無段変速装置５を操作する副変速レバー１４を備えてい
る。尚、主変速レバー１１は路上等における移動時に選
択される高速走行用の変速位置と、作業時に選択される
低速走行用の変速位置と、機体３を後進させる変速位置
と、中立位置とに設定可能に構成され、副変速レバー１
４は主変速レバー１１で設定された走行速度を基準に更
に無段階の変速を行えるよう構成され、植付クラッチＣ
は植付けアーム（後述する）が圃場に接触する姿勢を回
避した回転位相でのみ切り操作が許容されるよう機械牽
制系（詳述せず）が形成されている。A main speed change lever 11 for operating a main speed change device (not shown) in the transmission case 6 is provided on a side surface of a supporting portion of the steering handle 10 in the front part of the driver's seat 7, and is located near the steering handle 10. , A switching lever 12 for forcibly raising the seedling planting device A to a predetermined level by the operation and lowering the seedling planting device A to the working level by the operation again, and the seedling planting device on the right side of the driver's seat 7. An elevation lever 13 for performing the elevation control of A and an on / off operation of the planted clutch C is provided, and an auxiliary transmission lever 14 for operating the continuously variable transmission 5 is provided on the left side of the driver's seat 7. The main shift lever 11 is set to a shift position for high speed traveling selected when moving on a road or the like, a shift position for low speed traveling selected for work, a shift position for moving the machine body 3 backward, and a neutral position. Sub shift lever 1 configured to be possible
No. 4 is configured so that further stepless speed change can be performed on the basis of the traveling speed set by the main speed change lever 11.
Has a mechanical restraint system (not described in detail) so that the cutting operation is allowed only in the rotation phase that avoids the posture in which the planting arm (described later) comes into contact with the field.
【００１４】苗植付装置Ａはマット状苗Ｗを載置する苗
載せ台１５、走行機体３から動力が伝えられる伝動ケー
ス１６、この伝動ケース１６からチェーンケース１７を
介して伝えられる動力で回転するロータリケース１８、
このロータリケース１８に一対ずつ備えられた植付アー
ム１９、接地部としての複数の整地フロート２０夫々を
備えて複数条植え用に構成され、作業時には苗載せ台１
５に載置されたマット状苗Ｗの下端から植付アーム１９
が苗を１株ずつ切出して圃場面に植え付ける動作を行
う。The seedling planting device A is rotated by the seedling mounting table 15 on which the mat-like seedling W is placed, the transmission case 16 to which power is transmitted from the traveling machine body 3, and the power transmitted from the transmission case 16 via the chain case 17. Rotary case 18,
The rotary case 18 is provided with a pair of planting arms 19 provided one by one, and a plurality of ground leveling floats 20 serving as grounding portions, which are configured for a plurality of rows planting.
5 from the lower end of the mat-like seedling W placed on the planting arm 19
Performs the operation of cutting out the seedlings one by one and planting them in the field scene.
【００１５】図２に示す如く伝動系が構成され、伝動ケ
ース６から前車輪１の差動装置１Ａに動力を伝える系に
増速装置２１を介装し、伝動ケース６から後車輪２の差
動装置２Ａに動力を伝える系にクラッチ機構２２を介装
し、又、伝動ケース６から苗植付装置Ａに対して走行速
度と同期した駆動速度の動力を伝える系に前記植付クラ
ッチＣを介装し、更に、前車輪１の操向角度を計測する
操向角センサ２３を備えている。A transmission system is constructed as shown in FIG. 2. A speed increasing device 21 is interposed in a system for transmitting power from the transmission case 6 to the differential device 1A of the front wheel 1, and the difference between the transmission case 6 and the rear wheel 2 is provided. The clutch mechanism 22 is interposed in a system for transmitting power to the moving device 2A, and the planting clutch C is provided in a system for transmitting power from the transmission case 6 to the seedling planting device A at a drive speed synchronized with the traveling speed. It is provided with a steering angle sensor 23 that measures the steering angle of the front wheel 1.
【００１６】前記増速装置２１は、前車輪１の周速度と
後車輪２の周速度とを等しくする駆動状態と、前車輪１
の周速度を後車輪２の周速度より高速にする駆動状態と
に切換え自在な油圧操作型の摩擦クラッチを有する変速
装置（図示せず）を内蔵し、前記クラッチ機構２２は油
圧操作型に構成され、入り操作で後車輪２を駆動し、切
り操作で後車輪２への駆動を断つよう構成されている。The speed increasing device 21 drives the front wheels 1 and 1 so that the peripheral speeds of the front wheels 1 and the rear wheels 2 are equal to each other.
The gear mechanism (not shown) having a hydraulically operated friction clutch that can be switched to a driving state in which the peripheral speed of the rear wheel 2 is higher than the peripheral speed of the rear wheel 2 is built in, and the clutch mechanism 22 is configured as a hydraulically operated type. The rear wheel 2 is driven by the entering operation, and the drive to the rear wheel 2 is stopped by the turning operation.
【００１７】前記ステアリングハンドル１０の近傍位置
のパネルには図３に示す如く、「２駆」「４駆」「増
速」「自動」夫々の制御モードを回転操作によって選択
する選択スイッチ２４を備え、この近傍位置には前記増
速装置２１の増速作動状態を示す増速ランプ２５、４輪
駆動状態を示す４駆ランプ２６を備えている。As shown in FIG. 3, a panel near the steering handle 10 is provided with a selection switch 24 for selecting the control modes of "2WD", "4WD", "acceleration" and "automatic" by rotating operation. A speed increasing lamp 25 indicating a speed increasing operation state of the speed increasing device 21 and a four-wheel drive lamp 26 indicating a four-wheel drive state are provided at positions near this position.
【００１８】図４に示すように、走行用の制御系が構成
され、この制御手段としての制御装置２７には前記選択
スイッチ２４、前記切換えレバー１２によって操作され
る植付クラッチＣ制御用の第１スイッチ２８、苗植付装
置Ａの昇降制御用の第２スイッチ２９、前記主変速レバ
ー１１の変速位置を判別する主変速センサ３０、前記副
変速レバー１４の変速位置を判別する副変速センサ３
１、前記増速装置２１が増速状態にあることを判別する
増速センサ３２、前記クラッチ機構２２が入り状態にあ
ることを判別するクラッチセンサ３３、前記操向角セン
サ２３夫々からの信号が入力する系が形成されると共
に、前記油圧シリンダ８を制御する電磁弁３４、前記増
速装置２１を制御する電磁弁３５、前記クラッチ機構２
２を制御する電磁弁３６、前記植付クラッチＣを操作す
る電動モータ３７を制御するリレー３８、前記増速ラン
プ２５、前記４駆ランプ２６夫々に対する出力系が形成
されている。As shown in FIG. 4, a control system for traveling is constructed, and a control device 27 as this control means has a control switch 27 for controlling the planted clutch C operated by the selection switch 24 and the switching lever 12. 1 switch 28, a second switch 29 for raising and lowering control of the seedling planting apparatus A, a main shift sensor 30 for determining the shift position of the main shift lever 11, and a sub shift sensor 3 for determining the shift position of the sub shift lever 14.
1. Signals from the speed increasing sensor 32 that determines that the speed increasing device 21 is in the speed increasing state, the clutch sensor 33 that determines that the clutch mechanism 22 is in the engaged state, and the steering angle sensor 23 are An input system is formed, and a solenoid valve 34 that controls the hydraulic cylinder 8, a solenoid valve 35 that controls the speed increasing device 21, and the clutch mechanism 2 are provided.
An output system is formed for each of the solenoid valve 36 for controlling the valve 2, the relay 38 for controlling the electric motor 37 for operating the planted clutch C, the speed increasing lamp 25, and the four-wheel drive lamp 26.
【００１９】増速装置２１は前車輪１の増速駆動によっ
て旋回半径を縮小しながら圃場を荒らすことの無い旋回
を可能にするものであり、制御動作は図４に示すフロー
チャートに従って行われる。The speed-increasing device 21 makes it possible to make a turn without reducing the turning radius by increasing the speed of the front wheels 1 while reducing the turning radius, and the control operation is performed according to the flow chart shown in FIG.
【００２０】つまり、制御が開始されると選択スイッチ
２４の状態を判別して「自動」に設定されている場合に
は、クラッチ機構２２を入り操作して４輪駆動状態に設
定し、自動増速ルーチンの制御を行う（＃１０１〜＃１
０３ステップ、＃２００ステップ）。尚、クラッチ機構
２２を入り操作した場合にはクラッチセンサ３３からの
信号の入力を待って４駆ランプ２６を点灯させる制御動
作も行われる（制御動作は図示せず）。That is, when the control is started, the state of the selection switch 24 is discriminated, and if it is set to "automatic", the clutch mechanism 22 is operated to be set to the four-wheel drive state, and the automatic increase is performed. Control the speed routine (# 101 to # 1)
03 step, # 200 step). When the clutch mechanism 22 is turned on and off, a control operation of waiting for the input of a signal from the clutch sensor 33 and turning on the four-wheel drive lamp 26 is also performed (control operation is not shown).
【００２１】又、選択スイッチ２４が「増速」に設定さ
れている場合には、クラッチ機構２２を入り操作して４
輪駆動状態に設定し、操向増速ルーチンの制御を行う
（＃１０４、＃１０５ステップ、＃３００ステップ）。
尚、このクラッチ機構２１の入り操作時にもクラッチセ
ンサ３３からの信号の入力を待って前述と同様に４駆ラ
ンプ２６を点灯させる制御動作を行う（制御動作は図示
せず）。When the selection switch 24 is set to "acceleration", the clutch mechanism 22 is turned on and operated to
The wheel drive state is set, and the steering speed increasing routine is controlled (# 104, # 105 step, # 300 step).
Even when the clutch mechanism 21 is engaged, a control operation for turning on the four-wheel drive lamp 26 is performed in the same manner as described above after waiting for a signal input from the clutch sensor 33 (control operation is not shown).
【００２２】又、選択スイッチが「４駆」に設定されて
いる場合には、クラッチ機構２２を入り操作して４輪駆
動状態に設定する（＃１０６、＃１０７ステップ）。
尚、このクラッチ機構２２の入り操作時にもクラッチセ
ンサ３３からの信号の入力を待って前述と同様に４駆ラ
ンプ２６を点灯させる制御動作を行う（制御動作は図示
せず）。When the selection switch is set to "4WD", the clutch mechanism 22 is turned on and set to the four-wheel drive state (steps # 106 and # 107).
Even when the clutch mechanism 22 is engaged, the control operation for turning on the four-wheel drive lamp 26 is performed in the same manner as described above after waiting for the input of the signal from the clutch sensor 33 (control operation is not shown).
【００２３】又、選択スイッチ２４が「２駆」に設定さ
れている場合には、クラッチ機構２２を切り操作して２
輪駆動状態に設定する（＃１０８ステップ）。尚、この
クラッチ機構２２の切り操作時にはクラッチセンサ３３
からの信号を待って４駆ランプ２６を消灯させる制御動
作を行う（制御動作は図示せず）。Further, when the selection switch 24 is set to "2WD", the clutch mechanism 22 is disengaged and the 2
The wheel drive state is set (step # 108). The clutch sensor 33 is used when the clutch mechanism 22 is disengaged.
The control operation for turning off the four-wheel drive lamp 26 is performed after waiting for the signal from (the control operation is not shown).
【００２４】図６に示すように、前記自動増速ルーチン
（＃２００ステップ）では制御が開始されると切換えレ
バー１２からの信号、昇降レバー１３からの信号を入力
して、何れかのレバーで苗植付装置Ａを上昇させる操作
が行われたかを判別し、上昇させる操作が行われた場合
にはリレー３８の制御で植付クラッチＣを切り操作し、
電磁弁３４の制御で苗植付装置Ａを所定レベルまで上昇
させる（＃２０１〜＃２０４ステップ）。As shown in FIG. 6, when the control is started in the automatic speed-up routine (# 200 step), a signal from the switching lever 12 and a signal from the elevating lever 13 are input, and either of the levers is inputted. It is determined whether or not the operation for raising the seedling planting apparatus A is performed, and when the operation for raising the seedling planting apparatus A is performed, the planting clutch C is disengaged by the control of the relay 38,
The seedling planting apparatus A is raised to a predetermined level by controlling the solenoid valve 34 (steps # 201 to # 204).
【００２５】次に主変速センサ３０からの信号に基づき
走行機体３が作業速度で走行しているかを判別し、作業
速度で走行している場合には副変速センサ３１からの信
号に基づき、予め設定された速度より高速で走行してい
ると判別した場合には、所定速度まで減速し（＃２０５
〜＃２０７ステップ）、この後、間歇信号で増速装置２
１の油圧クラッチを入り操作して増速装置２１を駆動
し、操向角センサ２３から信号に基づき操向角が大きい
ほど間歇信号のＯＮ時間を増大（デュティーサイクルを
増大）させて前車輪１の駆動速度を増大する制御を行う
（＃２０８、＃２０９ステップ）。Next, it is determined based on the signal from the main shift sensor 30 whether the traveling machine body 3 is traveling at the working speed, and if it is traveling at the working speed, based on the signal from the auxiliary shift sensor 31, it is determined in advance. When it is determined that the vehicle is traveling faster than the set speed, the vehicle is decelerated to a predetermined speed (# 205
~ Step # 207), and then the speed increasing device 2
The hydraulic clutch of No. 1 is operated to drive the speed increasing device 21, and the ON time of the intermittent signal is increased (the duty cycle is increased) as the steering angle is larger based on the signal from the steering angle sensor 23 to increase the front wheel. The control for increasing the driving speed of 1 is performed (steps # 208 and # 209).
【００２６】尚、このように増速装置２１を増速作動さ
せた場合には前記増速センサ３２からの信号の入力を待
って増速ランプ２５を点灯させ作業者に前車輪１が増速
されていることを認識させる制御動作も行われる（制御
動作は図示せず）。When the speed increasing device 21 is accelerated as described above, the speed increasing lamp 25 is turned on after waiting for the input of the signal from the speed increasing sensor 32, and the operator increases the speed of the front wheel 1. A control operation for recognizing that the operation is being performed is also performed (the control operation is not shown).
【００２７】そして、この増速装置２１の駆動は苗植付
装置Ａを下降させる制御によって停止され、前車輪１の
周速度と後車輪２の周速度とを等しくする駆動形態とな
ると共に、増速ランプ２５を消灯する制御を行う（＃２
１０ステップ）。Then, the drive of the speed increasing device 21 is stopped by the control of lowering the seedling planting device A, so that the peripheral speed of the front wheels 1 and the peripheral speed of the rear wheels 2 are equalized, and the speed is increased. Control to turn off the speed lamp 25 is performed (# 2
10 steps).
【００２８】図７に示すように、操向増速ルーチン（＃
３００ステップ）では、制御が開始されると、操向角セ
ンサ２３からの信号を入力して操向操作されたかを判別
し（＃３０１、＃３０２ステップ）、所定の角度以上操
向操作されている場合には、主変速センサ３０からの信
号に基づき走行機体３が作業速度で走行しているかを判
別し、作業速度で走行している場合には副変速センサ３
１からの信号に基づき設定された速度より高速で走行し
ている場合には、所定速度まで減速し（＃２０３〜＃３
０５ステップ）、この後、操向角センサ２３から信号に
基づき操向角が大きいほど間歇信号のＯＮ時間の割合を
増大（デュティーサイクルを増大）させて前車輪１の駆
動速度を増大させる制御を行う（＃３０６ステップ）。As shown in FIG. 7, the steering speed increasing routine (#
In step 300, when control is started, a signal from the steering angle sensor 23 is input to determine whether the steering operation has been performed (steps # 301 and # 302), and the steering operation is performed at a predetermined angle or more. If the vehicle is traveling at the working speed, it is determined whether the traveling machine body 3 is traveling at the working speed based on the signal from the main shifting sensor 30.
When the vehicle is traveling at a speed higher than the speed set based on the signal from 1, the speed is reduced to a predetermined speed (# 203 to # 3).
(05 step), and thereafter, based on the signal from the steering angle sensor 23, a control for increasing the driving speed of the front wheels 1 by increasing the ratio of the ON time of the intermittent signal (increasing the duty cycle) as the steering angle increases. Is performed (# 306 step).
【００２９】尚、このように増速装置２１を増速作動さ
せた場合には前記増速センサ３２からの信号の入力を待
って増速ランプ２５を点灯させ作業者に前車輪１が増速
されていることを認識させる制御動作も行われる（制御
操作は図示せず）。When the speed increasing device 21 is accelerated as described above, the speed increasing lamp 25 is turned on after waiting for the input of the signal from the speed increasing sensor 32, and the operator increases the speed of the front wheel 1. A control operation for recognizing that the operation is being performed is also performed (control operation is not shown).
【００３０】そして、この増速装置２１の駆動は操向角
を小さくする操作によって停止され、前車輪１の周速度
と後車輪２との周速度を等しくする駆動形態となると共
に、増速ランプ２５を消灯する制御が行われる（＃３０
７ステップ）。The drive of the speed increasing device 21 is stopped by the operation of decreasing the steering angle, and the peripheral speed of the front wheel 1 and the rear wheel 2 are equalized, and the speed increasing lamp is increased. Control for turning off 25 is performed (# 30
7 steps).
【００３１】このように、この田植機では選択スイッチ
２４の設定によって操向操作時には、この操向操作に先
立って行われる苗植付装置Ａの上昇制御に基づいて必ず
前車輪１を増速させるので圃場を荒らすこと無く、小さ
い半径での旋回を可能にすると共に、苗植付装置Ａの上
昇に伴う前車輪１の接地荷重の低下にも拘わらず前車輪
１の推力を増大して所望の速度での旋回を可能にするも
のとなっている。又、路上走行時には操向操作を行って
も前車輪１の増速を行わないものとなっており、急旋回
によって走行機体が不安定な姿勢に陥る現象の発生を防
止する。As described above, in this rice transplanter, when the steering operation is performed by setting the selection switch 24, the front wheel 1 is always accelerated based on the raising control of the seedling planting device A which is performed prior to the steering operation. Therefore, it is possible to turn in a small radius without degrading the field and to increase the thrust of the front wheels 1 in spite of the reduction of the ground load of the front wheels 1 accompanying the rise of the seedling planting apparatus A, which is desirable. It makes it possible to turn at speed. Further, when the vehicle is traveling on the road, the front wheels 1 are not accelerated even if the steering operation is performed, and the occurrence of a phenomenon in which the traveling machine body falls into an unstable posture due to a sharp turn is prevented.
【００３２】〔別実施例〕本発明は上記実施例以外に、
例えば、苗植付装置が所定のレベルまで上昇したことを
検出するリミットスイッチ等のセンサを設け、このセン
サで苗植付装置が所定レベルに達したことを検出すると
前車輪の増速を開始するよう構成することが可能であ
る。又、増速装置を無段変速型、あるいは、段階的に変
速可能な変速型に構成して操向角に連係して駆動速度を
変更するよう構成することも可能である。[Other Embodiments] In addition to the above embodiments, the present invention is
For example, a sensor such as a limit switch that detects that the seedling planting device has risen to a predetermined level is provided, and when this sensor detects that the seedling planting device has reached a predetermined level, acceleration of the front wheels is started. It can be configured as follows. Further, it is also possible to configure the speed increasing device to be a continuously variable type or a variable type capable of shifting in a stepwise manner so as to change the driving speed in association with the steering angle.
【００３３】尚、特許請求の範囲の項に図面との対照を
便利にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.
【図１】田植機の全体側面図[Figure 1] Overall side view of rice transplanter
【図２】伝動系の平面図[Fig. 2] Plan view of the transmission system
【図３】パネルの平面図FIG. 3 is a plan view of the panel.
【図４】制御系のブロック回路図FIG. 4 is a block circuit diagram of a control system.
【図５】主の制御動作のフローチャートFIG. 5 is a flowchart of main control operations.
【図６】自動増速ルーチンのフローチャートFIG. 6 is a flowchart of an automatic speed-up routine.
【図７】操向増速ルーチンのフローチャートFIG. 7 is a flowchart of a steering speed-up routine.
１ 前車輪 ２ 後車輪 ３ 走行機体 ８ アクチュエータ ２０ 接地部 ２１ 増速装置 ２７ 制御手段 Ａ 作業装置 1 front wheel 2 rear wheel 3 traveling machine body 8 actuator 20 grounding portion 21 speed increasing device 27 control means A working device
Claims (1)
輪（１）、及び、駆動型の後車輪（２）夫々を有した走
行機体（３）の後端に対して圃場面に接触する接地部
（２０）を有した作業装置（Ａ）をアクチュエータ
（８）の駆動で昇降自在に連結すると共に、後車輪
（２）の周速度に対する前車輪（１）の周速度を増大さ
せる増速装置（２１）を備え、前記作業装置（Ａ）の上
昇動作の検出、あるいは、前記アクチュエータ（８）の
駆動で作業装置（Ａ）を上昇させるための制御の検出に
伴って前記増速装置（２１）を操作して前車輪（１）の
増速を行う制御手段（２７）を備えている水田作業機。1. A field scene with respect to a rear end of a traveling machine body (3) having a drive type front wheel (1) and a drive type rear wheel (2) each configured to be steerable. A working device (A) having a contacting grounding part (20) is movably connected by driving an actuator (8), and the peripheral speed of the front wheel (1) is increased with respect to the peripheral speed of the rear wheel (2). The speed-increasing device (21) is provided, and the speed-increasing device is accompanied by detection of a rising motion of the working device (A) or detection of control for raising the working device (A) by driving the actuator (8). A paddy work machine comprising a control means (27) for operating a device (21) to accelerate a front wheel (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17217794A JPH0833404A (en) | 1994-07-25 | 1994-07-25 | Paddy working machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17217794A JPH0833404A (en) | 1994-07-25 | 1994-07-25 | Paddy working machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0833404A true JPH0833404A (en) | 1996-02-06 |
Family
ID=15937008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17217794A Pending JPH0833404A (en) | 1994-07-25 | 1994-07-25 | Paddy working machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0833404A (en) |
-
1994
- 1994-07-25 JP JP17217794A patent/JPH0833404A/en active Pending
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