JP2000232808A - Working part lifting and lowering control apparatus for agricultural working machine for paddy field - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out a proper working part lifting and lowering control fit to a soil condition in an agricultural working machine for paddy field in which a working part is equipped with a freely rocking ground body having a front part vertically moving according to pressure received from the soil surface of paddy field and the working part is lifted and lowered based on a traveling part so as to make an angle of the ground body from a horizontal plane approach a fixed control target value. SOLUTION: This working part lifting and lowering control apparatus comprises an operating tool 16 for changing a control target value of an angle of a ground body from a horizontal plane, a first correction means 46 for correcting the control target value according to the variation of pressure received from the soil surface of paddy field and second correction means 47 and 48 for changing a correction standard of the first correction means 46 in linking to the operation of the operating tool 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work unit elevation control device for a paddy field agricultural work machine such as a rice transplanter capable of raising and lowering a work unit with respect to a traveling unit.

[0002]

2. Description of the Related Art As a control device for raising and lowering a working part of a paddy field agricultural working machine, a swingable grounding body whose front part moves up and down in accordance with pressure received from the surface of a paddy field is provided in the working part. Angle to the horizontal plane (hereinafter referred to as "facing angle")
In some cases, the work unit is raised and lowered with respect to the traveling vehicle body so as to approach a predetermined control target value, thereby controlling the work unit to maintain a constant ground height.

In the control using the grounding body, assuming that the facing angle when the grounding body is in the forward-downward position is positive, the larger the facing angle is, the more faithfully it responds to the unevenness of the surface of the paddy field. There is a characteristic that the grounding body swings. Conventionally, a method of adjusting the control sensitivity by changing the control target value of the facing angle using this characteristic has been performed.

[0004]

The external factor that has the greatest influence on the responsiveness of the grounding body is the hardness of the soil. In other words, if the soil is hard, the surface of the paddy field has a strong force to lift the grounding body, and the response of the grounding body is good.If the soil is soft, on the other hand, the surface of the paddy field has a weak force to lift the grounding body. Response is poor. Therefore, when performing the operation, the operator sets the control target value of the facing angle using various conditions including the hardness of the soil as a judgment material.
However, even in the same paddy field, since the hardness of the soil varies depending on the location, if the control target value is kept constant, it is not possible to perform appropriate lifting control suitable for the soil condition over the entire area.

[0005] In addition, as the moving speed of the aircraft becomes faster, the force of the convex portion of the paddy surface soil surface to push up the ground contact body becomes stronger.
If the control target value of the facing angle is set uniformly regardless of the moving speed, it is not possible to perform a proper elevating control suitable for the working condition.

[0006] In general, a rice transplanter uses a float for leveling as a ground contact body, and a part of the weight of the working section is received on the mud surface by the float during work. For this reason, if the elevation control is inappropriate, the planting depth of the seedlings is not stable, and there is a problem in the leveling. Accordingly, a first object of the present invention is to make it possible to perform appropriate lifting control in accordance with soil conditions and work conditions.

[0007] Further, when the working part rises in a state where the running part is inclined forward, such as when getting out of a paddy field while performing work, if the rising speed is too fast, the front wheel of the running part is recoiled. May rise from the ground. Then, the stability of the aircraft is impaired, and not only the course cannot be properly maintained, but also there is a danger of falling over in some cases. A second problem is to solve this.

[0008]

Means for Solving the Problems In order to solve the first problem, the following inventions have been made. The work unit elevation control device according to the first invention is provided with a swingable grounding body whose front part moves up and down in accordance with pressure received from a paddy surface soil surface, and an angle of the grounding body with respect to a horizontal plane is predetermined. In a working part elevating control device of a paddy field agricultural working machine that raises and lowers a working part with respect to a traveling part so as to approach a control target value, an operating tool that changes the control target value, and a pressure that the grounding body receives from a paddy soil surface A first correction unit that corrects the control target value in accordance with the variation of the second correction unit that changes a correction reference of the first correction unit in conjunction with the operation of the operating tool. I have.

In a working unit elevation control device according to a second aspect of the present invention, a swingable grounding body whose front portion is moved up and down in accordance with pressure received from a paddy surface soil surface is provided in the working unit, and the grounding body with respect to a horizontal plane is provided. When an operation of intentionally increasing the angle of the grounding body with respect to the horizontal plane is performed in the working unit elevation control device of the paddy field agricultural work machine that raises and lowers the working unit with respect to the traveling unit so that the angle approaches the predetermined control target value. Is characterized in that it has a function of correcting the control target value on the basis of the actual angle change.

[0010] According to a third aspect of the present invention, there is provided a working unit elevating control device, wherein a swingable grounding body whose front portion moves up and down in accordance with pressure received from a paddy field top surface is provided in the working unit, and the grounding body with respect to a horizontal plane is provided. In a working part elevation control device of a paddy field agricultural work machine that raises and lowers the working part with respect to the traveling part so that the angle approaches a predetermined control target value, while changing the angle of the grounding body with respect to the horizontal plane according to a change in vehicle speed, The control for correcting the control target value is performed based on the change in the vehicle speed and the change in the angle of the ground contact body with respect to the horizontal plane at this time.

In order to solve the second problem, the following invention has been made. That is, in the working part elevation control device according to the fourth invention, the work part is provided with a swingable grounding body whose front part moves up and down according to the pressure received from the paddy surface soil surface, and the angle of the grounding body with respect to the horizontal plane In a working part elevation control device of a paddy field agricultural work machine that raises and lowers the working part with respect to the traveling part so as to approach a predetermined control target value, a detecting means for detecting an inclination of the traveling part in the front-rear direction is provided. When the detected value is equal to or greater than a predetermined value, a control is performed to reduce the lifting speed of the working unit when the working unit is lifted.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a planting section elevation control device for a riding rice transplanter shown in the drawings. 1 to 3
In the riding rice transplanter 1 shown in FIG. 1, a planting section 4 as a working section is mounted on a rear side of a traveling body 2 as a traveling section via a lifting link device 3 so as to be able to move up and down.

The traveling vehicle body 2 includes a pair of left and right front wheels 2a, 2
a and a rear wheel 2b, 2b, an engine 7 is mounted on a main frame 6 extending rearward from a rear portion of a transmission case 5 arranged at the front of the body. The rotational power of the engine 7 is transmitted to a continuously variable transmission 8.
And transmitted to the transmission in the transmission case 5 through the front wheels 2a, 2a and the rear wheels 2b, 2
b and the driving unit of the planting unit 4.

A cockpit 10 is provided above the engine 7, and a handle 11 is provided in front of the cockpit 10. Also,
The main transmission lever 12 for switching the transmission, the auxiliary transmission lever 13 for operating the continuously variable transmission 8, turning on / off the transmission to the planting section 4, and moving up and down the planting section 4 within a range operable from the cockpit 10. Planting / elevating lever 14 for performing, finger-operated finger-up lever 1 for raising / lowering the planting part 4
5. Sensitivity adjustment lever 1 for adjusting the sensitivity of planting section elevating control
6 and the like are provided.

The lifting link device 3 has a parallel link configuration, and includes one upper link 20 and a pair of lower links 21 on the left and right sides.
21. These links 20, 21, 21
A base side thereof is rotatably attached to a link base frame 22 erected at a rear end of the main frame 6, and a connection frame 23 is pivotally connected to a front end thereof. A rolling shaft 23 for connecting the planting section 4 to the connection frame 23 in a freely rolling manner.
a is provided. A swing arm 24 integrally formed with the support member fixed to the main frame 6 and the upper link 20
An elevating hydraulic cylinder 25 is interposed between the upper link 20 and the distal end of the connecting frame 23. Ascend and descend with almost constant posture. The lifting hydraulic cylinder 25 is controlled by a hydraulic valve 26 attached to the link base frame 22.

The planting section 4 has a six-row planting structure.
A seedling mounting table 31 on which six rows of seedlings are placed is mounted on a transmission case 30 also serving as a frame, and six sets of planting devices 32,... For planting the seedlings on the seedling mounting table on a paddy field. .
Below the planting section 4, a center float 34 and side floats 35, 35 for leveling are provided. When the aircraft is advanced with the floats in contact with the mud surface of the paddy field, each float clears the mud surface. Glide while doing.

The front ends of the floats 34, 35, 35 move up and down at the rear ends of the float support arms 38,... Fixed to the float support pipes 37 arranged in the horizontal direction. So that it can swing freely. The float support pipe 37 is rotatably supported by the transmission case 30, and is rotated by a planting depth adjusting lever 39 to change the mounting height of the float and adjust the planting depth of the seedling. It is supposed to. The engaging piece 40 fixed to the planting depth adjusting lever 39 is attached to the transmission case 30.
Is selectively engaged with any one of the plurality of recesses of the lever guide 41 fixed to the lever, and the planting depth adjusting lever 39 is fixed at a desired planting depth position.

The planting depth adjusting lever 39 includes a fixed portion 39a which rotates integrally with the float support pipe 37, and a rotating portion 3 which is rotatably connected to a middle portion thereof by a rotating shaft 43.
9b, the distal end of the fixed portion 39a is loosely fitted in the elongated hole 44a of the wire mounting plate 44 fixed to the rotating portion 39b. Therefore, the fixed portion 39a and the rotating portion 3
9b is rotatable with each other within the range of the elongated hole 44a with the rotation shaft 43 as a fulcrum. A U-shaped bracket 45 is fixed to the tip of the fixed portion 39a, and one end of a first interlocking wire 46 described later is attached to one end of the U-shaped bracket 45.
One end of a second interlocking wire 47 described below is attached to the other end via a surface pressure spring 48. The surface pressure spring 48 urges the fixed portion 39a in a direction in which the floats 34, 35, 35 are pressed against the surface of the paddy field. Normally, the tension of the spring is balanced with the pressure from the paddy field surface, and when a difference is generated between the two, the fixed portion 39a rotates accordingly.

The center float 34 is also a grounding body for detecting irregularities on the topsoil surface of the paddy field. A change in the angle θ is detected by a detection mechanism described below, and the control valve 26 is driven based on the detection result. It has become. The detection mechanism includes a balance arm 50 that is vertically rotatable about a front and rear intermediate portion, and connects a rear end of the detection arm to a front upper surface of the center float 34 via a connection link 51. The automatic elevating wire 53 is attached via the. The balance arm 50 is supported by a parallel link mechanism in which a vertical link 57 is pivotally connected to distal ends of an upper link 55 and a lower link 56 whose bases are rotatably supported up and down by the transmission case 30. An arm 58 provided integrally with the base of the upper link 55 and the planting depth adjusting lever 39 are connected by an interlocking rod 59. Thus, when the planting depth adjusting lever 39 is operated, the fulcrum position of the balance arm 50 is displaced by an amount corresponding to the change in the float mounting height in conjunction therewith.

The hydraulic valve 26 is a spool valve. When the spool 26a is pushed in, the hydraulic cylinder 25 operates (extends) on the planting portion rising side, and when the spool 26a projects, the hydraulic cylinder 25 moves on the planting portion descending side. Actuation (shrinkage actuation)
It is supposed to. The action part of the automatic elevating arm 62 rotatably attached to the shaft 61 is in contact with the spool 26a. The end of the automatic lifting wire 53 opposite to the center float is connected to a mounting plate 62a provided at the distal end of the automatic lifting arm 62, and the front of the center float 34 is moved upward to face the float. Is smaller, the automatic elevating arm 62 is rotated via the automatic elevating wire 53 to the side into which the spool 26a is pushed. Further, when the front part of the center float 34 moves downward and the float facing angle increases, the automatic lifting arm 62 is rotated to the opposite side by the action of the return spring 63, and the spool 26a projects. Thereby, at the time of planting operation, the planting part 4 moves up and down according to the unevenness of the top soil surface of the paddy field, and the planting depth of the seedlings is kept constant.

The shaft 61 supporting the automatic elevating arm 62 is
It is provided on a sensitivity adjustment arm 66 that is rotatable about a shaft 65 as a fulcrum. On the fulcrum shaft 65 of the sensitivity adjustment arm 66,
The sensitivity adjustment lever 16, which is an operation tool for changing the control target value of the facing angle, is integrally attached. When the sensitivity adjustment lever 16 is operated, the fulcrum (6
1) is moved, and the control target value of the float facing angle is changed. Here, the “control target value” means the facing angle when the float is at the reference position. As described in "Prior Art", control sensitivity becomes more sensitive as the float facing angle is larger.

The mounting plate 62a is rotatably connected to the main body of the automatic elevating arm 62. The mounting plate 62a has an end on the side opposite to the planting depth adjusting lever of the first interlocking wire 46 as the first correcting means. The departments are connected. Thereby, the mounting plate 62a is rotated via the first interlocking wire 46 in accordance with the fluctuation of the pressure received by the floats 34, 35, 35 from the paddy rice topsoil surface.
By changing the position of the connection point with No. 3, the float facing angle is changed. Specifically, when the pressure received from the paddy soil surface becomes larger than the tension of the surface pressure spring 48, the float facing angle increases, and when the pressure becomes smaller than the tension, the float facing angle decreases. The fact that the pressure received from the paddy surface of the float is large means that the float is slightly sinking, and the traveling unit body is rising forward. Since such a state occurs in a field where the soil such as a wet field is soft, the control target value of the float facing angle is increased to make the control sensitivity more sensitive.
Further, the fact that the pressure received from the paddy topsoil surface of the float is small is the opposite of the above case, in which case the control target value of the float facing angle is reduced to make the control sensitivity insensitive.

The sensitivity adjustment arm 66 is connected to an end of the second interlocking wire 47, which is the second correction means, on the side opposite to the implantation depth adjustment lever. For this reason, when the control sensitivity is adjusted by operating the sensitivity adjustment lever 16, when the float facing angle is reduced and the control sensitivity is made insensitive, the tension of the surface pressure spring 48 increases, and conversely, the float facing angle increases. When the control sensitivity is increased, the tension of the surface pressure spring 48 decreases. This is explained as follows. That is, the float facing angle is reduced when the soil is soft. At this time, the traveling unit body is moving upward and the float tends to sink. Therefore, the sinking amount of the float is properly returned by increasing the tension of the surface pressure spring 48. When the float facing angle is increased, the above operation is reversed.
Also, by changing the tension of the surface pressure spring 48,
The control target value of the float facing angle is also corrected via the first interlocking wire 46. Thus, the sensitivity adjustment lever 1
Operating 6 changes not only the facing angle directly, but also the basis for changing the facing angle based on fluctuations in the pressure that the float receives from the topsoil of the paddy field. Appropriate lifting control can be performed.

The spool 26a of the hydraulic valve 26 has a main shift lever 12,
Planting / elevating lever 14 and finger up lever 15
A hydraulic arm (not shown) interlocking with the operation of (1) is in contact with this, so that the planting unit 4 is moved up and down in accordance with the support of the operator, and the planting unit 4 is automatically moved up when the main shift is performed in reverse.

FIG. 4 shows a different elevation control device.
The same components as those of the lift control device of FIG. 3 are denoted by the same reference numerals, and only different points from the lift control device of FIG. 3 will be described. In this lift control device, the end of the automatic lift wire 53 opposite to the center float is directly connected to the automatic lift arm 62. The other end of the first interlocking wire 46 whose one end is connected to the fixed portion 39a of the planting depth adjustment lever is connected to the sensitivity adjustment arm 66 via a variable return spring 63 '. Variable return spring 6
Reference numeral 3 'urges the sensitivity adjusting arm 66 in a direction opposite to the direction of the fixed return spring 63. The biasing force of the fixed return spring 63 is variable return spring 63 '.
Larger than the urging force of the spool 26a.
Urges the sensitivity adjustment arm 66 to the side where it projects.

According to this configuration, the floats 34, 35,
The variable return spring 63 ′ through the first interlocking wire 46 in response to the fluctuation of the pressure that the 35 receives from the paddy surface soil surface.
Is changed, thereby changing the total urging force of the two return springs 63, 63 '. With this arrangement, when the pressure received from the paddy field top surface increases, the float facing angle increases, and when the pressure decreases, the float facing angle decreases. In this way, by automatically adjusting the float facing angle according to the hardness of the soil, the elevation control can be performed with appropriate control sensitivity in accordance with changes in soil conditions.

The above two examples are elevation control devices for mechanical mechanisms. Next, an electronically controlled elevation control device will be described. The overall configuration of a rice transplanter provided with an electronically controlled lifting device is substantially the same as that shown in FIGS. 1 and 2 except that a sensitivity adjustment dial 16 ′ (shown in FIG. 5) is used instead of the sensitivity adjustment lever 16. The difference is that a front and rear inclination sensor 79 (shown in FIG. 5) for detecting the front and rear inclination of the traveling unit 2 is provided separately. A solenoid control valve is used as the hydraulic valve 26 for controlling the expansion / contraction of the lifting hydraulic cylinder 25.

FIG. 5 shows an elevation control device of the electronic control type. Also in this device, floats 34, 35, 35 are swingably attached to rear ends of float support arms 38,... Fixed to a float support pipe 37. Then, the float supporting pipe 3 is moved by the planting depth adjusting lever 39.
By rotating 7, the planting depth of the seedlings is adjusted. Planting depth adjusting lever 39 of this device
Is formed of an integral bar, unlike the elevation control device of the mechanical mechanism.

The facing angle detection mechanism of the center float 34, which is a grounded body, includes a balance arm 50 that can be vertically rotated with the front and rear middle part as a fulcrum, and connects the rear end of the balance arm with the front upper surface of the center float 34. The front end and the detection arm 70 a of the facing angle sensor 70 are connected via a connecting rod 71. Thereby, the facing angle of the center float 34 is detected by the facing angle sensor 70.

The balance arm 50 and the angle sensor 70 are
The base portion is supported by a parallel link mechanism that pivotally connects a vertical link 57 to the distal ends of an upper link 55 and a lower link 56 that are pivotally supported up and down by a facing angle adjustment plate 73. An arm 58 provided integrally with the base of the upper link 55 and the planting depth adjusting lever 39 are connected by an interlocking rod 59. Thus, when the planting depth adjusting lever 39 is operated, the fulcrum position of the balance arm 50 is displaced by an amount corresponding to the change in the float mounting height in conjunction therewith.

The facing angle adjusting plate 73 is rotatably mounted on the transmission case 30 with the mounting shaft 74 as a fulcrum. A gear 75 formed on the opposite angle adjusting plate 73 is engaged with a pinion 77 that is driven to rotate by an opposite angle adjusting motor 76. When the motor 76 is operated, the facing angle adjustment plate 73 is rotated, whereby the facing angle detection mechanism is displaced together with the parallel link mechanism, and the float facing angle is changed. The turning position of the facing angle adjusting plate 73 is detected by the position sensor 78.

On the input side of the control unit 80, the main shift lever 12,
The auxiliary transmission lever 13, the planting / elevating lever 14, the finger-up lever 15, the sensitivity adjustment dial 16 ', the angle sensor 70, the angle position sensor 78, and the front-rear inclination sensor 79 are connected. The solenoids 26a and 26b and the facing angle adjusting motor 76 are connected.

Main transmission lever 12, planting / elevating lever 1
4 and the signal from the finger-up lever 15 are input to the control unit 80, and the control unit 80 outputs the signals to the solenoids 26a and 26b for driving the hydraulic valves based on the signal.
Similarly to the elevation control device of the mechanical mechanism, the planting section 4 is moved up and down according to the support of the operator, and the planting section 4 is automatically moved up when the main shift is performed in reverse.

At the time of planting operation, the actual float angle detected by the angle sensor 70 is determined by the sensitivity adjustment dial 16 '.
Is output to the solenoids 26a and 26b for driving the hydraulic valves so as to approach the control target value set in (1). For example, where the paddy field tops are high, the front part of the center float 34 is pushed up to reduce the float facing angle. Then, it outputs to the raising solenoid 26a and raises the planting part 4. Conversely, where the paddy rice paddy field is low, the front of the center float 34 is lowered and the float facing angle is increased. Then, the output is output to the descending solenoid 26b, and the planting section 4 is lowered. As described above, the planting depth of the seedlings is maintained constant by controlling the height of the planting portion 4 above the ground according to the unevenness of the paddy field topsoil surface.

During this ground control, the control shown in the flowchart of FIG. 6 is performed in order to cope with a change in vehicle speed. That is, monitoring of the vehicle speed determined from the operation position of the sub-transmission lever 13 is continuously performed, and when the vehicle speed changes to the high-speed side, the facing angle adjustment motor 76 is operated to decrease the float facing angle, and the vehicle speed is reduced. When the speed is changed to the low speed side, the facing angle adjusting motor 76 is operated to increase the float facing angle. The higher the vehicle speed, the greater the tendency of the convexities on the paddy pad top surface to push up the float.Therefore, the higher the vehicle speed, the smaller the float angle to maintain a constant control sensitivity even when the vehicle speed changes. is there. In addition,
The vehicle speed may be detected by another method other than the operation position of the auxiliary transmission lever 13.

Further, a heading angle sensor value A before the heading angle adjustment motor 76 is operated and a heading angle sensor value B after the heading operation are operated are input, respectively, and a sensitivity correction value is obtained from the values of A and B and the vehicle speed change value. calculate. Then, the calculated value of the sensitivity correction value is compared with the theoretical value of the sensitivity correction value stored in the data table in advance, and when both are substantially equal, the values are kept as they are, and when the calculated value is larger than the theoretical value. Operates the facing angle adjusting motor 76 to the side where the float facing angle is increased, and operates the facing angle adjusting motor 76 to the side where the float facing angle is reduced when the theoretical value is larger than the calculated value. This is a correction according to the hardness of the soil. Generally, when the soil is soft, the force for lifting the float is small. On the contrary, when the soil is hard, the force for lifting the float is large. However, by correcting as described above, the control sensitivity can be appropriately adjusted.

In order to cope with the difference in soil hardness,
The control shown in the flowchart of FIG. 7 is performed. That is, the facing angle adjusting motor 76 is operated by a fixed angle to the side where the float facing angle becomes smaller, and the sensitivity correction value is calculated from the facing angle sensor value A before the operation and the facing angle sensor value B after the operation.
Then, the calculated value of the sensitivity correction value is compared with the theoretical value of the sensitivity correction value stored in the data table in advance, and when both are substantially equal, the values are kept as they are, and when the calculated value is larger than the theoretical value. Operates the facing angle adjusting motor 76 to the side where the float facing angle is increased, and operates the facing angle adjusting motor 76 to the side where the float facing angle is reduced when the theoretical value is larger than the calculated value. This correction is also based on the same principle as the control correction shown in the flowchart of FIG.

The control shown in the flowchart of FIG. 8 is performed in order to secure the running stability against the forward and backward inclination of the running section. That is, when the planting portion raising operation is performed, if the front-rear inclination sensor value is equal to or less than a predetermined value, the planting unit 4 is continuously output to the ascending solenoid 26a to raise the planting portion 4 at the normal speed, and the front-rear inclination sensor value becomes the predetermined value. If it exceeds, the ascending solenoid 26
The pulse is output to a and the planting section 4 is raised at a slow speed. Thus, it is possible to prevent an accident such as a fall due to a sudden rise of the planting section in a state where the traveling section 2 has risen greatly forward, such as when leaving the field while planting.

Further, in the above control, as shown in the flowchart of FIG. 9, when the float is lowered to a predetermined angle or more, that is, when the float is in a hanging state, the planting portion is automatically raised. When leaving the field while planting seedlings, it is safe to concentrate on maneuvering the running section.

[0040]

As described above, the working unit elevating control device of the agricultural machine for paddy fields according to the present invention is capable of correcting the control target value of the facing angle according to the fluctuation of the pressure received by the ground contacting body from the paddy surface. By using the correction in conjunction with the operation of the operation tool for changing the facing angle, it is possible to perform appropriate lifting and lowering control of the working unit according to soil conditions.

Even if the angle of the ground contact body with respect to the horizontal plane is intentionally increased, and the control target value of the facing angle is corrected based on the change in the angle before and after the change, an appropriate angle suitable for the soil condition may be adopted. Work unit lifting control can be performed.

Further, by changing the angle of the ground contact body with respect to the horizontal plane in accordance with the change of the vehicle speed, and correcting the control target value of the heading angle based on the change of the vehicle speed and the angle of the ground contact body with respect to the horizontal plane at this time, It is now possible to perform proper lifting and lowering control of the work unit according to the moving speed of the aircraft.

Further, when the running part has a large inclination in the front-rear direction, the lifting speed of the working part is controlled to be slow, so that the body can be prevented from losing its balance when going out of the field while performing the work. Became.

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a plan view of the riding rice transplanter.

FIG. 3A is a diagram showing a lifting and lowering control device of a mechanical mechanism, and FIG.

FIG. 4 is a side view of a different elevation control device.

FIG. 5 is a diagram illustrating a configuration of an electronically controlled elevation control device.

FIG. 6 is a flowchart of a first control.

FIG. 7 is a flowchart of a second control.

FIG. 8 is a flowchart of a third control.

FIG. 9 is a flowchart of a fourth control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Riding rice transplanter (agricultural work machine for paddy fields) 2 Running vehicle body 3 Elevating link device 4 Planting part (working part) 16 Sensitivity adjustment lever (operating tool) 16 'Sensitivity adjusting dial (operating tool) 26 Hydraulic valve 34 Center float (grounding) Body) 35 Side float 39 Planting depth adjusting lever 46 First interlocking wire (first correction means) 47 Second interlocking wire (second correction means) 48 Surface pressure spring (second correction means) 53 Automatic lifting wire 63 Fixed Return spring 63 'Variable return spring 70 Orientation angle sensor 76 Orientation angle adjustment motor 78 Position sensor 79 Front / rear inclination sensor (detection means) 80 Control unit

Continued on the front page (72) Inventor Mitsutaka Izumi 1-Yachikura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Co., Ltd. F-term (reference) 2B062 AA03 AA05 AB01 BA62 BA63 CA05 CA15 CB04 2B304 KA13 KA16 LA02 LA09 LB05 LC04 MA02 MB02 MC08 MD02 MD04 PB06 QA11 QA21 QA24 QB03 RA27

Claims (4)

[Claims] 1. A work part is provided with a swingable grounding body whose front part moves up and down according to the pressure received from a paddy field topsoil surface, so that an angle of the grounding body with respect to a horizontal plane approaches a predetermined control target value. In a working unit elevating control device of a paddy field agricultural work machine that raises and lowers a working unit with respect to a traveling unit, an operation tool for changing the control target value, and the control target according to a change in pressure received by the grounding body from a paddy field surface. A work unit lifting / lowering control device, comprising: a first correction unit for correcting a value; and a second correction unit for changing a correction reference of the first correction unit in conjunction with an operation of the operation tool. 2. A swingable grounding body whose front part moves up and down in response to pressure received from a paddy field top surface is provided in a work unit, and an angle of the grounding body with respect to a horizontal plane approaches a predetermined control target value. In a working part elevating control device for a paddy field agricultural working machine that raises and lowers a working part with respect to a traveling part, the control target value is based on an actual angle change when an operation of intentionally increasing an angle of the ground contact body with respect to a horizontal plane is performed. A working unit lifting / lowering control device having a function of correcting an error. 3. A swingable grounding body whose front part moves up and down in accordance with the pressure received from a paddy field topsoil surface is provided in a working unit, and an angle of the grounding body with respect to a horizontal plane approaches a predetermined control target value. In the working unit elevating control device of the agricultural working machine for paddy fields that raises and lowers the working unit with respect to the traveling unit, while changing the angle of the grounding body with respect to the horizontal plane according to the change in vehicle speed,
A working unit elevating control device that performs control for correcting the control target value based on a change in vehicle speed and a change in angle of the ground contact body with respect to a horizontal plane at this time. 4. A working part is provided with a swingable grounding body whose front part moves up and down in accordance with pressure received from a paddy field topsoil surface, and an angle of the grounding body with respect to a horizontal plane approaches a predetermined control target value. In the working part elevating control device of the agricultural working machine for paddy field which raises and lowers the working part with respect to the traveling part, a detecting means for detecting the inclination of the traveling part in the front-back direction is provided, and when a detection value of the detecting means is equal to or more than a predetermined value, A working unit lifting / lowering control device that performs control to reduce a rising speed of the working unit when the working unit is raised.