JP2001086816A - Structure for lifting and lowering working device of paddy field working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a working device from being automatically lifted and driven in the course of a working stroke and operations from being discontinued in a structure for lifting and lowering the working device of a paddy field working machine equipped with an automatically lifting means for automatically lifting and driving the working device when front wheels are steered and operated from the side of a directly advancing position to the right or left. SOLUTION: This structure for lifting and lowering the working device is equipped with a travel distance detecting means for detecting the travel distance J1 of a working stroke K1 at a time from either one G1 of ridges to the other ridge G1 in a field and a judging means for judging whether or not the working strokes K2 and K3 at a time are nearly completed on the basis of the detected travel distance J1. Thereby, the operation of the automatic lifting means is interrupted if the working strokes K2 and K3 at a time are not kept in a nearly completed state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the operation of a paddy field working machine, such as a riding type rice transplanter or a riding type direct sowing machine, which is provided with a working device on a body so as to be able to move up and down and a driving mechanism for driving the working device up and down. The present invention relates to a device elevating structure.

[0002]

2. Description of the Related Art In a riding type rice transplanter, which is an example of a paddy field working machine, when one planting process is completed and the machine reaches a ridge,
The operator operates the elevating lever to the ascending position to elevate the planting device (an example of a working device) in the lowered state, and operates the operation handle to the right or left to turn the body on the ridge. When the turn on the ridge ends, the operator returns the steering handle to the straight-ahead position, operates the elevating lever to the lowered position, lowers the seedling planting device in the ascending state, and enters the next planting process. .

In this case, for example, Japanese Patent Application Laid-Open No. 11-19662
As disclosed in Japanese Patent Application Publication No. 8 (1996), when the front wheel is steered to the right or left from the straight traveling position side to start turning at the ridge, an automatic ascent which automatically drives the seedling planting device to ascend is performed. There is a device which is provided with means so that an operation at the time of turning on a ridge is made easy.

[0004]

Since the planting process is substantially linear in a rectangular field when viewed from above, the steering handle is used to correct the orientation of the aircraft during the planting process in the rectangular field. May be operated to the right or to the left or slowly to the right or to the left, but the steering handle may be operated to the right or to the left or quickly to the right or to the left. There is no. On the other hand, for example, in a field bent like a fan when viewed from above, the planting process also bends in the same manner, so that the steering handle becomes large to the right or left during the planting process in the bent field. It may be operated to correct the orientation of the aircraft.
Further, even in a rectangular field, if there are large irregularities, the steering handle may be largely operated to the right or left or quickly operated to the right or left to correct the orientation of the aircraft.

Thus, in the riding type rice transplanter provided with the automatic ascent means as described in the prior art, when the steering handle is largely operated right or left during the planting process,
In some cases, the seedling planting apparatus is automatically driven up by the automatic ascent means, and the planting operation is interrupted. The present invention relates to a working device elevating structure of a paddy working machine having an automatic ascending means for automatically driving the working device when the front wheel is steered to the right or left from the straight traveling position side. It is an object of the present invention to prevent a situation in which the working device is automatically raised and the work is interrupted.

[0006] In a riding type rice transplanter of an eight-row type, which is an example of a paddy field working machine, when a single planting process is completed and the machine reaches a ridge, the ridge is set as described below. Make a turn and start the next planting process. For example, FIG.
As shown in the figure, when the planting process K1 is completed and the aircraft approaches the ridge G1, the front end of the aircraft remains in the ridge G while keeping straight.
Run until the vehicle substantially touches 1 to temporarily stop the aircraft.
The steering wheel is used to steer the front wheel 1 from the straight traveling position side to the right (left) steering limit, start the aircraft, perform the first half turn L1 on the ridge side, and then move the front wheel 1 right (left). Is operated to the straight traveling position side from the steering limit, and the straight traveling L2 on the ridge side is performed. When the straight running L2 at the ridge ends, the front wheel 1 is steered from the straight position to the right (left) steering limit to perform a second half turn L3 at the ridge, and then the front wheel 1 is moved to the right. Operating from the steering limit (left) to the straight ahead position, the next planting stroke K2
to go into.

In the riding type rice transplanter of the eight-row type, since the width of the seedling planting device 6 is wide, when the planting process K1 is completed and the machine reaches the ridge, the seedling is simply sunk at the ridge. When the turning is performed at a degree, the turning at the edge of the ridge becomes too small, and when entering the next planting step K2, a part of the previous planting step K1 overlaps a part of the next planting step K2. It is because. Also, as shown in FIG. 8, when one planting process K1 is completed and the aircraft approaches the ridge G1, the front end of the aircraft remains in the ridge G while being kept straight.
After turning until the vehicle substantially touches No. 1, turning around the ridge (the first half turning L1, the straight traveling L2, and the second half turning L around the ridge)
When 3) is performed, the width H of the unplanted portion remaining on the ridge becomes substantially equal to the lateral width of the eight-row planting type seedling planting device 6,
This is because the planting operation by traveling along the ridge G1 can be easily performed after all the planting steps are completed.

For example, in the case of performing the first half turn L1, the straight running L2, and the second half turn L3 on the ridge as shown in FIG.
There is a case where the seedling planting device 6 is driven down to the rice field surface after the first half turn L1 on the ridge end. With the seedling planting device 6 lowered in this way, the straight running L2 and the second half turn L3 in the ridge side are performed, so that the float of the seedling planting device 6 makes the unevenness of the rice field in the ridge even. Therefore, the planting operation while traveling along the above-described ridge G1 is performed with high accuracy.

Thus, in a riding type rice transplanter having an automatic ascent means as described in the prior art, for example,
Turning at the ridge as shown in (Rotating L1 in the first half at the ridge,
When the straight running L2 and the latter half turn L3) are performed, when the first half turn L1 on the ridge side is started, the seedling planting apparatus 6 is automatically driven upward by the automatic lifting means. Next, after the first half turn L1 at the ridge end is completed, the seedling planting device 6 is lowered to the rice field surface, and the straight traveling L2 and the second half turn L3 at the ridge are performed.
Is performed, the seedling planting device 6 is automatically driven up by the automatic ascent means when the second half turn L3 at the ridge side is started, so that the seedling planting device 6 is lowered. The latter half turn L3 on the ridge may be difficult to perform. The present invention relates to a working device elevating structure of a paddy working machine having an automatic ascending means for automatically driving the working device when the front wheel is steered right or left from the straight traveling position side. In the case of performing a turn on the ridge as shown (first half turn L1, straight traveling L2, and second half turn L3 on the ridge), it is difficult to perform the second half turn on the ridge with the working device lowered. The purpose is to prevent such a situation.

[0010]

Means for Solving the Problems [I] In a paddy field working machine, in a field, a work process is performed from one ridge to the other ridge, and when this work process is completed and the aircraft reaches the other ridge, The aircraft moves to the next work step from the other ridge to one ridge, and when this work step is completed and the aircraft reaches one ridge, the aircraft is turned at the ridge to A state where the next work process from the ridge to the other ridge is started is repeated.

According to the feature of the first aspect, the travel distance of one work process from one ridge to the other ridge in the field is detected, and the detected travel distance is determined by one work performed thereafter. Since there is no great difference from the travel distance of the travel, it is possible to determine whether or not one work travel is substantially completed in the subsequent work travel based on the detected travel distance.

As a result, it is determined that one work stroke is not substantially completed in the middle of the work stroke, so that the front wheels are steered to the right or left set angle from the straight traveling position side in the middle of the work stroke. Even if the steering operation is performed, the ascending drive of the working device by the automatic ascending means is not performed, and even if the steering handle is largely operated to the right or left to correct the orientation of the aircraft, the working device is automatically moved by the ascending means. Is not driven up. Next, when the aircraft reaches the ridge, it is determined that one work process is almost completed, so the front wheels are steered from the straight position to the right or left set angle, and When the turning is performed, the working device is driven upward by the automatic lifting means.

[II] As described in the preceding paragraph [I], in a paddy field working machine that repeats the work process from one ridge to the other ridge and turns around the ridge, the orientation of the machine is corrected in the middle of the work process. In such a case, the steering wheel is operated to the right or left relatively slowly (a rapid operation of the steering wheel to the right or left causes a sudden change in the orientation of the aircraft, which is undesirable for the operation of the work equipment). Conversely, since it is necessary to make a turn with a radius as small as possible when turning on the ridge, the turning handle is quickly operated to the right or left when turning on the ridge to perform turning on the ridge.

According to the second aspect of the present invention, the steering speed when the front wheel is steered from the straight traveling position side to the right or left set angle side is detected, and the steering speed is lower than the set speed. Therefore, even if the front wheel is slowly steered to the right or left setting angle from the straight traveling position side during the work process, it is determined that the work device is in the middle of the work process. Since the driving is not performed, even if the steering handle is slowly and largely operated to the right or left to correct the orientation of the body, the working device is not driven up by the automatic lifting means. Next, when the aircraft reaches the ridge and turns around the ridge, the front wheels are rapidly steered from the straight position to the right or left set angle side, and the steering speed becomes faster than the set speed. Then, since it is determined that the turning is at the edge of the ridge, the working device is driven upward by the automatic lifting means.

[III] As described in the problem to be solved by the invention described above, when the first half turn, straight running, and second half turn are performed on the ridge side in the paddy field working machine, according to the feature of claim 3. When the front wheel is steered to the right or left set angle from the straight traveling position side during the first half turn on the ridge,
The working device is driven up by the automatic lifting means. In this case, according to the characteristic of claim 3, when the working device is driven up by the automatic ascent means during the first half turn around the ridge, the next working device is raised by the automatic ascent device until the set time elapses. No driving is performed.

According to the third aspect of the present invention, by setting the set time to an appropriate length, the working device is raised and driven by the automatic ascent means during the first half turn around the ridge. When the work equipment is lowered by a simple operation, the work equipment is driven up by the automatic ascent means even if the front wheel is steered from the straight position to the right or left set angle during the second half turn on the ridge. It will not be done. Therefore, according to the feature of the third aspect, straight running and turning in the latter half can be performed without hindrance by lowering the working device.

[IV] As described in the problem to be solved by the invention described above, when the first half turn, straight running, and second half turn at the ridge side are performed in the paddy working machine, the first half at the ridge side is performed. If the turn is a right turn, the second half turn at the ridge is also a right turn. If the first half turn at the ridge is a left turn, the second half turn at the ridge is also a left turn. Becomes

According to the fourth aspect of the present invention, when the front wheel is steered to the right or left set angle from the straight traveling position during the first half turn on the ridge, the working device is raised by the automatic ascent means. Driven. After that, after lowering the work equipment by manual operation, etc., when the front wheel is steered to the right or left set angle from the straight traveling position side, the steering operation direction of the front wheel is in the first half at the ridge. If it is the same as the steering operation direction of the front wheel at the time of turning, it is determined that the turning is the latter half of the ridge, and the working device is not driven up by the automatic lifting means. Therefore, according to the feature of the fourth aspect, straight running and turning in the latter half can be performed without hindrance by lowering the working device.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS [1] As shown in FIG. 1, an engine 3 and a driving unit 4 are provided on a body supported by a front wheel 1 and a rear wheel 2 which can be steered right and left. An eight-row planting seedling planting device 6 is connected to the rear part via a parallel quadruple link mechanism 5 so as to be able to move up and down freely, and a single-acting hydraulic cylinder 7 that drives the link mechanism 5 up and down is provided. A riding type rice transplanter of an eight-row type, which is an example of a paddy field working machine, is configured.

As shown in FIG. 1, the seedling planting device 6 includes a seedling rest 8, which is driven to reciprocate sideways by a predetermined stroke, a planting transmission case 9, and a rotation which is driven to rotate at the rear of the planting transmission case 9. The case 10 includes a pair of planting claws 11 supported by the rotating case 10, a plurality of floats 12, and the like. The seedlings are alternately taken out and planted on the rice field G.

[2] As shown in FIG. 2, the rear part of the float 12 at the center in the left and right directions is supported swingably around the horizontal axis P1, and the position of the front part of the float 12 with respect to the seedling planting device 6 is detected. A potentiometer 14 is provided, and the detected value of the potentiometer 14
Is input to the control device 15 as a detected value of the height up to. The hydraulic cylinder 7 is provided with an electromagnetically operated control valve 13 that operates to supply and discharge hydraulic oil to the ascending side and the descending side, and the control device 15 is configured to operate the control valve 13. .

When the planting apparatus 6 moves up and down with respect to the rice field G while the float 12 follows the ground surface G, the detection value of the potentiometer 14 changes. 15, the control valve 13 is automatically operated, the hydraulic cylinder 7 expands and contracts, and the seedling planting device 6 is automatically driven up and down so that the detection value of the potentiometer 14 is maintained at the set value (automatically). Lifting control). As a result, the seedling planting device 6
, The planting depth of the seedling by the planting claws 11 is maintained at the set value. As will be described later, when the seedling planting apparatus 6 is driven to move upward, an upper limit sensor 24 for detecting that the link mechanism 5 has reached a mechanical upper limit position is provided. It is configured to be inputted to.

[3] A hydrostatic continuously variable transmission (not shown) capable of continuously changing the power of the engine 3 forward and backward, a wet multi-plate type main clutch (not shown), Transmission to a front wheel 1 and a rear wheel 2 via a gear transmission type auxiliary transmission (not shown) that can be shifted to a high speed position H (a position during road running) and a low speed position L (a position during planting work). As shown in FIG. 2, the power from the main clutch is transmitted to the seedling planting apparatus 6 via the planting clutch 16. A motor 17 for operating the planting clutch 16 on the transmission side and the transmission interruption side is provided, and the control device 15 is configured to operate the motor 17.

As shown in FIGS. 2 and 1, a pitman arm 29, which is swingably operated right and left by the steering wheel 18, and the right and left front wheels 1 are connected by a tie rod 30, and The front wheel 1 is configured to be steerable right and left, and a steering wheel 18 is provided.
A driver's seat 19 is provided in the driver 4. An angle sensor 31 for detecting an angle of the pitman arm 29 with respect to the straight traveling position A is provided, and a detection value of the angle sensor 31 is input to the control device 15.

As shown in FIGS. 2 and 1, a main transmission lever 21 is provided on the left side of the steering handle 18 so that the hydrostatic continuously variable transmission can be operated to a forward position, a reverse position, and a neutral position. A sub-transmission lever 23 for operating the sub-transmission at the high-speed position H and the low-speed position L is provided on the left side of the driver's seat 19, and a low-speed sensor 25 for detecting that the sub-transmission lever 23 has been operated at the low-speed position L. And the detection signal of the low-speed sensor 25 is input to the control device 15. A clutch pedal 26 is provided for operating the main clutch to the transmission interruption side by stepping on the pedal.

As shown in FIGS. 2 and 1, a first elevating lever 28 is provided on the right side of the driver's seat 19, and the first elevating lever 28 is moved up, neutral, down, planting and automatic. It is configured to be operable at any position. Even if the user lifts his / her hand after operating the first elevating lever 28, the first elevating lever 2
8 is configured not to move from that position, and the operation position of the first elevating lever 28 is input to the control device 15.

As shown in FIGS. 2 and 1, the neutral position N,
A second lifting lever 20 operable from a neutral position N to an upward position U upward and from the neutral position N to a downward position D downward.
Is provided on the lower right side of the steering handle 18 and the second
The operation position of the lifting lever 20 is input to the control device 15. The second raising / lowering lever 20 is biased to the neutral position N.
When the hand is released from the lifting lever 20, the second lifting lever 20 automatically returns to the neutral position N.

[4] Next, the case where the first raising / lowering lever 28 is operated to the raising position, the neutral position, the lowering position and the planting position will be described with reference to FIG. 3 and FIG. When the first raising / lowering lever 28 is operated to the raised position (step S1), the planting clutch 16 is operated by the motor 17 to the transmission blocking side (step S2), and the control valve 13 is operated to the raised position (step S3). The seedling planting device 6 is driven upward by the hydraulic cylinder 7. In this case, when the link mechanism 5 reaches the upper limit position and this is detected by the upper limit sensor 24 (step S4), the control valve 13 is operated to the neutral position, the hydraulic cylinder 7 stops (step S6), and the seedling is planted. The device 6 automatically stops at the upper limit position.

When the first raising / lowering lever 28 is operated to the neutral position (step S1), the planting clutch 1 is driven by the motor 17.
6 is operated to the transmission interruption side (step S5), and the control valve 1
3 is operated to the neutral position (Step S6), and the hydraulic cylinder 7 and the seedling plant 6 stop at that position.

When the first raising / lowering lever 28 is operated to the lowering position (step S1), the motor 17 drives the planting clutch 1
6 is operated to the transmission interruption side (step S7), and the automatic lifting / lowering control described in [2] above is activated (step S7).
8). In this case, if the float 12 is positioned above the rice field G and is hanging down, the detected value of the height from the rice field G to the seedling plant 6 is determined to be too high, and the control valve 13 is turned off. The seedling planting device 6 is moved down by the hydraulic cylinder 7 by being operated to the lowering position, and the seedling planting device 6 is apparently continuously lowered. Thereafter, when the float 12 touches the rice field G, the control valve 13 is automatically operated so that the detection value of the potentiometer 14 is maintained at the set value. Is stopped.

When the first raising / lowering lever 28 is operated to the planting position (step S1), the motor 17 causes the planting clutch 1 to move.
6 is operated on the transmission side (step S9), and the preceding item [2]
(Step S10).
As a result, the control valve 13 is automatically operated and the hydraulic cylinder 7 is extended and contracted so that the detected value of the potentiometer 14 is maintained at the set value, and the seedling planting apparatus 6 is maintained at the set height from the rice field G. Therefore, the planting operation is performed in which the planting claws 11 plant the seedlings while the planting depth of the seedlings is maintained at the set value.

As described above, by operating the first raising / lowering lever 28 to the raising position, the neutral position, and the lowering position,
In the range between the upper limit position of the link mechanism 5 and the rice field surface G, the seedling planting device 6 can be driven up and down to an arbitrary height and stopped, and the first raising / lowering lever 28 can be operated to the planting position. Thus, the planting operation is performed while the planting depth of the seedling is maintained at the set value.

[5] Next, a case where the second elevating lever 20 is operated while the first elevating lever 28 is operated at the automatic position will be described with reference to FIGS. 4 and 2. In a state in which the first raising / lowering lever 28 is operated to the automatic position (step S1), for example, the seedling planting device 6 is automatically driven up and down so as to be maintained at the set height from the rice field G (operation of the automatic raising / lowering control). In the state of the planting operation in which the planting clutch 16 is operated to the transmission side (steps S23, S24, S
25, S26), when the second elevating lever 20 is operated to the ascending position U (Steps S16, S17), the planting clutch 16 is operated by the motor 17 to the transmission interruption side (Step S18), and the automatic elevating control is stopped and controlled. The valve 13 is operated to the raised position (step S19), and the hydraulic cylinder 7 drives the seedling plant 6 upward. In this case, even if the second elevating lever 20 is held at the elevating position U, or if the second elevating lever 20 is operated to the elevating position U and then to the neutral position N, the ascending drive of the seedling planting device 6 is performed. Is continued.

When the link mechanism 5 reaches the upper limit position and this is detected by the upper limit sensor 24 (step S2).
0), the control valve 13 is operated to the neutral position, the hydraulic cylinder 7 stops (step S21), and the seedling planting device 6 automatically stops at the upper limit position. Thus, the second lifting lever 20
Is operated to the ascending position U, the planting clutch 16 is operated to the transmission cutoff side by the motor 17, and the seedling planting apparatus 6 can be raised at a stretch to the upper limit position.

Next, when the second raising / lowering lever 20 is operated to the lowering position D with the seedling planting device 6 raised (step S1).
6, S23 (N = 1)), as in the previous section [4] and step S8 in FIG. 3, the automatic lifting control is operated in a state where the planting clutch 16 is operated to the transmission cutoff side (step S2).
4, S25). In a state where the automatic elevating control is operated, the seedling planting device 6 is apparently and continuously lowered, and when the float 12 is in contact with the rice field G, the seedling planting device 6 is apparently stopped at the rice field G. Becomes In this case, even if the second elevating lever 20 is held at the lowering position D or the second elevating lever 20 is operated to the lowering position D and then to the neutral position N, the lowering of the seedling planting device 6 is continued. Is done. Thus the second
By operating the raising / lowering lever 20 to the lowering position D, the seedling planting device 6 can be lowered at a stretch until the float 12 touches the rice field surface G.

In the state where the seedling planting device 6 is lowered as described above (when the automatic raising and lowering control is activated), the second raising / lowering lever 20 is operated to the neutral position N and then to the lowering position D again (step S16, S23 (N = 2)), the planting clutch 16 is operated to the transmission side by the motor 17 (step S26), and the preceding item [4] and step S in FIG.
9. The planting operation is started in the same manner as in S10.

In step S19 in FIG. 4, before the seedling planting device 6 reaches the upper limit position while the seedling planting device 6 is being lifted,
When the second raising / lowering lever 20 is operated to the lowering position D (steps S20 and S22), the process proceeds to steps S24 and S25, where the raising drive of the seedling planting device 6 is stopped and the seedling planting device 6 is stopped.
Is driven downward (operation of automatic lifting control). Conversely, in step S25 in FIG. 4, when the second raising / lowering lever 20 is operated to the raising position U before the float 12 reaches the rice field G while the seedling planting apparatus 6 is descending (step S16), steps S17, S18, In S19, the descending drive of the seedling planting device 6 is stopped, and the seedling planting device 6 is driven up.

[6] In the riding type rice transplanter of the eight-row type,
The following work is repeated in the planting work in the field.
As shown in FIGS. 7 and 8, the first planting process K1 is performed by starting the aircraft from the first position (see the solid line in FIG. 7) on one ridge G1 side, and when the aircraft reaches the other ridge G1. , The other ridge G1 turns around the ridge, and the second planting process K
Enter 2. When the aircraft reaches one ridge G1 after the second planting process K2, it makes a turn at the ridge of one ridge G1,
Enter the third planting process K3.

In this case, the swirl at each ridge is performed as follows. As shown in FIG. 7 and FIG.
When the first planting process K1 is completed and the aircraft approaches one ridge G1, the front end of the aircraft remains in one ridge G1 while being kept straight.
Run until the vehicle substantially contacts the vehicle, and suspend the aircraft. The pitman arm 29 is swung from the straight traveling position A side to the right (left) steering limit B to start the aircraft, perform the first half turn L1 on the ridge side, and then move the pitman arm 29 to the right (left). ) From the steering limit B to the straight position A side,
A straight running L2 is performed on the ridge. When the straight running L2 on the ridge is finished, the pitman arm 29 is rocked from the straight position A to the steering limit B on the right (left) to perform a second half turn L3 on the ridge, and then the pitman. By swinging the arm 29 from the right (left) steering limit B to the straight traveling position A side,
Enter the second planting process K2.

In the first planting step K1 shown in FIG. 7, the reference traveling distance J0 used in the subsequent second and third planting steps K2 and K3 is detected. The detection of J0 will be described with reference to FIGS. In a state where the aircraft is positioned at the first position on one ridge G1 side (see the solid line in FIG. 7), the second
The raising and lowering lever 20 is operated to the lowering position D, and the seedling planting device 6 is moved.
Is lowered (step S25) (operation of the automatic raising / lowering control), the second raising / lowering lever 20 is again operated to the lowering position D, and the planting clutch 16 is operated to the transmission side by the motor 17 (step S26). When the first planting process K1 is started, the operator immediately presses and operates the detection switch 22 (see FIG. 2) provided in the driving unit 4 (step S1).
2). Conversely, after pressing the detection switch 22, the second
The seedling planting device 6 may be lowered by the raising / lowering lever 20 (operation of automatic raising / lowering control), and the planting clutch 16 may be operated to the transmission side by the motor 17.

Thus, the travel distance J detected last time is
1 and the reference traveling distance J0 are deleted (step S1).
3) The detection of the traveling distance J1 of the first planting process K1 is started (steps S14 and S15). A rotation speed sensor 27 for detecting the rotation speed of the transmission system to the rear wheel 2 (see FIG. 2)
The detection of the traveling distance J1 of the first planting step K1 is performed based on the detection value of the rotation speed sensor 27.

As described above, when the first planting process K1 is completed and the aircraft reaches the other ridge G1, the aircraft is temporarily stopped and the second lifting lever 20 is operated to the ascending position U (step S16). , S17), the planting clutch 16 is operated by the motor 17 to the transmission cut-off side (step S18), the seedling planting device 6 is driven up (step S19), and the pitman arm 29 is moved right (left) from the straight traveling position A side. The swinging operation is performed up to the steering limit B) to start the aircraft and perform the first half turn L1 on the ridge side.

As a result, when the seedling planting device 6 stops at the upper limit position (steps S20 and S21), the detection of the traveling distance J1 of the first planting process K1 is completed, and the detected first planting process is completed. The travel distance J1 of K1 is stored (step S28 (M = 1), S29), and the detected 1
For example, 80% of the travel distance J1 of the first planting process K1 is set as the reference travel distance J0 (steps S30 and S30).
31).

After the first half turn L1 on the ridge, the pitman arm 29 is swung from the right (left) steering limit B to the straight-forward position A to perform the straight traveling L2 on the ridge. Then, the pitman arm 29 is swung from the straight traveling position A side to the right (left) steering limit B to perform the latter half turn L3 on the ridge. When the turning L3 in the latter half of the ridge is completed, the second elevating lever 20 is operated to the lowering position D (step S16),
Lower the seedling planting device 6 (Steps S23, S24, S
35), the second raising / lowering lever 20 is again operated to the lowering position D (step S16), and the planting clutch 16 is operated to the transmission side by the motor 17 (steps S23, S26).
The second planting process K2 is started (step S27 (M
= 2)).

The detection of the traveling distance J1 of the first planting step K1 as described above is performed when the sub-transmission lever 23 is operated to the low speed position L (step S1).
1) If the sub-transmission lever 23 is operated to the high-speed position H, the travel distance J1 of the first planting process K1 is not detected even if the detection switch 22 is pressed.

[7] Next, from the second planting process K2 to 3
The third planting process K3 will be described with reference to FIGS. When the second planting step K2 is started as described in the preceding section [6], the rotation sensor 27 starts detecting the traveling distance J2 of the second planting step K2 (steps S33 and S34). In this case, the detected 2
The mileage J2 of the second planting process K2 is equal to the reference mileage J0.
If not reached (Step S37), (as shown in FIG. 7, if the aircraft does not end most of the second planting process K2 (for example, 80% of the second planting process K2)), Step S38 Cannot shift to S45.

In other words, during the second planting step K2 (if the detected traveling distance J2 of the second planting step K2 does not reach the reference traveling distance J0 (step S3).
7)), even if the operator operates the steering handle 18 to swing the pitman arm 29 rightward and leftward, the pitman arm 29 as described later is shifted to the right and left first set angles from the straight traveling position A side. Based on the rocking operation of A1, the planting clutch 16 is automatically operated by the motor 17 to the transmission cutoff side, and the seedling planting device 6 is automatically driven to the upper limit position (step S1). S40 to S43, S
46 to S50), and the pitman arm 29 is shifted from the right (left) steering limit B side to the right (left) second set angle A2.
The seedling planting device 6 is automatically driven downward until the float 12 touches the rice field G based on the swing operation (steps S44, S45, S52, S53, S53).
54) does not occur.

As described above, in the middle of the second planting step K2 (if the detected traveling distance J2 of the second planting step K2 does not reach the reference traveling distance J0 (step S3).
7)) By operating the second elevating lever 20 to the ascending position U (steps S35 and S46), the planting clutch 16 is operated by the motor 17 to the transmission blocking side (step S47), and the seedling planting device 6 is operated. Can be driven upward (step S48). Similarly, by operating the second elevating lever 20 to the lowering position D (step S35), the seedling planting device 6 is lowered (steps S52 (N = 1), S
53, S54) (operation of the automatic elevating control), the second elevating lever 20 is again operated to the lowering position D (step S1).
6) The planting clutch 16 can be operated to the transmission side by the motor 17 (steps S52 (N = 2), S5).
5).

As shown in FIG. 2, the pitman arm 29
Between the straight traveling position A and the right and left steering limits B,
A right and left first set angle A1 and a right and left second set angle A2 are set, and an angle between the straight traveling position A and the right first set angle A1 (the straight traveling position A and the left first Set angle A1
Angle C1 is set to a large value, and the angle between the right steering limit B and the right second set angle A2 (the angle between the left steering limit B and the left second set angle A2) is set. (Angle between them) C2 is set to be small.

After the detected traveling distance J2 of the second planting process K2 reaches the reference traveling distance J0 (step S37), the second planting process K2 is completed, and the aircraft is moved to one ridge G1. Upon reaching, suspend the aircraft. Thereafter, the pitman arm 29 is moved left (right) from the straight traveling position A side.
When the pitman arm 29 reaches the left (right) first set angle A1 (step S38 (Q =
1), S40) (see arrow in FIG. 2), counting of the set time T1 is started (steps S41, S42), a buzzer (not shown) is activated (step S43), and the process proceeds to steps S46 to S48. Then, the planting clutch 16 is operated by the motor 17 to the transmission blocking side, and the seedling planting device 6 is driven to move up to the upper limit position. As a result, the aircraft is started to perform the first half turn L1 on the ridge side.

In the riding type rice transplanter, generally, the pitman arm 29 is operated to the right (left) steering limit B from the straight traveling position A side, and the first half turn L1 on the ridge side is performed (see the arrow in FIG. 2). ). As a result, the first half turn L1 on the ridge end is completed, the pitman arm 29 is operated from the left (right) steering limit B side to the straight traveling position A side, and the pitman arm 29 moves to the left (right) second set angle A2. When the pitman arm 29 reaches (step S4)
4) (see arrow in FIG. 2), the buzzer operates (step S)
45), the process proceeds to steps S52 (N = 1), S53 and S54, and the seedling planting device 6 is driven to descend until the float 12 touches the rice field G (operation of automatic elevating control). As described above, from the first half turn L1 on the ridge, the straight traveling L2 on the ridge is performed in a state where the seedling planting device 6 is driven to descend (the operation of the automatic elevating control).

When entering the second half turn L3 on the ridge from the straight traveling L2 on the ridge, the pitman arm 29 moves to the straight position A.
Even if the pitman arm 29 reaches the left (right) first set angle A1 by swinging left (right) from the side, the count of the set time T1 has not yet elapsed (step S
38 (Q = 2), S39), the process proceeds to step S44, and the seedling planting device 6 is not driven up. In this case, the set time T1 is set to be long enough to complete the first half turn L1, the straight running L2, and the second half turn L3 on the ridge side, so that the seedling planting device 6 is driven downward. (Operation of the automatic elevating control), the turning L3 in the latter half near the ridge is performed.

After the second half turn L3 on the ridge is completed and the pitman arm 29 is operated from the left (right) steering limit B to the straight traveling position A, the second lifting lever 20 is moved to the lowering position D. (Step S35), the planting clutch 16 is operated to the transmission side by the motor 17 (Step S52).
(N = 2), S55) The third planting step K3 is started. When the third planting process K3 is started in this way, the detected travel distance J2 of the second planting process K2 is deleted (steps S56 and S57), and the process proceeds to step S3.
2, the process proceeds to S33, and the detection of the traveling distance J2 of the third planting step K3 is started.

In the straight running L2 and the turning L3 in the latter half of the row shown in FIG. 7, the second lifting lever 20 is moved to the raised position U.
And by moving to the lowering position D (step S3
5) The seedling planting device 6 can be driven up and down. In this case, in the state in which the seedling planting apparatus 6 is driven to ascend, the latter half of the turn L3 at the ridge end is completed, and the pitman arm 29 is moved from the left (right) steering limit B side to the left (right) second set angle. A
2 (step S44) (see the arrow in FIG. 2), the buzzer is activated (step S45), and the process proceeds to steps S52 (N = 1), S53, and S54, and the float 12 is moved to the paddle surface G. The seedling planting device 6 is driven to descend until it touches the ground (operation of automatic elevating control).

The detection of the traveling distance J1 of the first planting step K1 as described above is performed when the sub-transmission lever 23 is operated to the low speed position L (step S11 in FIG. 4). If the shift lever 23 is operated to the high-speed position H, the travel distance J1 of the first planting step K1 is not detected even if the detection switch 22 is pressed. Similarly, after the second planting stroke K2, if the auxiliary transmission lever 23 is not operated to the low speed position L (if the auxiliary transmission lever 23 is operated to the high speed position H (step S
32, S36), without shifting to steps S33, S34 (the detection of the traveling distance J2 in the second planting process K2 is not started), and the pitman arm 29 is set to the right (left) from the straight traveling position A side. Even if the swing operation is performed at the angle A1, the seedling planting device 6 is not driven to rise, and the pitman arm 29 is operated to swing from the right (left) steering limit B to the right (left) second set angle A2. However, the seedling planting apparatus 6 is not driven to descend.

In the configuration shown in FIGS. 4, 5, and 6, the reference travel distance J0 is not set based only on the travel distance J1 of the first planting process K1, but the travel detected in the previous planting process. The reference traveling distance J0 may be updated every time the traveling distance of the planting stroke is detected, such that the distance is defined as the reference traveling distance J0 in the next planting stroke.

[First Embodiment of the Invention] FIGS. 4, 5, and 6
As shown in the figure, the setting of the reference traveling distance J0 and the setting time T
Instead of the configuration for detecting the progress of 1, the configuration shown in FIGS. 9 and 10 may be employed. As shown in FIGS. 9 and 10, the second elevating lever 20 is operated to the lowering position D (step S61), and the planting clutch 16 is operated to the transmission side by the motor 17 (step S87 (N = 2), S90, S
91), assume that the planting process K1, K2, K3 has started.

In this state, the pitman arm 29
Is operated to swing right or left from the straight traveling position A side (steps S63 and S69), the detection value of the angle sensor 31 is differentiated, and the swing speed V of the pitman Earn 29 is detected (step S64, step S64). (S70) If the swing speed V is lower than the set speed V0 (steps S65 and S7).
1) It is determined that the direction of the fuselage is to be corrected, not the start of the first half and the second half of the turns L1 and L3 in the ridge side, and the pitman arm 29 is set to the right (left) first set angle A from the straight traveling position A side.
Even if the swing operation is performed to 1, the seedling planting device 6 is not driven to move upward (the process does not shift to steps S75, S81, S82, and S83).

Similarly, when the pitman arm 29 is operated to swing from the right (left) steering limit B side to the straight traveling position A side (step S76), the detection value of the angle sensor 31 is differentiated, and the pitman arm is detected. 29 is detected (step S77), and if the swing speed V is lower than the set speed V0 (step S78), not the end of the first half and the second half of the turns L1 and L3 in the ridge, Even if it is determined that the orientation of the aircraft is to be corrected, even if the pitman arm 29 is rocked from the right (left) steering limit B side to the right (left) second set angle A2, the seedling planting device 6 is lowered. Not driven (step S
80, S87, S88, S89).

As shown in FIGS. 7 and 8, when the aircraft reaches the ridge, the pitman arm 29 is quickly swung right (left) from the straight traveling position A side, and the first half turn L1 on the ridge.
Is started, the swing speed V of the pitman arm 29 becomes higher than the set speed V0 (step S6).
3-S65, S69-S71). As a result, the pitman arm 29 (swing angle) is set to the right (left) first set angle A.
1 (steps S66 and S72), it is determined that the first half turn L1 on the ridge side has been started, and the flow proceeds to step S67.
(W = 0), S68, S73 (W = 0) and S74,
The process proceeds to steps S75, S81, S82, and S83,
The buzzer is operated, the planting clutch 16 is operated by the motor 17 to the transmission blocking side, and the seedling planting device 6 is driven up to the upper limit position.

When the first half turn L1 on the ridge is completed, the pitman arm 29 is rapidly operated from the right (left) travel limit B to the straight position A, and the straight travel L2 on the ridge is started. Therefore, in this case, the swing speed V of the pitman arm 29 becomes higher than the set speed V0 (steps S76 to S78). As a result, the pitman arm 29 (swing angle) is set to the right (left) second set angle A2.
(Step S79), the first half of the turn L near the ridge
1 has been completed, and steps S80 and S87
(N = 1), the process proceeds to S88, S89, the buzzer operates, and the seedling planting device 6 until the float 12 touches the rice field G.
Is driven downward.

If the first half turn L1 on the ridge is a right turn (step S63), when the straight traveling L2 on the ridge ends and the second turn L3 on the ridge enters, The turning L3 in the latter half also turns right. Similarly, if the first half turn L1 on the ridge is a left turn (step S69), when the straight running L2 on the ridge ends and the turn L3 in the second half on the ridge ends, the first half turn L1 on the ridge is completed. Turning L3 also turns left. Accordingly, when the first half turn L1 on the ridge is, for example, a right turn, the pitman arm is used when the straight running L2 on the ridge ends and the second turn L3 (right turn) on the ridge is entered. 29, the seedling planting device 6 is not driven upward (step S67 (W = 1) even if the swing operation is performed rightward from the straight traveling position A side at a speed higher than the set speed V0 to reach the right first set angle A1. ), The processing does not shift to steps S75, S81, S82 and S83).

The straight running L2 on the ridge and the turning L3 in the latter half
By operating the second raising / lowering lever 20 to the raising position U and the lowering position D (Step S61), the seedling planting device 6 can be driven to move up and down. In this case, at the end of the second half turn L3 on the ridge, the pitman arm 29 moves from the right (left) steering limit B side to the right (left) second set angle A2 at a speed higher than the set speed V0. When the steering operation is performed (Steps S76 to S79), the buzzer operates (Step S80), and Steps S87 (N = 1) and S8.
8, the process moves to S89, and the seedling planting device 6 is driven to descend until the float 12 touches the rice field surface G (operation of the automatic elevating control).

If the sub-transmission lever 23 is not operated to the low-speed position L (step S62) (if the sub-transmission lever 23 is operated to the high-speed position H), steps S63 to S63 are executed.
Even if the pitman arm 29 is swung from the straight traveling position A side to the first set angle A1 on the right (left) faster than the set speed V0 without shifting to 80, the seedling planting device 6 is not driven to rise. The pitman arm 29 is higher than the set speed V0 from the right (left) steering limit B side and the right (left) second set angle A is set.
2, the seedling planting device 6 is not driven downward.

[Second Alternative Embodiment of the Invention] FIGS. 9 and 1
In the configuration shown in FIG. 0, a setting switch (not shown) which can be set to shift to steps S62 to S80 and which can be set manually (not shown) may be provided when the first elevating lever 28 is being operated to the automatic position. . In this case, the setting switch is ON
If the setting switch is operated to the position, the transition from step S61 to step S62 is permitted. If the setting switch is operated to the OFF position, the operation returns from step S61 unconditionally (does not shift to steps S62 to S80) ( Steps S61 and S61 in FIG.
62.

In the configuration shown in FIGS.
44 and S45 may be deleted, and the second raising / lowering lever 20 may be operated to the lowering position D to drive the seedling planting apparatus 6 downward. 9 and 10, the steps S76 to S80 may be omitted, and the lowering drive of the seedling planting apparatus 6 may be performed by operating the second raising / lowering lever 20 to the lowering position D.

The present invention is applicable not only to a riding type rice transplanter but also to a riding type direct sowing machine having a direct sowing device (working device) at the rear of the machine body, and a rotary plowing device (working device) at the rear portion of the machine body. And a combine tractor provided with a reaper (working device) at the front of the body so as to be able to move up and down. In the case of an agricultural tractor or a combine, when the working device is driven up, step S18 in FIG. 4, step S47 in FIG. 6, and step S82 in FIG.
The working clutch of the working device may be configured to remain on the transmission side (the working clutch of the working device may be configured not to be operated on the transmission blocking side). With this configuration, steps S23 and S26 in FIG. 4, steps S52 and S55 in FIG. 5, and steps S87 and S90 in FIG. 10 become unnecessary.

[0068]

According to the first and second aspects of the present invention, when a front wheel is steered to the right or left from the straight traveling position, a paddy field work provided with an automatic ascending means for automatically ascending the working device. In the working device elevating structure of the machine, even if the steering wheel is largely operated to the right or left in the middle of the work process, it is accurately determined that the work device is in the middle of the work process, and the working device is not raised by the automatic ascent means. Thus, it is possible to avoid a state in which the work is interrupted in the middle of the work process, and it is possible to improve the workability and work efficiency of the paddy field working machine.

According to the third and fourth aspects of the present invention, there is provided a paddy field working machine having an automatic ascent means for automatically ascending and driving the working device when the front wheel is steered right or left from the straight traveling position. In the work equipment elevating structure, when the first half turn, straight running and the second half turn at the ridge are performed, the second half turn at the ridge is accurately determined, and the lowered working equipment is moved to the second half at the ridge. When turning, it can be configured so that it is not driven up by the automatic ascent means, so that it is possible to perform straight traveling on the levee with the working device lowered and turning in the latter half without hindrance, Workability and work efficiency could be improved.

[Brief description of the drawings]

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

FIG. 2 is a diagram showing a relationship between control systems.

FIG. 3 is a diagram showing a control flow when a first elevating lever is operated.

FIG. 4 is a diagram showing a control flow when a first planting process and a second elevating lever are operated.

FIG. 5 is a diagram showing the first half of the control when the second and subsequent planting steps and the second elevating lever are operated.

FIG. 6 is a diagram showing a second half of the control when the second and subsequent planting strokes and the second elevating lever are operated.

FIG. 7 is a plan view showing a state of a planting process in a field.

FIG. 8 is a plan view showing a state of turning on a ridge.

FIG. 9 is a diagram showing a first half of the control flow when the planting process and the second elevating lever are operated according to the first alternative embodiment of the present invention;

FIG. 10 is a diagram showing a second half flow of control when the planting process and the second elevating lever are operated in the first alternative embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 front wheel 6 work device 7 drive mechanism 27 travel distance detecting means A straight traveling position A1 set angle K1, K2, K3 work stroke J1 travel distance V steering speed V0 set speed T1 set time G1 ridge

Claims (4)

[Claims] 1. A work device is provided on a body so as to be able to move up and down, and a drive mechanism for driving the work device up and down is provided. A right or left set angle is set from a straight-ahead position, and a front wheel is set to the right or left from a straight-ahead position side. When the steering operation is performed to the left set angle, the driving mechanism is provided with an automatic ascent means for ascendingly driving the working device, and the traveling distance of one working stroke from one ridge to the other ridge in the field is reduced. Travel distance detecting means for detecting, travel distance detected by the travel distance detecting means, determining means for determining whether or not one work stroke is substantially completed, and one work stroke is substantially finished If not,
A working device lifting / lowering structure for a paddy field working machine, comprising: a check means for preventing the operation of the automatic lifting means. 2. A work device is provided on the body so as to be able to move up and down freely, and a drive mechanism for driving the work device up and down is provided. A right or left set angle is set from a straight traveling position, and a front wheel is moved from the straight traveling position to the right or left. When the steering operation is performed to the left set angle, the driving mechanism is provided with an automatic ascending means for ascendingly driving the working device, and the front wheels are steered from the straight traveling position side to the right or left set angle side. Speed detection means for detecting a steering speed when the front wheel is steered from the straight traveling position side to the right or left set angle side if the steering speed is lower than the set speed; A working device lifting / lowering structure for a paddy working machine, comprising: a check means for preventing operation of a lifting means. 3. A work device is provided on the body so as to be able to move up and down, and a drive mechanism for driving the work device up and down is provided. A right or left set angle is set from a straight traveling position, and a front wheel is moved from the straight traveling position side to the right or left. When the steering device is steered to the left set angle, the drive mechanism includes an automatic ascent unit that ascends and drives the working device, and when the automatic ascent unit is activated and the work device is ascended, the set time is set. A lifting device for a paddy field working machine, comprising a check means for preventing the next operation of the automatic ascent means until elapses. 4. A work device is provided on the body so as to be able to move up and down, and a drive mechanism for driving the work device up and down is provided. A right or left set angle is set from a straight traveling position, and a front wheel is moved to the right or left from a straight traveling position side. When the steering operation is performed to the left set angle, the driving mechanism is provided with automatic ascending means for ascendingly driving the working device, and when the front wheel is steered to the right or left set angle from the straight traveling position side. If the steering operation direction of the front wheels is the same as the steering operation direction of the front wheels in the previous operation of the automatic ascent means, the paddy working machine having a check means for preventing the operation of the automatic ascent means is provided. Working device elevating structure.