JP2001086820A - Paddy field working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To rationally compose a rice transplanter capable of lifting a seedling planting device interlockingly with steering operations of front wheels and easily carrying out a correction of the travel direction of a traveling machine body in the lifted state of the seedling planting device. SOLUTION: This paddy field working machine is equipped with a control system for lifting the seedling planting device A interlockingly with steering operations of the front wheels 1 in the turning direction and lowering the seedling planting device A interlockingly with operations of the front wheels 1 in the directly advancing direction and further a checking means for checking the lowering of the seedling planting device A even when the steering operations of the front wheels 1 in the directly advancing direction are performed by operating a forced lifting and lowering lever 14 in a state of the lifted seedling planting device A by the control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground work device which can move up and down with respect to a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type. An automatic lifting control for raising and lowering the ground working device so as to maintain the ground float provided in the ground working device in a predetermined grounding posture while providing a clutch for intermittently connecting and disconnecting power to the ground working device; and In the state, the ground work device is raised in conjunction with the operation of the front wheel in the turning direction, and the ground work device in the up state is lowered in conjunction with the return operation of the front wheel in the straight traveling direction to perform automatic lifting control. The present invention relates to a paddy working machine provided with a control device for performing interlocked lifting control for returning.

[0002]

2. Description of the Related Art There is a paddy field working machine constructed as described above in Japanese Patent Application Laid-Open No. 11-196628. In this conventional example, it is assumed that the steering operation of a front wheel is performed to a set angle. When the sensor detects that the seedling planting device (ground work device) has been raised, the sensor detects that the steering operation in the direction of returning the front wheel has been started after the rise, and the seedling planting device is activated. A control mode is set to perform the descending operation. Also, taking a farm tractor as an example,
Many proposals have been made in which the steering operation angles of the front wheels for performing the ascent start and the descent start are set to be equal.

[0003]

Considering the working mode of a paddy field working machine, a rice transplanter or a direct sowing machine travels straight on a traveling machine when transplanting or sowing seedlings in a field scene. At the same time, when the traveling body approaches the ridge, a work mode is adopted in which the front wheel is largely steered to reverse the traveling body almost simultaneously with the operation of raising the ground work device. Therefore, in the conventional configuration in which the interlocking raising / lowering control for forcibly raising the ground work device in conjunction with the steering operation is performed, the number of operations to be performed by the worker is reduced, and the work in a good form is performed. Will be possible.

However, in the conventional technique in which the ground working device is lowered in conjunction with the returning operation of the front wheels in the straight traveling direction, for example, a single steering operation does not result in successful alignment and the steering is not performed. Even if the steering operation is required again after performing the returning operation of the steering wheel, the ground working device descends in conjunction with the returning operation, so that there is a face that it is difficult to perform the alignment, and the seedling planting device is provided. At the present time, the seedling planting device is raised by operating a lifting lever or the like to perform the lifting operation, and there is room for improvement in labor. For the same reason, there is room for improvement because the seedling planting device may be raised and lowered even when the steering handle is turned back to the left or right on a headland or the like for the purpose of correcting the running direction of the aircraft.

SUMMARY OF THE INVENTION It is an object of the present invention to correct the traveling direction of a traveling body while a ground work device is raised without damaging a favorable surface for raising and lowering the ground work device in conjunction with a steering operation of a front wheel. The point is to construct a paddy field working machine that can be performed without any hassle.

[0006]

According to a first aspect of the present invention, there is provided a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type. A ground work device is provided so as to be able to ascend and descend, and a clutch is provided for switching power to and from the ground work device, and the ground work device is provided so as to maintain the ground float provided in the ground work device in a predetermined ground posture. Automatic lifting control for raising and lowering, and in this automatic lifting control state, the ground working device is raised in conjunction with the operation of the front wheel in the turning direction, and the lifting state in conjunction with the return operation of the front wheel in the straight traveling direction. In a paddy working machine provided with a control device for performing interlocking elevating control for lowering the ground work device and returning to the automatic elevating control, a forced elevating operating device is provided, and in the automatic elevating control state, For operation The control form of the control device is set so as to raise the ground working device, and to perform forced lifting control to lower the ground working device in the ascending state and return to the automatic lifting control state based on the operation of the forced lifting operation tool. When the forcible lifting / lowering operation tool is operated while the ground working device is being lifted and maintained in the ascending state by the linked lifting / lowering control, the lowering of the ground working device by the linked lifting / lowering control is prevented. The means and means are provided, and the operation and effect are as follows.

A second feature of the present invention (claim 2) is that, in the first aspect, the foreground operation device is controlled by the forcible lifting / lowering operation tool in a state where the lowering of the ground operation device by the interlocking elevation control is prevented by the blocking means. Is provided with a control switching means for allowing a switch to an automatic elevating control by lowering the
And the effect is as follows.

A third feature of the present invention (claim 3) is that in claim 2, after the ground working device descends and returns to the automatic lifting control state, the clutch is operated in conjunction with the operation of the forced lifting operation tool. In a state in which a forced clutch engaging means for performing an on-coming operation is provided, and in which the lowering of the ground working device by the interlocking elevation control is prevented by the blocking means, the ground switching device is lowered by the control switching means based on the operation of the forced lifting operation tool. Then, after returning to the automatic lifting control, after the clutch is engaged by the forcible clutch engagement means, there is provided a return means for allowing the ground work device to be raised by the interlocking lifting control, the operation thereof, and The effects are as follows.

A fourth feature of the present invention (claim 4) is that in claim 1 to 3, the forcible lifting / lowering operating tool maintains a neutral posture when not operated and is operated upward from the neutral posture to ground. The operation mode is set so that the working device is raised, the ground working device is lowered by operating downward from the neutral position, and the clutch is engaged by operating downward after this descent. , Its actions, and
The effects are as follows.

A fifth feature of the present invention (claim 5) is that a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type can be lifted and lowered to the ground. An automatic lifting control which includes a working device and a clutch for intermittently connecting and disconnecting power to and from the ground working device, and which raises and lowers the ground working device so as to maintain a ground float provided in the ground working device at a predetermined grounding posture. In this automatic lifting control state, the ground work device is raised in conjunction with the operation of the front wheel in the turning direction, and the ground work device in the up state is lowered in conjunction with the return operation of the front wheel in the straight traveling direction. In a paddy field working machine having a control device for performing interlocking lifting control for returning to the automatic lifting control, the turning direction of the front wheel when the ground engagement device is in the automatic lifting control state with the clutch engaged. What It is characterized in that the ground control device is raised by the interlocking control means in conjunction with the operation, and the clutch disengaging means for disengaging the clutch simultaneously with the elevating operation is provided. The operation and effect are as follows. .

A sixth feature of the present invention is that a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type can be lifted and lowered to the ground. An automatic lifting control which includes a working device and a clutch for intermittently connecting and disconnecting power to and from the ground working device, and which raises and lowers the ground working device so as to maintain a ground float provided in the ground working device at a predetermined grounding posture. In this automatic lifting control state, the ground work device is raised in conjunction with the operation of the front wheel in the turning direction, and the ground work device in the up state is lowered in conjunction with the return operation of the front wheel in the straight traveling direction. In the paddy field working machine provided with a control device for performing interlocking lifting control for returning to the automatic lifting control, when the clutch is engaged and the ground working device is in the automatic lifting control state, the front wheel is turned in the turning direction. What When the steering wheel is operated, a clutch disengaging means for disengaging the clutch when the steering angle of the front wheels reaches a first set angle is provided, and the steering angle of the front wheels is larger than the first set angle. The control mode of the control device is set so that the ground control device is raised by the interlocking control means when the set angle is reached. The operation and effect are as follows.

A seventh feature of the present invention (claim 7) is that a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type can be lifted and lowered to the ground. An automatic lifting control which includes a working device and a clutch for intermittently connecting and disconnecting power to and from the ground working device, and which raises and lowers the ground working device so as to maintain a ground float provided in the ground working device at a predetermined grounding posture. In this automatic lifting control state, the ground work device is raised in conjunction with the operation of the front wheel in the turning direction, and the ground work device in the up state is lowered in conjunction with the return operation of the front wheel in the straight traveling direction. In a paddy field working machine having a control device for performing interlocking lifting control for returning to the automatic lifting control, the turning direction of the front wheel when the ground engagement device is in the automatic lifting control state with the clutch engaged. What The clutch is disengaged when the ground work device is raised by the interlocking elevation control in conjunction with the operation, and thereafter, when the front wheel is operated in the straight traveling direction, the ground work device is lowered by the interlock elevation control. Thereafter, a clutch control means is provided for operating the front wheels further in the straight-ahead direction to engage and operate the clutch. The operation and effects are as follows.

[Action]

According to the first feature, the ground work device is raised in conjunction with the operation of the front wheel in the turning direction by the interlocking elevation control, and the ground work device is moved in conjunction with the operation of the front wheel in the straight direction. When the forcible lifting / lowering operating tool is operated in a state where the ground working device is raised by the interlocking raising / lowering control while the lowering control is performed, the blocking means is thereafter provided even if the front wheel is operated in the straight traveling direction. This will prevent the work equipment from automatically lowering. In other words, even when the front wheels are largely operated left and right to perform the alignment, the ground working device can be maintained in the ascended state only by operating the forcible lifting operation tool.

According to the second feature, when lowering the ground working device in a state where the ground working device is prevented from being lowered by the interlocking lifting control as in the first feature, the forced lifting operation tool is operated. By doing so, the control switching means lowers the ground work apparatus, and permits switching to the automatic lifting control.

According to the third feature, as in the second feature, after the ground work device is lowered by operation of the forcible lifting / lowering operation tool and the mode is switched to automatic lifting / lowering control, the forcible lifting / lowering operation tool is operated. The forcible clutch engagement means is capable of engaging the clutch, and thereafter, the return means permits the ground work device to be moved up and down by the interlocking elevation control.

According to the fourth feature, the ground work device is raised by the upward operation of the forced lifting operation tool, and the ground work device is lowered by the downward operation of the forced lifting operation device to shift to automatic lifting control. Accordingly, the operation direction of the ground work device is made coincident with the operation direction of the forcible elevating operation device, so that erroneous operation is less likely to occur, and the operation direction when engaging and operating the clutch is also reasonable.

According to the fifth feature, the ground working device is raised in conjunction with the operation of the front wheel in the turning direction by the interlocking elevation control, and the ground working device is moved in conjunction with the operation of the front wheel in the straight traveling direction. The control for lowering is performed, and the clutch disengaging means operates to disengage the clutch simultaneously with the rise of the ground work device by the interlocking elevation control, so that there is no need for the operator to manually perform the disengaging operation.

According to the sixth feature, the ground working device is raised in conjunction with the operation of the front wheel in the turning direction by the interlocking elevation control, and the ground working device is moved in conjunction with the operation of the front wheel in the straight traveling direction. When the control for lowering is performed and the front wheel is operated in the turning direction, the clutch is disengaged when the steering angle reaches the first set angle, and the second setting larger than the first set angle is performed. When the angle is reached, the ground work equipment is raised.

According to the seventh feature, the ground working device is raised in conjunction with the operation of the front wheel in the turning direction by the interlocking elevation control, and the ground working device is moved in conjunction with the operation of the front wheel in the straight traveling direction. The lowering control is performed, and the clutch control unit operates to disengage the clutch when the ground work device is raised by the interlocking raising / lowering control. Operate the wheels in the straight direction to engage the clutch.

[Effect of the Invention] Accordingly, the traveling direction of the traveling machine body is corrected while the ground work device is raised without impairing a favorable surface for raising and lowering the ground work device in conjunction with the steering operation of the front wheels. Thus, the paddy field working machine capable of performing the above operation without any trouble has been rationally configured (claim 1). Further, the ground working device in the raised state is lowered at an arbitrary timing (claim 2), and after this lowered state, the clutch is operated at an arbitrary timing (claim 3), and it is impossible to operate the forcible lifting / lowering operation tool. (Claim 4). In addition, without deteriorating the good surface for raising and lowering the ground work device in conjunction with the steering operation of the front wheel, the clutch disengagement operation linked with the rise of the ground work device saves the labor of the operator. (See claim 5). Further, the ground operating device can be operated up and down in conjunction with the steering operation of the front wheels without damaging a favorable surface, and the ground operating device can be operated unnecessarily by operating the clutch prior to the ascent. (Claim 6). Also, without deteriorating the good surface for raising and lowering the ground work device in conjunction with the steering operation of the front wheels, the clutch is automatically disengaged in conjunction with the ascent and automatically engaged after the descent. With this operation, it is possible to save the labor of the operator's operation and to perform an easy operation (claim 7).

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [First Embodiment] A first embodiment of the present invention will be described below with reference to the drawings. FIG.
As shown in FIG. 1, an engine 4 is mounted on a front part of a traveling body 3 having a driven front wheel 1 and a driven rear wheel 2 to be steered. The hydrostatic continuously variable transmission H to which the power from the engine 4 is transmitted, the transmission case 5 at the front position to which the power from the continuously variable transmission H is transmitted, and the power from the transmission case 5 are transmitted. A rear axle case 6 is disposed at a rear position, and a steering handle 7 and a driver seat 8 are disposed at a central portion of the traveling body 3. A lift cylinder as a hydraulic actuator is provided at a rear end of the traveling body 3. 9 connects a seedling planting device A for 6-row planting as a ground working device via a parallel quadruple link mechanism L that is driven up and down by 9 and has a fertilizer application device B at the rear of the traveling machine body 3. Rice planting as a paddy working machine Constitute a.

The transmission case 5 has a gear type for switching the traveling speed of the main clutch MC and the traveling body 3 for intermitting the power from the continuously variable transmission H between a traveling traveling speed and a road traveling speed higher than this. An auxiliary transmission SM, a differential mechanism (not shown) for transmitting power to the left and right front wheels 1, 1;
An inter-strain transmission mechanism (not shown) for setting the number of times of seedling planting of the seedling planting device A per unit traveling distance is built in, and power transmission and cutoff from the transmission case 5 to the seedling planting device A are performed. It has a planting clutch PC. Further, the rear axle case 6 is operated to turn off a power transmission system (see the drawing) for transmitting power to the left and right rear wheels 2 and 2 and to transmit power transmitted from the power transmission system to the left and right rear wheels 2 and 2, respectively. Left and right side clutches SC and SC and a traveling brake RB for applying a braking force are incorporated (see FIG. 8).

As shown in FIG. 2, a main shift lever 11 for shifting the continuously variable transmission H is arranged on the left side of the meter panel MP in front of the driver's seat 8. Sub-transmission lever 12 for shifting the sub-transmission
A lifting lever 13 for controlling the raising and lowering of the seedling planting device A is disposed on the right side of the driver's seat 8, and the seedling planting device A is forcibly placed on the right side of the post of the steering handle 7. A forced lifting lever 14 (an example of a forced lifting operation tool) for raising and lowering is disposed, and the main clutch M
A main clutch pedal 15 for operating C is arranged, and a brake pedal 16 is arranged on the right side of the step.

As shown in FIG. 4, the main shift lever 11
Operates the aircraft forward by moving forward from the middle `` stop '' position in the forward '' advance '' area, and moving the aircraft backward by operating backward in the '' reverse '' area from the '' stop '' position. It is linked to the continuously variable transmission H so as to increase the speed in the reverse direction, and is provided with a potentiometer type main transmission lever sensor 11S for determining the operation position at the base end. Further, as shown in the figure, when the forcible lifting lever 14 is not operated, the biasing force of a spring (not shown) is applied to the neutral position "N" in a substantially horizontal posture.
And the raising position "U
P "and the lowering position" D
W ". The forced lifting lever 14
A forced lifting lever sensor 14S formed by combining a plurality of switches is provided at the base end so as to determine the operation position. As shown in FIG. 5, the auxiliary transmission lever 12 has a "high" (an example of a road traveling speed range) position at which the vehicle travels at high speed on the road, and a "low" (an example of a work traveling region) which travels at a relatively low speed during work. And a limit switch type auxiliary transmission lever sensor 12S for determining that the auxiliary transmission lever 12 has been set to the "low" position.
It has. As shown in FIG. 3, the raising / lowering lever 13 stops the raising and lowering of the seedling planting apparatus A, the "neutral" position where the seedling planting apparatus A is raised, and the "elevating" position where the seedling planting apparatus A is lowered. As will be described later, a "lower" position, a "on" position in which the planting clutch PC is engaged while the seedling planting device A is lowered, and a forced raising and lowering of the seedling planting device A by the forcible raising / lowering lever 14, will be described later. At the "automatic" position in which the raising and lowering operation of the seedling planting device A is performed in conjunction with the steering operation of the front wheel 1 (in the "off" position in the figure, the planting clutch is in the disengaged state). A potentiometer-type elevating lever sensor 13S for determining the operating position of the elevating lever 13 is provided at the base end.

As shown in FIG. 1, the link mechanism L includes a pair of left and right top links 17 and a pair of left and right lower links 1.
8 and a vertical link 19 at the rear end. A transmission case 20 of the seedling plant A is attached to a lower end of the vertical link 19.
Are rotatably connected. Seedling planting device A
When power is transmitted from the traveling machine body 3 to the transmission case 20 via the transmission shaft 21, the planting mechanism 23 cuts out one seedling at a time from the lower end of the mat-shaped seedling W placed on the seedling mounting table 22, and At the same time, the seedlings 22 are reciprocated in the lateral direction and the seedlings at the lower end of the mat-shaped seedling W are continuously cut out in the lateral direction. Also, a plurality of ground floats 24 are provided below the seedling planting apparatus A, and among the ground floats 24, a center float in the left-right direction (hereinafter, referred to as a sensing float 24S) is shown in FIG. The sensing float 24S is supported swingably around the axis Q in the horizontal position, and the sensing load is set by urging the front part of the sensing float 24S downward with the sensing spring 25 to set the sensing load. A potentiometer type float sensor FS is provided to measure the swinging posture of the sensing float 24S from the amount of vertical displacement of the section. Further, in a state where the sensing float 24S is in contact with the field scene S, automatic raising and lowering control of raising and lowering the seedling planting apparatus A is performed so as to maintain the swinging posture of the sensing float 24S.
The fertilizer applicator B feeds out the granular or powdered fertilizer stored in the hopper 26 in synchronization with the running speed,
The air is supplied to the hose 28 by the air from the nozzle 7, and is supplied to the bottom of the field scene S from the groove generator 29 provided in the ground float 24.

In this rice transplanter, a steering control system is configured as shown in FIG. That is, the pitman arm 32 of the power steering unit 31, to which the operating force of the steering handle 7 is transmitted, and the knuckle arms 33, 33 of the left and right front wheels 1, 1 are drag links 34, 3.
4, an arm 35 is fixed to the pitman arm 32, and a slot 3 formed in the arm 35 is provided.
The other end of the intermediate rod 36, one end of which engages with the 5A, is connected to a relay arm 37 that is swingably supported around a swing axis in a vertical position, and is further detachable from the relay arm 37. Both ends of the distribution link 38 are connected to the side clutch S.
The arms 39 and 39 of C and SC are linked via an operation rod 40. The relay arm 37 and the distributing arm 38 are configured to be freely switchable between a state in which the relay arm 37 and the distributing arm 38 are not transmitted to the distributing arm 38 (a switching operation system is shown). When the steering handle 7 is operated in a state where the relay arm 37 and the distributing arm 38 are set in the linked state, the left and right front wheels 1, 1 are steered in conjunction with the swing of the pitman arm 32. And the slot 35A
When the pitman arm 32 swings out of the range of accommodation, the swinging power is applied to the side clutch SC on the inner side of the swing via the intermediate rod 36, the relay arm 37, the distribution link 38, and the operation rod 40. By operating the arm 39, the side clutch SC is disengaged. In addition, a potentiometer type steering sensor SS for measuring the swing amount of the knuckle arm 33 around the axis is provided.

As shown in the figure, the brake pedal 16 is mechanically linked so as to depress the main clutch MC by depressing the main clutch pedal 15.
And the arm 41 of the traveling brake RB and the operating rod 4
2, and the brake pedal 16 and the main clutch MC are mechanically linked. When the brake pedal 16 is depressed, the main clutch MC is disengaged in an intermediate region of the depressing operation. In addition, it is configured such that the wheel braking operation can be performed when the stepping operation is further performed. The transmission driving force is transmitted from the transmission case 5 to the rear axle case 6 via the intermediate shaft 43, and the driving force is transmitted by a pair of bevel gears 44, 4 to each other.
The drive shaft 45 is transmitted to the drive shaft 45 (the differential device is not provided). The drive shaft 45 is provided with a friction multiple disc type side clutch SC and a friction multiple disc type travel brake RB. Have been.

As shown in FIG. 9, this rice transplanter is provided with a control device 47 having a microprocessor, and this control device 47 performs the following control in addition to the above-mentioned automatic elevating control. ing. In other words, the seedling planting apparatus A is raised to the upper limit by operating the forced lifting lever 14 to the up position "UP" in the state where the automatic lifting control is performed.
4 is moved to the lower position "DW" to lower the seedling planting device A to the ground contact state, and return to the automatic elevating control. When the shift lever 11 is operated in the reverse range, the backup control for raising the seedling planting device A to the upper limit and the operation in the turning direction of the front wheel 1 in the state where the automatic raising and lowering control is performed are interlocked. The ground work device A is raised, and interlocked lifting control is performed in which the ground work device A in the ascending state is lowered in conjunction with the returning operation of the front wheel 1 in the straight traveling direction to return to the automatic lifting control. ing.

That is, the main shift lever sensor 11S and the sub shift lever sensor 12
S, the lifting lever sensor 13S, the forced lifting lever sensor 14S, the float sensor FS, a potentiometer-type sensitivity setting device 48 for setting the control sensitivity at the time of automatic lifting control, and a seedling planting device based on the swing posture of the link mechanism L. A limit switch type upper limit sensor 49 for determining that A has reached the upper limit, the steering sensor SS for measuring the steering angle of the front wheel 1, the main clutch sensor 50 for determining the state of the main clutch MC, and the body 3 A backup switch 51 for controlling the raising of the seedling planting device A to the upper limit in conjunction with the operation of moving backward, and a raising and lowering control of the seedling planting device A in conjunction with the steering operation of the front wheel 1. While the signal from each of the auto-up switches 52 is input,
An electric transmission motor 53 for shifting the continuously variable transmission H, an electromagnetic valve V for supplying and discharging hydraulic oil to and from the lift cylinder 9, and an electric implantation motor 54 for turning on and off the implantation clutch PC. A system for outputting a signal is formed for each.

The control device 47 performs the following control. [Automatic raising / lowering control] This control is performed in a state where the raising / lowering lever 13 is set to the "down" position, the "planting" position, or the "automatic" position and the seedling planting apparatus A is lowered to the field scene S. The control mode is the sensitivity setting unit 48
Is set as a control target, and the lift cylinder 9 is driven so that the signal value detected by the float sensor FS is directed to the control target value, thereby raising and lowering the seedling planting apparatus A. Is set to stop the elevation control when the detection value of the float sensor FS reaches the dead zone set in the above. The sensitivity setting unit 48 can operate the control sensitivity in a range from "insensitive" to "sensitive". In this control, if the sensitivity is set to the "insensitive" side, the sensing float 24S tends to fall forward. As a result of the elevation control being performed so as to maintain the posture, the urging of the sensing spring 25 acting on the sensing float 24S is reduced, and the elevation control that sensitively follows the irregularities of the field scene S is performed, and When the sensitivity setting device 48 is set to the “sensitive” side, ascending / descending control is performed so as to maintain the sensing float 24S in a posture in which the sensing float 24S tends to move upward. As a result, the bias of the sensing spring 25 acting on the sensing float 24S is reduced. Ascending / descending control is performed in which the follow-up performance with respect to the unevenness of the field scene S is reduced.

[Forced lifting / lowering control] This control functions when the lifting / lowering lever 13 is set to the "automatic" position. When the forcible raising / lowering lever 14 is moved to the up position “UP” in the state of ascending and descending following S, if the planting clutch PC is in the engaged state, the planting motor 54 is driven to perform the cutting operation and the lift is performed. The cylinder 9 is driven to raise the seedling planting device A until the upper limit sensor 49 detects that the seedling planting device A has reached the upper limit. In this raised state, the forced raising / lowering lever 14 is lowered to the lower position “DW Is operated, the lift cylinder 9 is driven to start lowering the seedling planting apparatus A, and the operation is returned to the automatic elevating control. Further, if the forced elevating lever 14 is again operated to the lowering position "DW" after reaching the automatic elevating control state by this lowering, control for driving the planting motor 54 to enter and operate the planting clutch PC is also performed. .

[Backup Control] This control is performed with the backup switch 51 set to the ON state.
In addition, it functions in a state where the elevating lever 13 is set to the "automatic" position, and the control mode is such that the seedling planting apparatus A moves up and down following the field scene S by the automatic elevating control, When the main transmission lever 11 is operated in the reverse range and the planting clutch PC is in the engaged state, the planting motor 54 is driven to perform the cutting operation, and the lift cylinder 9 is operated.
Is driven to raise the seedling planting device A until the upper limit sensor 49 detects that the seedling planting device A has reached the upper limit. Then, by setting the forced lifting lever 14 to the lowered position "DW" in this raised state, the lift cylinder 9 is driven to start lowering of the seedling planting apparatus A in the same manner as in the forced lifting control, and returns to the automatic lifting control. It is set to let. Further, after reaching the automatic elevating control state by this lowering, the forcible elevating lever 14 is again lowered to the lower position “D”.
When "W" is operated, control for driving the planting motor 54 to enter and operate the planting clutch PC is also performed.

[Linked Elevation Control] This interlocked elevation control is
"Interlocked rising control routine" and "interlocked falling control routine"
And a "clutch control routine". These control modes will be described below. "Interlocked rising control routine" This control is performed only when the flag is "0" as shown in the flowchart of FIG.
2 is set to the ON state (condition 1), the main clutch MC is engaged (condition 2), and the sub-shift lever 1
2 is in the “low” position (condition 3) and the elevating lever 13 is set to the “automatic” position (condition 4).
When this condition is satisfied (steps # 101 to # 103), the front wheel 1 is steered by inputting a signal from the steering angle sensor SS,
When it is determined that the steering angle has reached the rising start angle (α) shown in FIG. 7, the planting motor 54 is driven and turned off only when the planting clutch PC is in the on state. The lift cylinder 9 is driven to raise the seedling planting device A until the upper limit sensor 49 detects that the seedling planting device A has reached the upper limit (# 104 to # 104).
109 steps). In this control, the descent start angle (β) is set to be larger than the descent start angle (α), and when the flag is “1”, the seedling is operated by operating the forced elevating lever 14 as described later. This shows a situation in which the planting clutch PC is in the disengaged state after the planting device A has descended and the automatic lifting control has been performed. This flag is set to "0" in the initial state.

"Interlocked descent control routine"
As shown in the flowchart of FIG. 1, when the seedling planting apparatus A is in the up state and the flag is “0”, the forcible raising / lowering lever 14 is moved to the up position “UP” or the down position “D”.
W ", and if not, a signal from the steering sensor SS is input to determine whether the front wheel 1 has been returned to the angle (β) shown in FIG.
When it is determined that the returning operation has been performed, the lift cylinder 9 is driven to start lowering of the seedling planting apparatus A, and after confirming that the grounding is performed by a signal from the sensing float 24S, the process shifts to automatic lifting control. Control (# 201 to # 201)
207), and in step # 203, the forcible raising / lowering lever 14 is moved up (UP) or down (D).
When it is determined that the operation has been performed to "W", the flag is set to "1"(# 208 step), and when it is determined that the flag is "1" in step # 201, the forced lifting lever 14 is turned on. The seedling planting apparatus A is not lowered until the lowering position "DW" is operated.
After it is determined that has been operated to the lowering position "DW", the control merges with the control from step # 205 and shifts to the automatic elevating control in the same manner as described above (step # 209). In step # 202 of this control, a blocking means R for blocking the seedling planting apparatus A from descending is configured.
Control switching means T for allowing the seedling planting apparatus A to descend by operating the forcible raising / lowering lever 14 in nine steps is configured.

"Clutch control routine" This control is shown in FIG.
As shown in the flowchart of FIG. 2, when the seedling planting apparatus A is in the automatic elevating control state and the forcible elevating lever 14 is operated to the lower position "DW", the planting clutch PC is in the disengaged state. Is operated by operating the planting motor 54, and when the flag is "1" at the time of this entry operation, the flag is reset to "0"(# 301 to #). 306 steps). Further, in steps # 302 to # 304 of this control, a forced clutch engagement means U for allowing the seedling planting apparatus A to descend by operating the forced raising / lowering lever 14 is configured. A return means V for allowing the ascent control of the apparatus A is configured.

As shown in FIG. 7, the relative angle is set so that the angle increases in the order of the rising start angle (α) and the descent start angle (β).
The relative relationship is set so that the side clutch of the rear wheel 2 on the inside of the turn is turned off when the steering angle reaches the rising start angle (α).

As described above, in the first embodiment of the present invention, the seedling planting operation is performed, and when the traveling machine body 3 approaches the ridge and turns the traveling machine body 3 during the operation, the operation of the front wheels 1 is performed. When the heading angle reaches the rising start angle (α), the seedling planting apparatus A is automatically raised in conjunction with the operation of the steering handle 7 by the linked lifting control, and at the same time as the rising starts, the side clutch inside the turning inside is turned on. The SC is turned to enable turning with a small radius, and this control causes the seedling plant A to rise to the upper limit. When the raising and lowering lever 14 is not operated when the seedling planting apparatus A is in the ascending state, the front wheel 1 as in the related art is not used.
Lowers the seedling planting device A in conjunction with the returning operation to the descent start angle (β) and shifts to the automatic raising / lowering control. However, when the seedling planting device A is in the ascending state, the force is applied. When the raising / lowering lever 14 is operated, the seedling planting apparatus A does not descend even if the front wheel 1 is steered to the descending start angle (β). The front wheels 1 are operated left and right while A is maintained at the ascending position, so that the setting of the traveling posture of the traveling machine body 3 and the alignment can be easily performed. Thereafter, by operating the forced lifting lever 14 to the lower position “DW” at an arbitrary timing, the seedling transplanter A
Is controlled to move to the automatic elevating control by moving the forcible elevating lever 14 to the lowering position "DW" even after shifting to the automatic elevating control. Only after that, the raising of the seedling planting apparatus A in conjunction with the steering operation of the front wheel 1 is allowed.

[Second Embodiment] Hereinafter, a second embodiment of the present invention will be described.
An embodiment will be described with reference to the drawings. In the second embodiment, components having the same functions as those in the first embodiment are denoted by the same reference numerals and symbols as in the first embodiment.

[Linked Up / Down Control] The linked up / down control according to the second embodiment is composed of a "linked up control routine" and a "linked down control routine". These control modes will be described below. "Interlocked rising control routine" This control turns on the auto-up switch 52 as shown in the flowchart of FIG.
In the set state (condition 1), the main clutch MC is in the engaged state (condition 2.), the sub-shift lever 12 is in the "low" position (condition 3.), and the lifting lever 13 is It functions in the state set to the “automatic” position (condition 4), and when this condition is satisfied (# 1
01, # 102 steps), steering angle sensor SS
When the front wheel 1 is steered by inputting a signal from the vehicle, and it is determined that the steering angle has reached the first set angle (θ1) shown in FIG. 13, the planting clutch PC is in the on state. When the planting motor 54 is driven to perform the cutting operation only when the steering wheel is in the position, the steering operation is further performed. When the steering angle of the front wheels 1 reaches the second set angle (θ2) shown in FIG. The lift cylinder 9 is driven and the seedling planting device A is raised until the upper limit sensor 49 detects that the seedling planting device A has reached the upper limit (# 103 to # 108).
Steps). In this control, as shown in FIG. 13, the second set angle (θ2) is set to be larger than the first set angle (θ1). In this control, in steps # 103 to # 106, the clutch engagement means W for disengaging the clutch at the same time as the raising of the seedling planting device A and the steering angle of the front wheel 1 are set to the first set angle (θ1). And clutch disengaging means X for disengaging the clutch when it has reached
Disengage the clutch when raising the seedling planting device A,
After lowering of the seedling planting apparatus A, it constitutes a part of the clutch control means Y for operating the front wheel 1 in the straight traveling direction to engage the clutch.

"Interlocked descent control routine"
As shown in the flowchart of FIG. 5, when the seedling planting apparatus A is in the ascending state, a signal from the steering sensor SS is input to determine whether or not the front wheel 1 has been returned to the first set angle (θ1). When it is determined that the returning operation has been performed, the lift cylinder 9 is driven to start lowering of the seedling planting apparatus A, and after confirming that the grounding is performed by a signal from the sensing float 24S, the process shifts to the automatic lifting control. (Steps # 201 to # 205). After that, when the signal from the steering sensor SS is input and the steering angle of the front wheel 1 decreases to the third set angle (θ3) shown in FIG. The planting motor 54 is driven to engage the planting clutch PC (steps # 201 to # 208). In this control, the clutch is disengaged when raising the seedling planting device A in steps # 206 to # 208, and after the seedling planting device A descends, the front wheel 1 is operated in the straight direction. Constitutes a part of the clutch control means Y for engaging and operating the clutch.

As described above, in the second embodiment of the present invention, the seedling planting operation is performed, and when the traveling body 3 approaches the ridge and turns the traveling body 3 during the operation, the operation of the front wheels 1 is performed. When the heading angle reaches the first set angle (θ1), the seedling planting apparatus A is automatically raised in conjunction with the operation of the steering handle 7 by the interlocking raising / lowering control. By turning the clutch SC, turning with a small radius is enabled, and this control causes the seedling plant A to rise to the upper limit. Then, when the front wheel 1 is returned to the second set angle (θ2), the seedling planting device A is moved down in conjunction with the operation to shift to the automatic lifting / lowering control, and further, goes straight ahead. When the front wheel 1 is returned in the direction to reach the third set angle (θ3), the planting clutch PC is automatically turned on and operated, and the operation of the operator is not required. I have.

[Brief description of the drawings]

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

FIG. 2 is a plan view of the front part of the rice transplanter.

FIG. 3 is a plan view showing an operation path of a lifting lever.

FIG. 4 is a side view showing an operation area of a main shift lever and a forced lifting lever.

FIG. 5 is a plan view showing an operation path of an auxiliary transmission lever.

FIG. 6 is a side view showing the linkage between the sensing float and the float sensor.

FIG. 7 is a plan view showing a steering angle of a front wheel.

FIG. 8 is a plan view showing a steering operation system for front and rear wheels.

FIG. 9 is a block circuit diagram of a control system.

FIG. 10 is a flowchart of an interlocking ascending routine;

FIG. 11 is a flowchart of an interlock lowering routine;

FIG. 12 is a flowchart of a clutch control routine.

FIG. 13 is a plan view showing a steering angle of a front wheel according to the second embodiment.

FIG. 14 is a flowchart of an interlocking rising routine;

FIG. 15 is a flowchart of an interlock lowering routine;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Front wheel 2 Rear wheel 3 Running body 14 Forced raising / lowering operation tool 24S Grounding float 47 Control device A Primer for ground work N Neutral position R Inhibiting means T Control switching means U Clutch engaging means V Return means W Clutch disengaging means X Clutch disengaging means Y Clutch control means PC clutch θ1 First set angle θ2 Second set angle

Claims (7)

[Claims] 1. A ground work device is provided for a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type so as to be able to move up and down freely. It is equipped with a clutch for interrupting the power, and an automatic lifting control for raising and lowering the ground working device so as to maintain the ground float provided on the ground working device at a predetermined grounding posture, and turning of the front wheels in the automatic lifting control state. Interlocking elevation control that raises the ground work device in conjunction with the operation in the direction, and lowers the ground work device in the up state in conjunction with the return operation of the front wheel in the straight direction and returns to the automatic elevation control. A paddy field working machine provided with a control device for performing a lifting and lowering operation, in the automatic lifting and lowering control state, raising the ground working device based on the operation of the forcibly raising and lowering operation device, and The control mode of the control device is set so as to perform a forced lifting control for lowering the ground working device in the ascending state based on the operation of the tool and returning to the automatic lifting control state, and the ground working device is raised by the interlocking lifting control. A paddy working machine comprising a blocking means for preventing the ground work device from descending by interlocking raising / lowering control when the forcible lifting / lowering operation tool is operated while maintaining the ascent state. 2. A control switching means for lowering the ground working device by the forcible lifting / lowering operation tool and allowing a switch to an automatic lifting / lowering control in a state where the ground working device is prevented from being lowered by the interlocking lifting control by the blocking means. The paddy field working machine according to claim 1, wherein 3. A forcible clutch engaging means for engaging and disengaging a clutch in conjunction with the operation of the forcible lifting / lowering operation tool after the ground working device has been lowered to return to the automatic elevating control state, and the interlocking means is provided for the interlocking means by the blocking means. In a state in which the lowering of the ground work device due to the lifting control is prevented, the ground switching device is lowered by the control switching means based on the operation of the forced lifting operation tool, and after returning to the automatic lifting control, the forced clutch engagement means is used. 3. The paddy field working machine according to claim 2, further comprising a return unit that allows the ground work apparatus to rise by interlocking elevation control after the clutch is operated. 4. The ground lifting device is maintained when the forcible lifting / lowering operation tool is not operated, and the ground working device is raised by operating upward from the neutral posture and is operated downward from the neutral posture. The paddy working machine according to any one of claims 1 to 3, wherein an operation mode is set such that the apparatus is lowered and the clutch is operated by being operated downward after the descent. 5. A ground work device is provided for a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type so as to be able to move up and down freely. It is equipped with a clutch for interrupting the power, and an automatic lifting control for raising and lowering the ground working device so as to maintain the ground float provided on the ground working device at a predetermined grounding posture, and turning of the front wheels in the automatic lifting control state. Interlocking elevation control that raises the ground work device in conjunction with the operation in the direction, and lowers the ground work device in the up state in conjunction with the return operation of the front wheel in the straight direction and returns to the automatic elevation control. A paddy field working machine provided with a control device for performing the interlocking control in conjunction with an operation of the front wheel in a turning direction when the ground engaging device is in an automatic elevating control state with the clutch engaged. means It increases the more ground work apparatus, paddy working machine and a clutch disengaging means for operating off the clutch at the same time as this increase. 6. A ground working device is provided for a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type so as to be able to move up and down freely. It is equipped with a clutch for interrupting the power, and an automatic lifting control for raising and lowering the ground working device so as to maintain the ground float provided on the ground working device at a predetermined grounding posture, and turning of the front wheels in the automatic lifting control state. Interlocking elevation control that raises the ground work device in conjunction with the operation in the direction, and lowers the ground work device in the up state in conjunction with the return operation of the front wheel in the straight direction and returns to the automatic elevation control. A paddy field working machine provided with a control device for performing the following, when the ground working device is in an automatic elevating control state with the clutch engaged, when the front wheel is operated in a turning direction, Steering angle Comprises a clutch disengaging means for disengaging the clutch when the first set angle is reached, and by the interlocking control means when the steering angle of the front wheel reaches a second set angle larger than the first set angle. A paddy field working machine in which a control mode of the control device is set so as to raise a ground working device. 7. A ground work device is provided for a traveling body having left and right front wheels of a steering operation type and left and right rear wheels of a non-steering operation type so as to be able to move up and down freely. It is equipped with a clutch for interrupting the power, and an automatic lifting control for raising and lowering the ground working device so as to maintain the ground float provided on the ground working device at a predetermined grounding posture, and turning of the front wheels in the automatic lifting control state. Interlocking elevation control that raises the ground work device in conjunction with the operation in the direction, and lowers the ground work device in the up state in conjunction with the return operation of the front wheel in the straight direction and returns to the automatic elevation control. A paddy field working machine provided with a control device for performing the lifting and lowering in conjunction with an operation of the front wheel in a turning direction when the ground working device is in an automatic lifting and lowering control state with the clutch engaged. control When raising the ground working device, the clutch is disengaged, and thereafter, when the front wheels are operated in the straight running direction, the ground working device is lowered by the interlocking elevation control, and thereafter, the front wheels are further moved in the straight running direction. A paddy working machine comprising a clutch control means for engaging and operating the clutch by operating the clutch pad.