JP2003235313A - Sulky working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem of a conventional tractor automatically lifting an implement according to the gyration of the body by the operation of a steering wheel comprising the danger caused by the lifting of the implement when the steering wheel is turned beyond a prescribed extent even in the stopped mode or the road traveling mode of the tractor. <P>SOLUTION: The sulky working machine is provided with an automatic lifting means to lift the implement 3 liftably attached to a traveling vehicle 1 in connection with the operation to change the moving direction of the body beyond a prescribed extent. The body is provided with a speed sensor 230 to detect the traveling speed and a controlling means to lift the implement 3 by the automatic lifting mechanism when the moving direction of the body is changed beyond a prescribed extent and the speed of the vehicle is judged to be the working speed by the speed sensor 230. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riding type agricultural working machine in which various working devices are mounted on a power vehicle such as a tractor, a riding type rice transplanter, a riding type vegetable transplanter, a riding type grass plant, and the like. The present invention relates to a riding-type working machine such as a riding-type harvesting machine such as a machine and a combine, and a riding-type civil engineering construction machine equipped with other working machines.

[0002]

2. Description of the Related Art As a conventional technique of this kind, there is one in which a working machine is automatically raised when a vehicle is turned by a steering wheel of a tractor.

[0003]

However, in the prior art, the working machine rises when the steering handle is operated above a certain level even when the machine body is stopped or while the vehicle is traveling on the road. However, there was a problem in terms of safety. Further, there is also a problem that the work implement rises and the work is interrupted even when the steering handle is momentarily operated over a certain amount in order to correct the traveling direction of the machine during the work.

[0004]

In order to solve the above-mentioned problems, the invention according to claim 1 is to perform an operation of changing the traveling direction of the machine body of the working device 3 mounted on the traveling vehicle 1 so as to be able to move up and down. In a riding type work machine provided with an automatic raising means for connecting and raising the vehicle body, a vehicle speed sensor 230 for detecting a traveling speed is provided on the machine body, an operation for changing the traveling direction of the machine body to a predetermined value or more is performed, and the vehicle speed sensor This is a riding-type working machine provided with a control means for lifting the working device 3 by an automatic lifting mechanism when 230 detects that the working speed is reached. Therefore, when turning the aircraft at working speed,
Since the working device 3 is automatically raised by an operation of changing the traveling direction of the machine body to a predetermined value or more, the operability is very good. Of course, when the machine is stopped or traveling at high speed on the road, even if an operation to change the traveling direction of the machine to a predetermined value or more is performed, the work device 3 does not rise, so that the work is performed abruptly when the machine is stopped. It is possible to avoid a situation in which the device 3 rises and the operator or the like comes into contact with or is pinched by the work device 3, and the work device 3 suddenly rises during high-speed traveling to impair the running stability of the machine body and It is safe because you can avoid accidents such as falls.

According to a second aspect of the present invention, the working device 3 is a rice transplanter, and the working speed is 0.4 m / sec or more and 1.4 m / sec or less. Is. Therefore, in addition to the effect of the invention according to claim 1, the traveling speed of the airframe during the rice transplanting work is 0.4 m / sec or more and 1.4.
Since the m / sec is less than or equal to m / sec, when the operation for changing the advancing direction of the machine body to a predetermined value or more is performed only during the rice transplanting work, the work device 3 moves up. Therefore, the rice planting work can be performed with high operability and high efficiency. In addition, since the aircraft will advance at an ultra-low speed of less than 0.4 m / sec during ridge crossing and loading on trucks, etc. Even if you do, the work device 3 does not rise, so it is possible to avoid accidents such as the work device 3 suddenly rising, the running stability of the aircraft collapses, and the aircraft falls over at the time of overhanging or falls at the time of loading. is there.

According to a third aspect of the present invention, the riding type work is provided with an automatic raising means for raising the working device 3 mounted on the traveling vehicle 1 so as to be able to move up and down, in association with an operation for changing the traveling direction of the machine body to a predetermined level or more. In the machine, the riding type working machine is provided with a control means for lifting the working device 3 by an automatic lifting mechanism when an operation for changing the traveling direction of the machine body to a predetermined level or more continues for a predetermined time or more. Therefore, when the machine body is turned, the work device 3 is automatically raised by an operation of changing the traveling direction of the machine body to a predetermined value or more, so that the operability is very good. However, since the working device 3 does not rise even if the operation of changing the traveling direction of the machine body to change the traveling direction of the machine body to a predetermined value or more is instantaneously attempted to correct the traveling direction of the machine body during the work, the work device 3 does not move during the work.
It is possible to avoid a situation in which work is interrupted due to a rise in work efficiency, thus improving work efficiency.

[0007]

According to the first aspect of the present invention, when the machine body is turned at a working speed, the working device 3 is automatically raised by an operation of changing the traveling direction of the machine body to a predetermined value or more. The sex is very good. Of course, when the machine is stopped or traveling at high speed on the road, even if an operation to change the traveling direction of the machine to a predetermined value or more is performed, the work device 3 does not rise, so that the work is performed abruptly when the machine is stopped. It is possible to avoid a situation in which the device 3 rises and the operator or the like comes into contact with or is pinched by the work device 3, and the work device 3 suddenly rises during high-speed traveling to impair the running stability of the machine body and It is safe because you can avoid accidents such as falls.

According to the second aspect of the present invention, the traveling speed of the aircraft during the rice transplanting work is 0.4 m / sec or more and 1.4 m / sec or less. Since the working device 3 rises when a change operation is performed, it is possible to perform rice planting work with good operability and efficiency during rice planting work. In addition, since the aircraft will advance at an ultra-low speed of less than 0.4 m / sec during ridge crossing and loading on trucks, etc. Even if you do, the work device 3 does not rise, so it is possible to avoid accidents such as the work device 3 suddenly rising, the running stability of the aircraft collapses, and the aircraft falls over at the time of overhanging or falls at the time of loading. is there.

According to the third aspect of the invention, when the machine body is turned, the working device 3 is automatically raised by an operation of changing the traveling direction of the machine body to a predetermined value or more, so that the operability is very good. . However, since the working device 3 does not rise even if an operation of changing the traveling direction of the machine body to change the traveling direction of the machine body to a predetermined value or more is instantaneously performed during work, the work device 3 rises during the work. It is possible to avoid a situation in which work is interrupted and work efficiency is improved.

Therefore, the problems of the prior art can be solved, and safe and efficient work can be performed.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An eight-row planting type rice transplanter according to an embodiment of the present invention will be described in detail with reference to the drawings. The traveling vehicle 1 is equipped with the rice transplanting device 3 which is a kind of working device by the lifting link device 2 and the fertilizer applying device 4 and is configured as a riding fertilizer applying rice transplanter as a whole. The traveling vehicle 1 is a four-wheel drive vehicle that has a pair of left and right front wheels 6, 6 and rear wheels 7, 7 that are drive wheels.

A mission case 11 is fixed to the front parts of the left and right main frames 10, 10 with bolts, and a water-cooled engine 12 is mounted on the left and right main frames 10, 10 via rubber mounts M ... A hydraulic pump 13 is integrally mounted on the upper surface of the rear portion of the transmission case 11, and a steering post 14 is provided so as to project upward from the front portion of the transmission case 11.

A steering handle 16 and an operation panel 17 are provided on the upper end of the steering post 14. A fuselage cover 19 in which steps are integrally formed from a synthetic resin that serves as a floor for control is attached to the upper portion of the fuselage, and a pilot seat 20 is installed above the engine 12 (the pilot seat 20 is a fuselage cover 19 mounted on the rear upper surface). The front wheels 6 and 6 are front wheel support cases 22 and 2 that are provided so as to be deflectable to the side of the mission case 11.
It is pivotally supported by 2. The rear wheels 7, 7 are pivotally supported by rear wheel support cases 24, 24 integrally attached to the left and right ends of the rolling rod 23. The rolling rod 23 is rotatably supported in a plane perpendicular to the traveling direction by a rolling shaft 25 protruding from a horizontal frame 10a connecting the rear ends of the left and right main frames 10, 10.

Further, the left and right main frames 10, 10 are connected at the front with a U-shaped front connecting frame 10 connecting the both.
The lower part of b is fixed by welding, and its front connecting frame 10b
A front horizontal pipe frame 10c extending in the left-right direction is welded and fixed to the front horizontal pipe frame 10c. Further, support plates 10d made of an L-shaped steel plate are welded and fixed upward to the front horizontal pipe frame 10c. The front portions of the cover support pipes 10e, which are provided on the left and right sides of the support plates 10d, are fixed with bolts.

The rear portions of the cover support pipes 10e are integrally welded and fixed by a rear horizontal pipe frame 10f extending in the left-right direction. After this horizontal pipe frame 1
0f is a support frame 10h extending forward from the upper portions of the left and right vertical frames 10g, 10g that rotatably support the front portion of the lifting link device 2 welded to the rear ends of the left and right main frames 10, 10. It is connected and fixed to the horizontal square pipe 10i welded to the front end via connecting members 10j, 10j.

The rear half of the body cover 19 is
The cover support pipes 10e ... And the rear horizontal pipe frame 10f are placed and supported and fixed. On the other hand, the radiator support arms 10k, 1 are attached to the cover support pipe 10e provided on the right inside of the cover support pipes 10e.
0k is welded and fixed, this radiator fixing arm 1
The radiator 12a of the engine 12 is fixed with bolts at 0k and 10k. That is, the engine 12 is mounted on the left and right main frames 10, 10 and has the radiator 12a.
Is fixed to the cover support pipe 10e, and both are attached to separate members. Therefore, radiator 1
Since 2a is not directly attached to the engine 12, it is not directly affected by the vibration of the engine 12 and is therefore less likely to be damaged. In addition, the cover 2a is a member for supporting the body cover 19 on the side of the engine 12, and The structure of the airframe is simple and the rice transplanter is lightweight and compact.

The rotational power of the engine 12 is transmitted to a counter shaft 32, which is a drive shaft of the hydraulic pump 13, via a belt 31, and further from the counter shaft to a input shaft 35 of the hydraulic transmission HST via a belt 33. The transmission is transmitted from the output shaft 36 of the hydraulic transmission HST to the mission input shaft 34 via a belt. The mission input shaft 3
4, a main clutch 43 is provided, and the driving force of the hydraulic transmission HST is transmitted to the mission input shaft 34 via the main clutch 43. The main clutch 43 is a well-known multi-disc clutch. In the figure, 44 is a friction plate on the main clutch shaft side, 45 is a friction plate on the transmission input shaft side, 46 is a spring for pressing both friction plates, 47,
Reference numeral 48 is a fixed member and a sliding member for switching operation. As described above, the transmission system is arranged on the side of the engine 12 opposite to the radiator 12a, that is, the radiator 12a is arranged on one side of the engine 12 and the transmission system is arranged on the other side of the engine 12. Is arranged, it is possible to obtain a rice transplanter having a good balance between the right and left sides of the airframe, a compact body structure, and excellent running performance.

A mission input shaft 34, a counter shaft 50, a traveling primary shaft 51, a traveling secondary shaft 52, a planted primary shaft 53, and a planted secondary shaft 54 are parallel to the front of the casing 40 of the mission case 11. Is supported by. The gear G1 of the mission input shaft 34 and the gear G2 of the counter shaft 50,
The gear G2 and the gear G3 of the traveling primary shaft 51 mesh with each other, and the rotation of the mission input shaft 34 is transmitted to the traveling primary shaft 51 in the forward direction.

As the main transmission B, the gears G3 and G4 are fitted in fixed positions on the traveling primary shaft 51, and gears G5 and G6 are integrally formed on the traveling secondary shaft 52.
Are fitted so as to be slidable in the axial direction. When the shifters 56 move the gears G5 and G6 and the gears G4 and G5 mesh with each other, the working speed becomes low, and when the gears G3 and G4 mesh, the road traveling speed becomes high. Further, a gear G7 and a back gear G8, which are constantly meshed with the gear G4, are fitted to the planted primary shaft 53, and when the gear G6 is meshed with the back gear G8, a reverse speed is obtained. The position where the gears G5 and G6 do not mesh with any of the gears is neutral. The change lever 90 operated by the main transmission B is provided on the operation panel 17.

Further, as an inter-stock transmission C, gears G9 and G10, which are integrally formed with each other, are fitted on a planted primary shaft 53 slidably in the axial direction, and a planted secondary shaft 54 is also provided.
Gears G11 and G12 are attached to each.
By appropriately moving the gears G9 and G11 by the shifter 57, the gear G9 and the gear G10, and the gear G10 and the gear 1
1, and three combinations of the gear G10 and the gear G12 are obtained, and three-stage stock switch can be performed. Secondary shaft with plant 5
4 is transmitted to the planting part transmission shaft 58 via the bevel gears G13 and G14.

Rear axles 60, 60 and front axles 61, 61 are supported at the rear of the casing 40.
The power is transmitted from the traveling secondary shaft 52 to the rear axles 60, 60 via the rear differential device D, and is transmitted from the rear differential device D to the left and right front axles 61, 61 via the front differential device E. The left and right front axles 61, 61 drive and rotate the left and right front wheels 6, 6, respectively.

The rear differential device D includes a container 63 having a gear G16 meshing with the gear G15 of the traveling secondary shaft 52 formed on the outer peripheral portion thereof, and a primary bevel gear G17 attached to a vertical axis 64 in the container and left and right rear axles. Secondary bevel gears G18 and G18 separately attached to 60 and 60 are housed in a state in which they mesh with each other, and the driving force transmitted to each axle is appropriately changed.

The front differential device E has the same structure as the rear differential device D. In the figure, 65 is a container, 66 is a vertical axis, G19 is a rear differential gear, G20 is a front differential gear, and G21 is a vertical axis. Bevel gear attached to 66, G2
Reference numeral 2 is a bevel gear attached to the front axle 61. The rear differential device D and the front differential device E are provided with differential lock devices F and H for stopping the differential function so that the driving force is evenly transmitted to the left and right axles. This diff lock device F (H) is provided in the container 63 (6
4) claw 69 (70) and claw 73 (74) of the diff lock member 71 (72) that fits into the square rod portion of the axle
And the axle 50 (51) are fixed to each other. The diff lock lever 91 for operating the rear wheel diff lock device F is provided on the operation panel 17. still,
The front wheel diff lock device H is configured so that the diff function is stopped when the diff lock pedal 91 ′ provided on the body cover 19 is depressed. The diff lock lever 91 and the diff lock pedal 91 ′ are both arranged at the front part of the machine body. For example, when the machine comes out of the field by overcoming the ridges in the field, the operator stands down in front of the machine body. (By riding on the front end of the aircraft to use his body as a weight), the aircraft is moved forward or backward to safely cross the ridge. At this time, either of the left and right front wheels 6, 6 or the left and right rear When either of the wheels 7 or 7 spins idle, the operator can immediately operate the diff lock lever 91 and the diff lock pedal 91 'on the front part of the machine body in an easy posture to make the diff lock state and safely cross the ridge. it can.

The rear axles 60, 60 are bevel gears G2.
, G24, ... are connected to the side clutch shafts 76, 76 by power transmission, and further transmitted from the side clutch shafts to the rear output shafts 77, 77 through the side clutches I, I. The side clutch I is a multi-disc clutch, 80 is a friction plate on the side clutch shaft side, and 81 is a friction plate on the rear output shaft side. Reference numeral 82 is an actuating cylinder slidably fitted to the rear output shaft 77, and is biased by a leaf spring 83 in a direction to press both friction plates, and the side clutch I is normally engaged. The side clutch I is disengaged when the operating cylinder 82 is moved in the direction opposite to the urging direction by the shifter 85I.

Further, rear wheel braking devices J, J are provided on the rear output shafts 77, 77. Rear wheel brake device J
Is to press the pressure plates 88, ... To the discs 87, ... Attached to the rear output shaft 77 for braking, and the operation of the pressure plates 88 ,. That is, the side clutch I is normally on and the rear wheel braking device J is not engaged,
When the shifter 85I is operated to move the operating cylinder 82 in the direction opposite to the biasing direction, the side clutch I is disengaged, and the shifter 85J
When is operated, the rear wheel brake device J is applied. The operation of the side clutch I and the rear wheel braking device J (operation of the left and right shifters 85I and 85J) is performed by a pedal 140 provided on the machine body cover 19 described later. The left and right shifter 85I is fixed to the base of the left and right clutch operating arm 86I, and the left and right shifter 85J is fixed to the base of the left and right brake operating arm 86J.

Rear end portions of the rear output shafts 77, 77 project outside the casing 40, and the left and right rear wheel transmission shafts 89, 89 which are transmitted to the rear wheel support cases 24, 24 are connected to the projecting end portions. The left and right rear wheel transmission shafts 89, 89 drive and rotate the left and right rear wheels 7, 7, respectively.

The operating positions of the change lever 90 are reverse speed, neutral speed, working speed, and road traveling speed in the order of operating from the rear to the front. Further, if the diff lock lever 91 is operated forward, the diff lock is performed, and if it is operated backward, the diff on is performed. Therefore, when performing rice planting work in the field, the diff lock lever 91 is set to the diff lock, the change lever is shifted to the working speed, the seedlings are placed on the seedling placing table of the rice planting device 3, and the granular fertilizer tank of the fertilizer applying device 4 is granulated. When fertilizer is put and each part is driven to move forward, the diff lock device F of the left and right rear wheels 7,7 is in a state where the diff function is stopped and the diff function is stopped. Therefore, the straightness of the machine is good and good rice planting and fertilizing work is performed. Can be done at the same time. Further, in the case of traveling on the road, if both the rear differential device D and the front differential device E are operated so that the differential function works, the vehicle can travel safely.

The hydraulic transmission HST is operated by the HST operating lever 110 provided on the right side of the cockpit 20. FIG. 7 is a perspective view for explaining the operation as seen from diagonally forward of the machine body.
As shown in FIG. 5, the HST operation lever 110 is rotatably supported in the left-right direction by a shaft 113 on an operation lever base 112 that is rotatably supported by a shaft 111 in the front-rear direction, and has a crank shape. It is configured to be operated by.
Incidentally, 112a is an urging mechanism formed of a general disc spring for stopping the operation lever base 112 at the operation position.

The operating lever base 112 is provided with a positioning shaft 11 rotatably supported on the machine body by a rod 114.
5 to the arm 116. Positioning shaft 115
A fan-shaped cam plate 117 is fixed to the cam plate 117, and a circular arc groove 117N into which a position roller 119 biased by a spring 118 is fitted when the HST operating lever 110 is in the neutral position N is inserted into the cam plate 117. And an arc groove 117F into which the position roller 119 biased by the spring 118 is inserted when the HST operating lever 110 is at the maximum forward speed position F, and the spring 118 is used when the HST operating lever 110 is at the maximum reverse speed position R. A circular arc groove 117R into which the biased position roller 119 is fitted is formed.

Further, the positioning shaft 115 is provided with an HST operation arm 120, and the HST operation arm 120 is attached to a trunnion operation arm 122 fixed to a trunnion shaft 121 of the hydraulic transmission HST and a rod 123.
It is connected with. Therefore, the HST operation lever 110
Is set to the neutral position N, the cam plate 117
The position roller 119 is fitted into the circular arc groove 117N, the hydraulic transmission HST is held in neutral, and the machine body is in a stopped state. Then, the HST operation lever 11
As 0 is operated from the neutral position N toward the maximum forward speed position F, the rod 114, the arm 116, the positioning shaft 115, the HST operation arm 120, the rod 123, the trunnion operation arm 122, and the trunnion shaft 121 operate in cooperation with each other. The trunnion shaft 121 is gradually operated in the forward direction, and the forward speed of the aircraft gradually increases. On the contrary, H
As the ST operation lever 110 is operated from the neutral position N toward the reverse maximum speed position R, the rod 114, the arm 116, the positioning shaft 115, and the HST operation arm 120 are moved.
The rod 123, the trunnion operation arm 122, and the trunnion shaft 121 operate in cooperation with each other, and the trunnion shaft 121 is gradually operated in the reverse direction, so that the aircraft gradually increases in reverse speed.

On the other hand, an accelerator pedal 130a, whose base is welded and fixed to an accelerator operation pivot arm 130 rotatably provided on the machine body, is in a state where the pedal portion is located on the machine body cover 19 on the right side of the steering handle 16. Provided,
The operation wire 131 connected to the accelerator operation rotation arm 130 cooperates with the accelerator operation mechanism of the engine 12, and when the accelerator pedal 130a is depressed, the accelerator operation rotation arm 130 rotates in the direction a to move the operation wire 13.
1 is pulled in the direction of (b) to operate the accelerator operating mechanism toward the fully open direction to increase the rotation of the engine 12. A torque spring for urging the accelerator operation / rotation arm 130 to rotate in the opposite direction is provided at the rotation axis of the accelerator operation / rotation arm 130.
Is urged to always return upwards when it is not stepped on.

Then, the accelerator operation turning arm 13
0 and the arm 133 provided above the positioning shaft 115 are linked by two vertical operating rods 134F and 134R, and the HST operating lever 110 is operated from the neutral position N toward the maximum forward speed position F. As the arm 133 rotates, the upper operation rod 134F is pushed to rotate the accelerator operation rotation arm 130 in the direction a to pull the operation wire 131 in the direction b to operate the accelerator operation mechanism toward the fully open direction. Turn 12 up. Further, as the operation is performed toward the reverse maximum speed position R, the lower operation rod 134R is rotated by the rotation of the arm 133.
Is pulled to rotate the accelerator operation pivot arm 130 in the a direction to pull the operation wire 131 in the b direction to operate the accelerator operation mechanism toward the fully open direction to increase the rotation of the engine 12. In addition, the up / down operation rod 134F / 134R
And the arm 133, the vertical operation rod 134F · 134
They are connected via long holes 134Fa and 134Ra provided in R, and when the HST operating lever 110 is set to the neutral position N as shown in the figure, the right end of the long hole 134Fa of the upper operating rod 134F is above the arm 133. Pin 133
a, and the left end of the elongated hole 134Ra of the lower operation rod 134R is in contact with the lower pin 133b of the arm 133. Therefore, as the HST operation lever 110 is operated from the neutral position N toward the maximum forward speed position F, the upper pin 133a pushes the upper operation rod 134F by the rotation of the arm 133, but the lower pin 133b.
Does not operate the lower operation rod 134R only by moving the long hole 134Ra portion of the lower operation rod 134R. On the contrary, the lower the pin 133b pulls and operates the lower operation rod 134R by the rotation of the arm 133, the more the operation is performed toward the reverse maximum speed position R, but the upper pin 133a moves the upper operation rod 134F.
The upper operation rod 13 can be moved by simply moving the long hole 134Fa of
4F does not work. Also, 134Fb and 134Rb are
The turnbuckle is provided in the middle of the up / down operation rods 134F / 134R, and is for adjusting the length of the up / down operation rods 134F / 134R so as to be in the above state.

That is, as the forward vehicle speed and the reverse vehicle speed are made faster by the HST operating lever 110, the engine 12 is linked.
Is configured to increase the number of rotations of. Therefore, HS
Since the gear shift operation and the rotation speed operation of the engine 12 can be performed simultaneously by the T operation lever 110, the operability is good and the work efficiency is good (the accelerator pedal 130a is not required to be operated). Further, regardless of the position of the HST operating lever 110, when the HST operating lever 110 is set to the neutral position N as described above, the long hole 1 of the upper operating rod 134F is
Since the right end of 34Fa is in contact with the upper pin 133a of the arm 133 and the left end of the elongated hole 134Ra of the lower operation rod 134R is in contact with the lower pin 133b of the arm 133, depress the accelerator pedal 130a. If operated, the rotation speed of the engine 12 can be freely increased.

Next, the cooperative structure of the pedal 140 will be described with reference to FIGS. Reference numeral 140 denotes a pedal that operates both the main clutch 43 and the left and right rear wheel braking device J, and is arranged on the lower right side of the steering handle 16. When the pedal 140 is depressed, the main clutch 43 is disengaged, and then left and right rear. The wheel brake J is applied and the aircraft stops.

Boss 140 provided at the base of pedal 140
A is externally fitted to a rotary support shaft 142 rotatably supported by the machine body and is fixed by a split pin 140b. When the pedal 140 is depressed, the rotary support shaft 142 is also integrally rotated. ing. Then, the boss portion 140 of the pedal 140
A base portion of the left and right brake operating arms 143 is welded and fixed to a, and an operating rod 144 is provided at the tip of the left and right brake operating arms 143 so as to face downward.
The lower end of the operating rod 144 is welded and fixed to the right end of a counter shaft 145 rotatably supported by the machine body through a long hole 144a formed in the lower end thereof.
It is connected to the upper portion of the character-shaped right arm 146R. The left arm 146 is attached to the left end of the counter shaft 145.
L is welded and fixed.

Then, the right arm 146R and the left arm 14
6L left and right connecting rods 147L from the bottom to the rear
・ 147R is provided, and each left and right connecting rods 147L ・ 1
The rear end of 47R is connected to left and right brake operation arms 86J and 86J that operate the left and right rear wheel brake devices J and J to operate the left and right shifters 85J and 85J.

On the other hand, the base of an arm 148 is welded and fixed to the right end of the rotary support shaft 142.
A main clutch actuating cam roller (bearing) 148a is provided at the tip end of 8, and the base is rotatably supported by the machine body when the pedal 140 is depressed to move the arm 148 upward. Clutch clutch 14
It is provided so as to push up and operate 9. At the tip of the clutch cam 149, the operating rod 150 is directed downward.
Is provided, and the lower end of the operating rod 150 is connected to the tip of an arm 152 provided on a clutch shifter 151 rotatably supported by the machine body. The clutch shifter 151 is configured to operate the sliding member 48 so that the main clutch 43 can be turned on and off.

Further, the shape of the lower surface 149a of the clutch cam 149 against which the main clutch actuating cam roller 148a is abutted is such that the pedal 140 is depressed to operate the arm 148.
When the main clutch 43 is disengaged, the main clutch operating cam roller 148a only rolls on the linear portion 149b of the lower surface 149a. Thus, the clutch cam 149 is hardly moved upward.

That is, when the operator depresses the pedal 140, the left and right brake operating arms 143 and 1
Although 48 rotates upward, the main clutch actuating cam roller 148a of the arm 148 immediately pushes up the clutch cam 149 to actuate the main clutch 43. Until the main clutch 43 is disengaged, the right arm 146R is not rotated even if the left and right brake operation arms 143 are rotated upward because the elongated hole 144a is formed at the lower end of the operation rod 144. When the operator further depresses the pedal 140 after the main clutch 43 is disengaged, the left and right brake actuation arms 143 are further activated.
Moves upward, and the operating rod 144 causes the right arm 146 to move.
R rotates, and the left and right rear wheel brakes J, J operate. At this time, after the main clutch 43 is disengaged, the main clutch actuating cam roller 148a only rolls the linear portion 149b of the lower surface 149a of the clutch cam 149 and hardly moves the clutch cam 149 upward. Therefore, the force with which the operator depresses the pedal 140 is only to disengage the main clutch 43 at first, and to operate the left and right rear wheel brakes J, J after the main clutch 43 is disengaged. Very light stepping force and good operability.

The connecting rod 144 for operating the left and right rear wheel brakes J of the pedal 140 is arranged on the right side of the machine body, and the operating rod 150 for connecting the main clutch 43 is arranged on the left side of the machine body. Since each of them is arranged on the right and left sides of the machine body, it can be compactly arranged with a simple structure, which contributes to downsizing of the machine body.

On the other hand, the pedal 140 is structured so that it can be fixed and released at an arbitrary position where it is depressed, so that structure will be described. The depression surface 153 of the pedal 140 is
The upper left corner is cut out, and the stepped surface 154a of the pedal fixing member 154 is formed in the cutout.
Pedal fixing member 154 so that
It is rotatably supported by a pivot shaft 155. still,
The stepping surface 154a of the pedal fixing member 154 has the pedal 1
It is arranged slightly out of the stepping surface 153 of 40 toward the operator side.

The pedal fixing member 154 has a sawtooth-shaped engaging portion 154b formed on the lower surface of the pedal fixing member 1 opposite to the stepping surface 154a.
Torque spring 156 is provided between 54 and pedal 140.
Is provided, and the saw-like engagement portion 154b on the lower surface of the pedal fixing member 154 is always urged downward. Further, an engaging plate 157 with which the saw-like engaging portion 154b of the pedal fixing member 154 is engaged is fixed to the machine body side, and when the operator steps on the stepping surface 153 of the pedal 140, the engaging plate is automatically engaged. The saw-shaped engaging portion 154b of the pedal fixing member 154 engages with the tip 157a of the plywood 157, and the pedal 140 is automatically fixed at the depressed position. When the operator steps on the stepping surface 154a of the pedal fixing member 154, the engaging portion 154b moves upward against the biasing force of the torque spring 156, and the engaging portion 154b is disengaged from the tip 157a of the engaging plate 157. , Pedal 14
The fixation of 0 is released and the pedal 140 returns to the state before depression. When the pedal 140 is fully depressed, the reference numeral 158 makes contact with the back surface of the depression surface 153 of the pedal 140,
It is a stopper made of a rubber material for stopping the pedal 140.

For example, during the rice planting work in the field, the seedling mount 16
When the pedal 140 is depressed to supply the spare seedlings placed on the spare seedling mount 200, the main clutch 43 is disengaged and the left and right rear wheel brakes J,
J operates and the aircraft stops, and the pedal 140 is automatically fixed in the depressed state by the pedal fixing member 154, so that the operator can immediately leave the cockpit 20 and perform seedling supply work, and workability is improved. good. Then, when the seedling supply is completed, the operator sits on the cockpit 20 and depresses the stepping surface 154a of the pedal fixing member 154, and the engaging portion 154b moves upward against the biasing force of the torque spring 156. The engaging portion 154b is disengaged from the tip 157a of the engaging plate 157, and the pedal 14
The fixation of 0 is released, the pedal 140 returns to the state before the depression, and the rice planting work can be immediately continued, and the work efficiency is good.

When the vehicle is simply stopped while the vehicle is traveling (on the road, etc.), the depression surface 153 of the pedal 140 is depressed.
If the pedal 140 and the stepping surface 154a of the pedal fixing member 154 are stepped on at the same time, the pedal 140 is not fixed.

Next, the rice transplanting device 3 is mounted on the traveling vehicle 1 so as to be lifted and lowered by the lifting link device 2.
The configuration for raising and lowering and the configuration of the rice transplanter 3 will be described. First, the upper end of the piston of a general hydraulic cylinder 160 whose base is rotatably provided in the traveling vehicle 1 is connected to the lifting link device 2, and the hydraulic pump 13 provided in the traveling vehicle 1 is connected.
To supply and discharge pressure oil to the hydraulic cylinder 160 via the solenoid hydraulic valve 161.
The rice planting device 3 connected to the elevating link device 2 is configured to be moved up and down by extending and retracting the 0 piston.

The rice planting device 3 includes a planted transmission case 162 which doubles as a frame and is mounted on the rear portion of the lifting link device 2 via a rolling shaft, and a support member provided on the planted transmission case 162. A seedling stand 163 that is supported and reciprocates in the lateral direction of the machine body, and a transmission case 16 with a plant.
A seedling planting tool 16 which is attached to the rear end portion of the seedling 2 and divides one seedling from the lower end of the seedling mounting table 163 into a field.
4 and the like, which is composed of a center float 165, a side float 166, and the like, which are ground leveling bodies in which the rear part is pivotally supported on the lower part of the planted transmission case 162 and the front part is vertically swingably mounted. . The center float 165 and the side floats 166 are provided to level the field and to level the front of the field where seedlings are planted by the seedling planting tools 164.

Reference numeral 167 denotes a PTO transmission shaft having universal joints at both ends, and is provided to transmit the power of the fertilizer application case 168 to the planting transmission case 162 of the rice transplanter 3. A center float sensor 169 is composed of a potentiometer for detecting the vertical position of the front part of the center float 165.
It is linked by a link with the front upper surface of 65. Then, based on the vertical position detection of the front part of the center float 165 of the center float sensor 169, the control device 17
Solenoid hydraulic valve 16
1, the hydraulic cylinder 160 is used to control the vertical position of the rice transplanter 3.

That is, when the front portion of the center float 165 is lifted by an external force beyond the appropriate range, the hydraulic pump 13 sends the pressure oil pumped out from the inside of the transmission case 11 to the hydraulic cylinder 160 to project the piston. The lifting link device 2 is moved upward to raise the rice transplanting device 3 to a predetermined position, and when the front part of the center float 165 falls below the proper range, the hydraulic cylinder 16
When the pressure oil in 0 is returned to the inside of the mission case 11, the lifting link device 2 is moved downward to lower the rice planting device 3 to a predetermined position, and when the front part of the center float 165 is in the proper range (the rice planting device (3 is in a proper predetermined position), it is provided so that the pressure oil in the hydraulic cylinder 160 is prevented from entering and exiting and the rice planting device 3 is held at a fixed position. In this way, the center float 165 is used as a ground sensor for automatic height control of the rice transplanter 3.

Reference numeral 171 denotes a finger lever arranged below the control handle 10, and the finger lever 1
When 71 is operated in the vertical direction, the finger lever switch 172 constituted by a potentiometer is operated, and the PTO clutch operating means of the control device 170 operates the P switch.
The TO clutch actuation SOL 173 is operated to operate the PTO clutch provided in the fertilizer application case 168 to connect and disconnect the power, and the power to the fertilizer application device 4 and the rice transplanter device 3 can be turned on and off. , Controller 1
The rice planting device raising / lowering means 70 is configured to manually move the rice planting device 3 by operating the solenoid hydraulic valve 161.

That is, when the finger lever 171 is operated "up", the PTO clutch is disengaged, the operation of the fertilizer application device 4 and the rice transplanter device 3 is stopped, and the solenoid hydraulic valve 161 is released.
Is forced to switch the rice transplanter 3 to the ascending side. When the finger lever 171 is operated "down" once after the finger lever 171 is operated "up", the solenoid hydraulic valve 161 causes the center float 1 to move.
When the rice transplanter 3 is in the raised state, the center float 1 is turned on and off.
The rice transplanter 3 descends until the grounding of 65 takes an appropriate posture. When the finger lever 171 is operated to "down" again, the PTO clutch is engaged and the fertilizer applicator 4 and the rice transplanter 3 are operated while the solenoid hydraulic valve 161 is switched by the vertical movement of the center float 165. Driven. After that, each time the finger lever 171 is operated to “down”, the PTO clutch is alternately switched on and off while the solenoid hydraulic valve 161 remains in the automatic control state in which it is switched by the vertical movement of the center float 165.

Now, a pitching mechanism for pitching the rice transplanting device 3 with respect to the traveling vehicle 1 will be described. A hydraulic pitching cylinder 210 is provided in the middle of the upper link 2a of the lifting link device 2, and the length of the upper link is changed by the expansion and contraction of the pitching cylinder 210, so that the rice planting device 3 is moved relative to the traveling vehicle 1. Drive pitching movement is possible. More specifically, the front upper link 2a is formed of a hollow square pipe material, and a fitting member 2c fixed to the front end of the rear upper link 2b is slidably fitted in the rear end of the front upper link 2a. In this state, the leading end of the piston 210a of the pitching cylinder 210 fixed to the front upper link 2a is fixed to the rear upper link 2b side. Therefore, as the pressure oil is supplied to and discharged from the pitching cylinder 210 and the piston 210a advances and retracts, the fitting member 2c fixed to the front end of the rear upper link 2b slides in the rear end of the front upper link 2a, The link length is changed.

On the other hand, an inclination sensor 211 for detecting the inclination angle of the traveling vehicle 1 in the front-rear direction is provided on the main frame 10, and the front and rear of the rice planting device 3 with respect to the field scene regardless of the change in the front-rear inclination posture of the traveling vehicle 1. The pitching control means of the controller 170 switches the control valve 212 of the pitching cylinder 15 based on the detection information of the tilt sensor 21 so as to maintain the tilted posture in a predetermined posture.

Therefore, the rice transplanting apparatus 3 is forcibly pitched so as to have a predetermined posture. For example, when the traveling vehicle 1 tilts to the front by a large amount when the front wheels 6 fall into a recess and the traveling vehicle 1 leans forward and downward from a normal traveling state in a field where the mud surface and the hard plate are horizontal, the pitching cylinder 210 is extended to drive the length of the upper link. By increasing the length, the downward movement of the rice transplanter 3 is offset to maintain the rice transplanter 3 in a predetermined posture.
On the contrary, when the traveling vehicle 1 leans forward to a large extent due to the front wheels 6 riding on the convex portion, the pitching cylinder 2
By shortening and driving 10 to shorten the length of the upper link, the upward movement of the rice transplanter 3 is offset to maintain the rice transplanter 3 in a predetermined posture.

Here, the structure of the portion where the front wheels 6 and 6 are steered by the steering handle 16 is shown in FIG.
This will be described with reference to FIG. Steering wheel 16
Is fixed to the upper part of the steering shaft provided in the steering post 14, and the rotation of the steering shaft is decelerated and transmitted to the output shaft 174 via the steering speed change gear provided in the transmission case 11. The lower end of the output shaft 174 projects from the bottom surface of the mission case 11 and has a pitman arm 175 fixed thereto. The front left and right sides of the pitman arm 175 and the left and right front wheel support cases 22, 22 are connected by left and right rods 176, 176. Therefore, when the steering handle 16 is rotated, it is transmitted to the steering shaft, the steering speed change gear, the output shaft 174, the pitman arm 175, the left and right rods 176, 176, the left and right front wheel support cases 22, 22, and the left and right front wheels 6, 6 are transmitted. Is operated left and right.

On the other hand, an operating roller 177 is rotatably provided on the rear upper surface of the pitman arm 175.
The driven body 1 having a notch portion 178 that is notched in a U shape in plan view so as to surround the left and right sides of the operation roller 177.
79 is rotatably supported on the bottom surface of the mission case 11. The left and right side parts of the driven body 179 are connected to the front parts of the left and right rods 180, 180 connected to the left and right clutch operation arms 86I, 86I. Therefore, when the steering handle 16 is turned to the right by a predetermined amount (the amount that the operator turns to the right with the intention of turning the machine body to the right), the pitman arm 175 also turns to the right and the operating roller 1
77 rotates in the direction of C and pushes the left side surface 178a of the cutout portion 178 of the driven body 179, the driven body 179 is rotated in two directions to pull the right rod 180, and the right clutch operating arm 8
6I is operated, the right side clutch I is disengaged, and the right rear wheel 7 on the turning center side is in an idle state, so the right rear wheel 7 does not damage the tiller, and a large amount of mud is lifted to raise the mud surface. You can turn to the right smoothly and cleanly without ruining. On the contrary, when the steering handle 16 is turned counterclockwise by a predetermined amount or more, the pitman arm 175 is also turned counterclockwise and the actuating roller 177 is turned counterclockwise to push the right side surface 178b of the notch 178 of the driven member 179. And the driven body 17
9 is rotated in two opposite directions to pull the left rod 180, and the left clutch operating arm 86I is operated to move the left side clutch I.
And the left rear wheel 7 on the turning center side becomes idle,
The left rear wheel 7 does not damage the cultivator, and does not lift up a large amount of mud to roughen the mud surface, so that the left turning can be performed smoothly and cleanly.

Further, left and right sensor pushing pieces 182, 182 are provided on the upper surface of the front part of the pitman arm 175, and when the steering handle 16 is rotated 230 degrees to the left or right, it is fixed to the bottom surface of the mission case 11. Also, the auto lift switch 183 is turned on (the steering handlebar 16 rotates left and right at a maximum of 380 degrees).

Next, a control configuration for automatically raising the rice transplanter 3 will be described. First, when the change lever 90 is operated to the reverse speed, a back lift switch 191 is provided which is brought into contact with the contact piece 190 provided at the base of the change lever 90 and is turned on. Is configured to control the solenoid hydraulic valve 161 to raise the rice transplanter 3 to the maximum position by the hydraulic cylinder 160.

As described above, when the change lever 90 is operated to the reverse speed, the rice planting device 3 is automatically raised to the maximum position. Therefore, in order to turn the machine at the edge of the field, the machine can be rotated. Since the rice planting device 3 is automatically raised to the maximum position when the rice plant is moved backward toward the ridge, it is possible to prevent the rice planting device 3 from colliding with the ridge and being damaged.

A vehicle speed sensor 230 for detecting the rotational speed of the traveling secondary shaft 52 which is the final drive shaft of the front and rear wheels 6, 7.
Is provided, and the vehicle speed is determined by the vehicle speed determination means of the control device 170 by detecting the rotation speed of the traveling secondary shaft 52 of the vehicle speed sensor 230. The auto lift switch 183 is turned on when rotated 230 degrees to either
When the vehicle speed satisfies the conditions of 0.4 m / sec or more and 1.4 m / sec or less, the rice planting device raising means of the control device 170 controls the solenoid hydraulic valve 161 to set the rice planting device 3 to the maximum position by the hydraulic cylinder 160. It is configured to raise the temperature (see FIG. 17 control flow chart). This is because the steering handle 16 is used when the aircraft is stopped (when the vehicle speed is less than 0.4 m / sec) or when traveling on the road (when the vehicle speed exceeds 1.4 m / sec). The rice transplanter 3 is prevented from being raised carelessly by operating. That is, only when the rice planting work is performed by moving forward and backward in the field (when the rice planting work speed is 0.4 m / sec to 1.4 m / sec), the steering handle 16 is moved to the left or right by 230 degrees or more. When rotated, the rice transplanter 3 is raised to the maximum position.

On the other hand, when the steering handle 16 is rotated to the left or right by 230 degrees, the automatic lift switch 183 is turned on, and the vehicle speed is 0.4 m / sec or more and 1.4 m / sec or less. Sometimes, before raising the rice transplanter 3 to the maximum position, the PTO clutch actuating means operates the PTO clutch actuating SOL 173 to operate the PT.
The O-clutch is configured to be disengaged, and the PTO clutch is disengaged and the rice transplanter 3 is lifted by simply disengaging the steering handle 16 without manipulating the finger lever 171, and the turning operation can be performed easily. Good operability and work efficiency. The finger lever 171
If you raise, the operation will be prioritized.

In this way, when the steering handle 16 is rotated to the left or right to the maximum in order to turn the aircraft at the edge, the automatic lift switch 183 is turned on and the rice transplanter 3 is automatically moved to the maximum position. Because it will rise
There is no need to operate the rice transplanter 3 when the machine is turned, and the machine can be efficiently turned and workability is improved. Further, it is safe because the rice planting device 3 does not rise carelessly even when the steering handle 16 is operated when the aircraft is stopped or traveling on the road (if the rice planting device 3 unexpectedly rises, a worker may hit the rice planting device 3 or It is dangerous to be pinched, and there is a risk of falling while driving on the road).

The control flow chart of FIG. 18 is a modification of the above-described embodiment, in which the automatic lift switch 1 is operated when the steering handle 16 is rotated 230 degrees to the left or right.
When 83 is turned on and the vehicle speed is 0.4 m / sec or more and the condition satisfying 1.4 m / sec or less continues for 0.2 sec or more, the rice planting device raising means of the control device 170 causes the solenoid hydraulic valve. It is configured to control 161 to raise the rice transplanter 3 to the maximum position by the hydraulic cylinder 160. This is to correct the forward direction of the aircraft so that the seedlings can be planted straight during the forward planting work.
When the operator slightly corrects the forward direction of the machine body with the steering handle 16, the rice planting apparatus 3 is prevented from being lifted carelessly even if the steering handle 16 is operated. In this way, since the rice planting device 3 does not rise carelessly even if the steering handle 16 is operated during the forward planting work, the rice planting work can be properly performed, interruption of the rice planting work can be avoided, and the rice planting work can be efficiently performed. .

On the other hand, the automatic lift switch 183 is turned on outside the left and right sides of the operation panel 17 on the side of the cockpit 20 side.
Then, an automatic lift changeover switch 192a is provided which automatically switches the rice transplanter 3 to a state in which it is automatically raised by the rice transplanter raising means of the controller 170 and a state in which it is not automatically raised even when the automatic lift switch 183 is turned on. There is. Further, the back lift switch 191 is turned on inside the left and right sides of the operation panel 17 on the side of the cockpit 20 side.
Then, a backlift changeover switch 192b is provided which automatically switches the rice transplanter 3 to a state in which it is automatically raised by the rice transplanter raising means of the controller 170 and a state in which it is not automatically raised even if the backlift switch 191 is turned on. There is.

For example, when crossing the ridges to get out of the field, the rice planting device 3 is moved forward while moving forward to cross the ridges in order to improve the front-rear balance of the machine body. Pilot seat 2 to improve
Standing at the front end of the machine away from 0, the front weight of the machine is increased to cross the ridge. At this time, the normal working speed is 0.
Since the vehicle moves at a very low speed of less than 4 m / sec to move the ridge over the ridge, the rice transplanter 3 does not automatically move up even if the operator operates the steering wheel 16, and the ridge can be safely crossed. However, if the fleet is crossed at a work speed of 0.4 m / sec or more and the traveling direction of the aircraft is changed due to the ridge, the pilot operates the steering handle 16 to operate the aircraft. If the auto lift switch 183 is turned on by the turning operation of the steering handle 16 and the rice transplanter 3 is automatically raised when trying to correct the traveling direction of the vehicle, the front-rear balance of the vehicle body is deteriorated and the vehicle body falls over. There is a risk of doing so. Therefore, by disposing the automatic lift changeover switch 192a on the left and right outer sides of the operation panel 17, the automatic lift switch 183 is operated by rotating the steering handle 16 when the steering wheel is crossed as described above.
When the rice planting device 3 is turned on and the rice planting device 3 is about to be automatically raised, the operator can easily turn off the automatic lift changeover switch 192a from the front end of the machine body to stop the automatic raising of the rice planting device 3, which is dangerous. It is safe to avoid.

The automatic lift changeover switch 192a
And, if the backlift switch 192b is turned off, and the rice transplanter 3 is not automatically raised even if the backlift switch 191 is turned on or the automatic lift switch 183 is turned on, the aircraft is moved backward to a barn or the like. The rice transplanter 3 does not automatically move up even if the change lever 90 is operated to the reverse speed when it goes down. Therefore, the rice transplanter 3 can be moved backward with the rice transplanter 3 lowered, and the rice transplanter can be mounted on the upper part of the entrance of the barn or other members inside the barn. It is possible to avoid the situation of hitting 3. Further, when planting around a ridge in a deformed field such as a fan type or a gourd type, the planting work is performed while turning the steering handle 16 along the curved ridge. At this time, the automatic lift changeover switch 192a is used. Is set to the automatic position, when the steering handle 16 is rotated to the left or right by 230 degrees or more, the rice transplanter 3 is automatically operated.
However, if the auto lift changeover switch 192a is turned off, the rice planting device 3 does not rise even if the steering handle 16 is rotated to the left or right by 230 degrees or more, so that the planting work can be performed. ,
Appropriate seedling planting work can be performed even in deformed fields.

In the figure, reference numeral 200 is a spare seedling mounting table provided at the front of the machine body, and 201 is a center mascot used as an index for straight running. As described above, the mission case 11 is provided in the front part of the aircraft near the pitman arm 175 operated by the steering handle 16, and the mission case 1 is provided.
Since the left and right side clutches I, I for turning on and off the right and left rear wheels 7, 7 are provided on the steering wheel 1,
The members (such as the pitman arm 175) operated by 6 and the left and right side clutches I, I of the left and right rear wheels 7, 7 can be arranged close to each other.
The left and right side clutches I, I of the left and right rear wheels 7, 7
The connecting mechanism that cuts off is simple and compact, the manufacturing error of each member is reduced, and a mechanism with good performance can be obtained, good aircraft turning can be performed, and rice transplanting work can be performed satisfactorily. As shown in the drawing, the left and right side clutches I, I and the left and right rear wheel braking devices J, J of the transmission case 11 are at positions overlapping the front wheels 6 in a side view of the body, and the pitman arm 175. It is very close to.

Further, since the transmission case 11 is provided with the left and right rear wheel braking devices J, J for the left and right rear wheels 7, 7, the distance from the pedal 140 is short, and the pedal 140 and the left and right rear wheel braking devices are provided. The mechanism for connecting J and J becomes simple and compact, and the manufacturing error of each member is reduced, so that a mechanism with good performance can be obtained. Especially pedal 1
The main clutch 43 of the transmission 40 is operated by turning the main clutch 43 on and off.
In tandem with the provision of the above, the mechanism for connecting the pedal 140, the main clutch 43, and the left and right rear wheel braking devices J, J to each other is simple and compact, and the manufacturing error of each member is reduced, and the mechanism has good performance. Can be obtained.

In the above embodiment, the side clutch I of the rear wheel 7 on the inside of the turn is disengaged by operating the steering handle 16 over a predetermined angle. However, by operating the steering handle 16 over a predetermined angle. It goes without saying that the side clutch I of the rear wheel 7 on the inside of the turn may be disengaged and the brake device J of the rear wheel 7 on the inside of the turn may be braked. When the left and right rear wheels 7 are driven via the differential device, the steering wheel 16 is operated at a predetermined angle or more to rotate the rear rear wheels 7 inside.
The braking device J may be configured to be braked.

Further, regardless of the position of the HST operating lever 110, the engine speed can be freely increased by depressing the accelerator pedal 130a. Further, when the HST operation lever 110 is operated in the reverse position from the neutral position N, the rotation of the engine 12 remains idling, so that the reverse position can be safely performed.

As another example of the control of the finger lever 171, if the operation panel 17 is provided with a PTO automatic switch and the PTO automatic switch is turned off as shown in the control flow chart of FIG. , "Up" and "down" of the finger lever 171 can be used to raise and lower the rice transplanter 3 and to engage and disengage the PTO clutch.
When the automatic switch is turned on (ON), the finger lever 171 is operated "up" to raise the rice transplanter 3 (or the steering handle 16 is rotated to the left or right by 230 degrees or more). After raising the rice transplanter 3), set the finger lever 171 to "down" 1
When the rice planting device 3 is rotated and lowered until the center float 165 comes into contact with the ground and the proper posture (the rice planting device descends,
The center float sensor 169 detects that the center float 165 has come into contact with the ground and is in a proper posture, and thus it is determined. That is, when the rice planting device is raised and the center float 165 is not grounded, the center float sensor 169 detects that the front part of the center float 165 is in a hanging state, and the rice planting device is not descending. It is determined that the center float sensor 169 detects that the rice transplanter has descended and the center float 165 has come into contact with the ground, and that the rice transplanter has descended), and the vehicle speed sensor 230 has a low turning speed. When it is detected that the speed has been increased, the PTO clutch is turned on.

Therefore, the PTO automatic switch is turned on (O
If set to N), the operator operates the HST operation lever 110 at a high speed in the field to perform planting work, and when approaching the ridge, operates the HST operation lever 110 at a low speed to operate the finger lever. When the steering handle 16 is turned by operating 171 to "up" (note that when the steering handle 16 is turned, the PTO clutch is automatically disengaged and the rice transplanter 3 is raised, so the "up" operation of the finger lever 171 is performed. May be omitted.), PTO
The clutch disengages and the rice transplanter 3 rises, allowing the machine to turn with good workability. When the HST control lever 110 is accelerated at the planting start position after lowering the rice planting device 3 by adjusting the finger lever 171 after turning the aircraft and operating the finger lever 171 to descend, the PTO clutch is automatically engaged. Neighboring planting and fertilizing work can be performed. That is, HST
The operation lever 110 can be operated to increase the speed of the PTO clutch and the finger lever 171 can be used to move the PTO clutch.
It is not necessary to operate the clutch and the operability during turning is further improved.

Finally, another example of the vehicle speed sensor will be described. As shown in FIG. 20, a plurality of sensors S1 and S2, which plunge into the mud during traveling and rotate due to the resistance of the mud, are arranged in the center float 165 of the rice transplanting device 3 at a predetermined interval L in front and back. The sensors S1 and S2 rotate around a horizontal axis 315, and the detection unit rotates in response to a change in resistance due to hardness and softness of mud, and the rotation is detected by potentiometers 316 and 316. This is the configuration. The front and rear sensors S1 and S2 are slightly displaced in the left-right direction, and the sensors do not pass through the same position.
Since the rear sensor S2 is not affected by the trace of passing by, the front and rear sensors S1 and S2 can both detect the proper resistance of the mud.

Then, the front and rear sensors S1 and S2 detect the value of rotation by the resistance of the mud (the resistance changes depending on the hardness and softness of the mud) to detect the hardness of the mud passing by the front and rear sensors S1 and S2. can do. On the other hand, the hardness of the mud throughout the field is not uniform, and the hardness of the mud passing through the machine frequently changes due to the presence of soil blocks, fluctuations in the depth of the cultivator, and differences in soil quality.

Therefore, by paying attention to this variation of hardness and softness, if sensors for detecting hardness are provided at the front and rear positions which are close to each other, a portion detected by the front sensor as hard is detected by the rear sensor as hard. It takes a certain amount of time for the aircraft to move, and if the distance between the front and rear sensors is divided by this time, the forward speed of the aircraft can be calculated.

That is, the values detected by the potentiometers 316 and 316 for the rotation angles of the front and rear sensors S1 and S2 indicate values with a large amount of vertical movement, as indicated by phantom lines in FIG. Therefore, when this detected value is passed through a filter circuit (soft processing by a digital filter), high frequency components are removed and a smooth curve as shown by the solid line of low frequency components is obtained. The value passed through this filter circuit is input to the control device 170, and the vehicle speed calculation means of the control device 170 calculates the ground speed (actual vehicle speed).

That is, in calculating the actual vehicle speed of the riding type rice transplanter, the shift time T when the waveform similarity between the signals of the sensors S1 and S2 passed through the filter circuit is the highest.
Then, the ground speed is calculated from the deviation time T and the sensor interval L. That is, an arbitrary value (sampling time ts) of the sensor S1 or the sensor S2 is shifted, and the shift time T is obtained from the shift number n when the correlation coefficient between the two is strongest (highest) (T = ts × n). Then, the ground speed V is calculated from the deviation time T and the sensor interval L (V = L / T).

In this way, since the ground speed is detected by the sensor that actually enters the mud, erroneous detection can be performed as compared with the conventional ultrasonic Doppler sensor that detects the surface of the field. It can be prevented and accurate detection can be performed. Therefore, other controls can be stably performed based on the actual vehicle speed detected by this sensor.

On the other hand, since the sensors S1 and S2 detect the hardness of the mud in the field, the center float sensor 169 is used to judge the hardness of the mud by the detection value of either sensor S1 (S2). It can also be used for sensitivity correction of the vertical position control of the rice transplanter 3 based on the vertical position detection. That is, the sensitivity of vertical position control is corrected by determining the hardness of mud by the graph for determining the hardness based on the rotation angle of the sensor S1 and the vehicle speed in FIG.

Therefore, since the sensors S1 and S2 have both the function as the vehicle speed sensor and the function as the hard / soft sensor, the structure of one sensor is simplified and the vehicle speed control and the automatic sensitivity correction of the rice transplanter 3 are performed. Vertical position control can be performed, which contributes to cost reduction and simplification of the machine.

[Brief description of drawings]

FIG. 1 is an overall side view showing an 8-row planting type rice transplanter according to an embodiment of the present invention.

2 is an overall plan view of the riding type rice transplanter shown in FIG. 1. FIG.

FIG. 3 is a schematic plan view showing a transmission configuration of a traveling vehicle.

FIG. 4 is a left side view of a main part of the traveling vehicle.

FIG. 5 is a plan view of a main part of the traveling vehicle.

FIG. 6 is a developed sectional view of a mission case.

FIG. 7 is a perspective view showing an operating configuration of a hydraulic transmission HST.

FIG. 8 is a front view showing an operation configuration of a main clutch and a rear wheel brake.

FIG. 9 is a left side view showing an operation configuration of a main clutch and a rear wheel brake.

FIG. 10 is a plan view showing an operation configuration of a main clutch and a rear wheel brake.

FIG. 11 is a left side view showing the operation configuration of the main clutch.

FIG. 12 is a right side view showing an operation configuration of a main clutch and a rear wheel brake.

FIG. 13 is a perspective view showing an operation configuration of a main clutch and a rear wheel brake.

FIG. 14 is a perspective view showing a steering configuration of left and right front wheels.

FIG. 15 is a rear view of the change lever portion.

FIG. 16 is a block circuit diagram of a control system.

FIG. 17 is a control flow diagram of a rice transplanter raising control system.

FIG. 18 is a control flow diagram of a rice transplanter raising control system showing another example.

FIG. 19 is a control flow chart of a PTO clutch control system.

FIG. 20 is a side view of the center float to which the sensor is attached.

FIG. 21 is an explanatory graph of sensor detection values.

FIG. 22 is a graph for discriminating between hard and soft from the rotation angle of the sensor and the vehicle speed.

[Explanation of symbols]

1; Passenger type traveling vehicle 2; Lifting link device 3; Working device (rice transplanter) 16; Steering handle 160; hydraulic cylinder 170; Control device 175; Pitman Arm 182: Left and right sensor push pieces 183; Auto lift switch 230; Vehicle speed sensor

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 2B062 AA02 AA03 AA08 AA10 AB01                       BA22 BA41 BA62 CA03 CA04                       CA05 CA25 CB01 CB06                 2B304 KA12 KA16 LA02 LA09 LB05                       LB16 MA02 MB03 MB06 MD03                       PB05 QA04 QA05 QB02 QB17                       QC03 RA01 RA03 RA28

Claims (3)

[Claims] 1. A riding type working machine provided with an automatic raising means for raising a working device 3 mounted on a traveling vehicle 1 so as to be able to move up and down by being linked to an operation for changing the traveling direction of the body to a predetermined level or more. Vehicle speed sensor 230 to detect speed
And a control means for raising the working device 3 by the automatic raising mechanism when the traveling direction of the machine body is changed to a predetermined value or more and the vehicle speed sensor 230 detects that the working speed is reached. A riding-type working machine characterized by. 2. The riding type work machine according to claim 1, wherein the working device 3 is a rice transplanting device, and the working speed is 0.4 m / sec or more and 1.4 m / sec or less. 3. A riding type working machine provided with an automatic raising means for raising a working device 3 mounted on a traveling vehicle 1 so as to be able to move up and down in association with an operation for changing a traveling direction of the body to a predetermined level or more. When the operation for changing the direction to a predetermined value or more continues for a predetermined time or more, the working device 3 is operated by the automatic raising mechanism.
A riding-type working machine characterized in that a control means for raising the vehicle is provided.