JP2007020420A - Agricultural implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an agricultural implement capable of carrying out ground leveling with expectations by avoiding extreme variation in grounding state of a leveling state of a leveling apparatus 51 even when a traveling machine body is inclined in the longitudinal direction during planting operation in which the leveling apparatus 51 is lowered to operation position. <P>SOLUTION: A leveling apparatus-lifting or lowering cylinder 102 for lifting or lowering the leveling apparatus 51 is installed and a controlling part 100 read the output of a gradient sensor 95 and obtains an angle of obliquity in the longitudinal direction of a vehicle body 15 and the leveling apparatus-lifting or lowering cylinder 102 is operated according to the angle of obliquity. Thereby, height position of a leveling part 52 to a planting apparatus 31 is adjusted by the minute. Then, when the vehicle body 15 is raised to the front, the ground-leveling part 52 is slightly lowered, compared with a case in which the vehicle body 15 is horizontal and when the vehicle body is lowered to the front, the ground-leveling part 52 is slightly raised, compared with a case in which the vehicle body 15 is horizontal. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an agricultural work machine including a leveling device in front of a planting device that can be moved up and down, and more particularly, to drive control of the leveling device as the planting device is lifted and lowered.

  Agricultural work machines have been put into practical use, in which planting devices for planting multiple seedlings in parallel are supported at the rear part of the traveling machine so that they can be raised and lowered via a lifting link mechanism. The steering operation of the traveling machine body can be performed in a state where the planting device is raised.

  In addition, an agricultural work machine has been put into practical use by providing a leveling device that can be raised and lowered in front of the planting device, and leveling the unevenness of the planting surface, and longitudinally cutting the rough headland by changing the direction of the traveling machine body When performing a planting operation or the like, the leveling device is lowered to flatten the planting surface, thereby reducing variation in seedling planting depth.

  Patent Document 1 discloses an agricultural work machine in which a planting device is attached to a rear portion of a traveling machine body via a lifting link mechanism, and the lifting link mechanism is driven by a hydraulic cylinder to raise and lower the planting device. The bottom is provided with a float that is guided in contact with a farm scene.

  Then, the weight of the planting device is supported by the hydraulic valve that operates the hydraulic cylinder by directly turning on / off the ground contact / non-ground contact of the float through a dedicated link mechanism. The planting device is kept at a constant height, and the planting depth of the seedling is kept constant.

  In addition, the float is pivotally supported on the rear end side, and the front end side is forcibly moved up and down with a wire to adjust the inclination angle of the float with respect to the field scene. The inclination angle of the float is adjusted according to the front-rear inclination angle of the traveling machine body, the softness of the farm scene, the engine speed, and the like.

  Patent Document 2 shows an agricultural working machine equipped with a rotary leveling device that is moved up and down integrally with a planting device in front of the planting device. Here, when changing the direction of the traveling machine body in a headland or the like, the planting device and the leveling device are lifted up together by operating the lifting lever of the planting device to release the grounding state.

  Moreover, the leveling device can be moved up and down relatively with respect to the planting device, and the operation of the lifting lever of the leveling device is transmitted by the link mechanism to raise and lower the leveling device, thereby retreating to the grounded work position and upward. The selected non-working position can be selected and set.

JP 2004-229565 A JP 2004-65111 A

  In the agricultural work machine shown in Patent Document 2, in a flattened field scene, the seedling is planted in a state where the planting device is lowered and the leveling device is raised to the non-working position, while the direction is changed by the traveling machine body. In headlands that are likely to be rough due to repeated operations, planting seedlings with the planting device lowered and the leveling device lowered to the working position, based on the operator's judgment and necessary operations Can do.

  However, since the wheels of the traveling aircraft are traveling on the cultivated surface under the soft topsoil layer, the traveling aircraft during planting work may rise forward due to the inclination of the cultivated surface and the weak cultivated surface. When tilting forward, the planting device connected to the traveling machine body using the lifting link mechanism also tilts forward and downward. As a result, there is a possibility that the ground contact state of the leveling device set at the lowered position with respect to the planting device (the depth of the rotor approaching the topsoil layer) may change, and the leveling as expected cannot be performed.

  In other words, when the traveling aircraft tilts forward, the leveling device also rises forward relative to the planting device that advances by sliding the float on the topsoil surface, and in extreme cases, the rotor of the leveling device moves from the topsoil surface. There is a possibility that it will be completely lifted up and impossible to level. On the other hand, if the traveling machine body leans forward, the leveling device moves forward and lowers relative to the planting device, and in extreme cases, the rotor penetrates the topsoil layer and bites into the cultivating surface, causing overload. The traveling speed may fluctuate (decrease).

  Moreover, in the agricultural work machine shown in Patent Document 2, since the leveling device is moved up and down by mechanically transmitting the operation amount of the lifting lever of the leveling device, when the fine lifting control of the leveling device is performed, the link mechanism There is a possibility that the transmission mechanism including the number of parts will be complicated, resulting in an increase in the number of parts and a decrease in assemblability and maintenance due to the complexity of the mechanism.

  Moreover, as shown in Patent Document 1, since the agricultural working machine finely adjusts the inclination of the float during the planting operation to keep the seedling planting depth constant, the grounding device is also grounded by the inclination of the float. Although the state changes, when the traveling body tilts in the front-rear direction, the float also tilts in the same direction, and the depth of approach of the leveling device to the topsoil layer changes.

  The present invention provides an agricultural machine capable of leveling as expected by preventing the ground contact state of the leveling device from fluctuating extremely even if the traveling machine body tilts in the front-rear direction during planting work in which the leveling device is lowered to the work position. The purpose is to provide a working machine.

  The present invention according to claim 1 is arranged between a planting device (31) supported by a traveling machine body (11) so as to be movable up and down, and between the traveling machine body (11) and the planting device (31), and In an agricultural work machine (10) comprising a leveling device (51) that is supported by raising and lowering in conjunction with the planting device (31) and is driven to rotate at least at a working position, before and after the traveling machine body (11) A longitudinal inclination sensor (95) for detecting an inclination angle, a vertical movement means (61) for moving the leveling device (51) up and down relative to the planting device (31), and a work position of the leveling device (51) And a control means (100) for controlling the vertical movement means (61) based on a signal from the front / rear tilt sensor (95).

  According to a second aspect of the present invention, in the agricultural work machine (10) according to the first aspect, a float (45) provided on the planting device (31) so as to be swingable up and down, and a float (45) Elevation control means (26, 130) for automatically raising and lowering the planting device (31) so that the vertical swinging attitude becomes the reference attitude, and sensitivity adjustment means (120) for adjusting the reference attitude of the float The control means (100) includes a reference posture of the float (45) by the sensitivity adjustment means (120) when the forward / backward tilt sensor (95) detects a forward ascending state of the traveling body (11). Is adjusted to the lower side, and the leveling device (51) is controlled to the lower side by the up-and-down moving means (61), and the front and rear inclination sensor (95) detects the front-down state of the traveling machine body (11). If the sensitivity adjustment With adjusted by means (120) to the side increasing the reference posture of the float (45) is made by controlling the side raised the ground leveling device (51) by said vertical movement means (61).

  The reference numerals in the parentheses are for reference to the drawings and do not limit the present invention.

  According to the first aspect of the present invention, when the leveling device (51) is in the planting work state in the working position and the traveling machine body (11) is tilted forward or downward, the longitudinal tilt sensor (95) is Detecting this and controlling the vertical movement means (61) to move the leveling device (51) up and down, regardless of whether the traveling machine body (11) is inclined forward or backward, the leveling device (51) is leveled at a constant working depth. Work can be done.

  According to the second aspect of the present invention, the planting device (31) is controlled to move up and down by the attitude of the float (45), and planting is performed at a certain depth. When in the up state, the float (45) also moves forward, so the reference posture is adjusted to the down side to maintain the constant planting depth, but at the same time the leveling device (51) is controlled to the down side. It is possible to perform leveling work at a certain depth. Further, when the traveling machine body (11) is in the forward descending state, the float (45) is also in the forward descending state, so that the above-mentioned constant planting depth is maintained by adjusting the reference posture to the up side, and the leveling device ( 51) is also controlled to the raising side, so that the leveling work at a certain depth can be performed.

  The reference numerals in the parentheses are for reference to the drawings and do not limit the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of an agricultural work machine according to an embodiment of the present invention, FIG. 2 is a plan view of the agricultural work machine of the present embodiment, and FIG. 3 is a planting device and a leveling apparatus of the agricultural work machine according to the present embodiment. FIG. 4 is an explanatory view of the lifting mechanism, FIG. 4 is an explanatory view of the lever guide, FIG. 5 is an enlarged side view of the vicinity of the leveling device when the leveling device is set at the working position, and FIG. 6 is a state where the leveling device is set at the non-working position. FIG. 7 is an explanatory diagram of the planting device control unit, FIG. 8 is an explanatory diagram of the hydraulic pressure sensing unit and the sensitivity adjustment unit, and FIG. 9 is an elevation control in a state where the traveling machine body is lifted forward. FIG. 10 is an explanatory diagram of the lifting control when the traveling machine body is lowered downward.

  1, 9, and 10, the parts related to the planting device 31 and the leveling device 51 include a hydraulic pressure sensing unit 130 that detects the ground contact of the float 45 and the float 45 in FIGS. 3, 5, and 6. The parts related to the sensitivity adjustment unit 120 that controls the forward / backward tilt posture of the above are not shown in order to facilitate understanding of other components described with reference to the respective drawings.

  In addition, ascending / descending of the leveling device 51 in the following description means not a whole ascending / descending, but a partial ascending / descending limited to the leveling part 52 (support rod 53 to cage rotor 57). is doing.

  13 to 16 correspond to another embodiment in which power transmission to the leveling device 51 is turned on / off by the leveling device clutch cylinder 103 (FIG. 11), but the agricultural work machine 10 of the present embodiment. Except for a mechanism that mechanically transmits the operation amount of the operation lever 85 through the link 108 (FIG. 5) to turn on / off the power transmission to the leveling device 51, its configuration and control are the same as those shown in FIGS. Since it is the same as another embodiment which will be described later with reference, FIGS. 13 to 16 are partially referred to in the description of the agricultural working machine 10 of the present embodiment.

<Outline of lifting control of leveling device>
In the agricultural work machine of the present embodiment, as shown in FIG. 3, since the lifting link mechanism 21 is a four-bar linkage mechanism, when the traveling machine body 11 rises forward, the relationship between the planting device 31 and the leveling device 51 also rises forward. Since the approaching depth of the leveling device 51 to the topsoil layer becomes shallow, the inclination sensor 95 is provided to detect the inclination angle in the front-rear direction, and when the traveling machine body 11 rises forward, the planting device 31 The leveling device 51 is lowered.

  Further, when the traveling machine body 11 is lowered forward, the relationship between the planting device 31 and the leveling device 51 is also lowered forward, and the approaching depth of the leveling device 51 to the topsoil layer is increased, so that the traveling machine body 11 is moved forward. When falling, the leveling device 51 is raised with respect to the planting device 31. Thereby, the approach depth to the topsoil layer of the leveling device 51 is maintained substantially constant.

  When the inclination angle exceeds a predetermined value (for example, 10 degrees) regardless of whether the front is up or down, the leveling device lowered to the work position is raised to the non-work position in an emergency evacuation manner.

<Agricultural work machines>
As shown in FIG. 1, the agricultural work machine 10 supports a planting device 31 so as to be lifted and lowered by a lifting link mechanism 21 connected to a rear portion of a traveling machine body 11. The leveling device 51 is attached to the planting device 31 at an intermediate position between the traveling machine body 11 and the planting device 31, and when the lifting link mechanism 21 is rotated upward, the planting device 31 and the leveling device. 51 and ascend as one.

  The traveling machine body 11 includes a machine body 15 supported by front wheels 12 and rear wheels 13, and an engine 17 covered with a hood 16 is mounted in front of the machine body 15. A seat seat 20 on which an operator is seated is disposed behind the engine 17. Around the seat seat 20, a steering handle 18, various levers necessary for driving operation of the agricultural work machine 10, various pedals, Various switches, instruments, etc. are arranged.

  The elevating link mechanism 21 includes an upper link 22 and a lower link 23 that are pivotally supported by a rear portion of the machine body 15, and a link holder 25 that is connected to the rear ends of the upper link 22 and the lower link 23. The hydraulic cylinder 26 (refer FIG. 8) arrange | positioned between the lower links 23 is provided. When the hydraulic cylinder 26 operates in the shortening direction, the lower link 23 is pulled toward the machine body 15, and the planting device 31 is raised together with the link holder 25.

<Planting device>
The planting part 33 arrange | positioned at the lower part of the planting apparatus 31 plants a plurality of seedlings on a rice field in parallel. The planting depth adjusting unit 41 arranged at the bottom of the planting device 31 can change and set the height of the planting unit 33 with respect to the float 45 to adjust the planting depth of the seedlings in three stages.

  A frame 32 that supports the entire planting device 31 is supported so as to be able to roll with respect to the link holder 25 of the elevating link mechanism 21, and a seedling platform 35 is inclinedly disposed on a stay 34 fixed to the frame 32. Has been.

  As shown in FIG. 2, the seedling platform 35 of the planting device 31 mounts mat seedlings in which seedlings to be planted on the rice field are closely held in an aligned state. As shown in FIG. 5, the planting portion 33 disposed on the lower end side of the seedling platform 35 is rotatably supported on the side surfaces of the rear end portions of the plurality of transmission cases 36 arranged in the direction perpendicular to the paper surface. A plurality of planting cases 37 are provided, and a plurality of planting ridges 38 for scraping one seedling from the mat seedling and planting it on the rice field are arranged in each planting case 37. Power is transmitted through the frame 32 (FIG. 1) and the inside of the transmission case 36 from the PTO shaft (not shown) driven by the engine 17 (see FIG. 1) mounted on the traveling machine body 11. .

  As shown in FIG. 5, the planting depth adjustment unit 41 includes a shaft 42 that is rotatably supported on the lower surface of the transmission case 36, and an arm that has one end fixed to the shaft 42 and protrudes obliquely downward and rearward. 43, a float 45 that is rotatably supported by the other end of the arm 43 and whose bottom surface contacts and slides on the pad surface, an arm 46 having one end fixed to the shaft 42 and projecting upward, And an adjustment lever 47 connected to the end.

  The adjustment lever 47 can be set to move in the front-rear direction along the lever guide 48, and includes a standard position formed on the lever guide 48, a shallow planting position (seedling stage 35 side), and a deep planting position (running). It is held in one of the grooves on the machine body 11 side.

  Here, when the adjustment lever 47 is set to the traveling machine body 11 side, the arm 46 and the arm 43 rotate counterclockwise to raise the float 45 with respect to the transmission case 36, so that the float 45 comes into contact with the rice field. In this state, the entire planting device 31 is lowered with respect to the rice field, and the planting rod 38 approaches the rice field to perform deep planting of seedlings.

  However, when the adjustment lever 47 is set on the seedling bed 35 side, the arm 46 and the arm 43 rotate clockwise to lower the float 45 with respect to the transmission case 36, so that the float 45 comes into contact with the rice field. If it is a state, the whole planting apparatus 31 will raise with respect to a rice field, and the planting rod 38 will space apart from a rice field, and will plant a seedling shallowly.

  The planting depth of the seedling by the setting of the adjusting lever 47 is detected by a planting depth setting potentiometer 97 (FIG. 3) attached to the shaft 42 and generating an output corresponding to the set angle of the arm 43. The output of the planting depth setting potentio 97 is input to the control unit 100 of the agricultural work machine 10 and used for height control of the leveling device 51 described later.

<Soil preparation device>
As shown in FIG. 3, a leveling device 51 is arranged between the rear wheel 13 of the traveling machine body 11 and the float 45 of the planting device 31 so as to be supported by the planting device 31. When the leveling device 51 is lowered and set to the work position, the leveling device 51 enters the topsoil layer in a rotating state and leveles the paddy surface flatly.

  The leveling device 51 sets the work position and the non-working position by moving the leveling portion 52 in the vertical direction with the leveling portion 52 leveling the surface smoothly and the planting device 31 lowered. A moving mechanism 61, a power transmission mechanism 71 that transmits power to the leveling unit 52, and an operation mechanism 81 that simultaneously performs vertical movement of the leveling unit 52 in the vertical movement mechanism 61 and power on / off of the power transmission mechanism 71. I have.

  As shown in FIG. 5, the leveling unit 52 includes a support rod 53, a roller 55 supported by the support rod 53, a rotary shaft 56 rotatably supported by the roller 55, and a plurality of members supported by the rotary shaft 56. A cage rotor 57 and a rotor cover 58 covering the upper portion of the cage rotor 57 are provided.

  The vertical movement mechanism 61 includes a leveling device elevating cylinder 102 that is an electric cylinder incorporating a screw mechanism, a linkage arm 66 and a link 68 that support the support rod 53 so as to be movable up and down, and a front surface of the seedling platform 35 (on the side of the traveling machine body 11). And a spring (not shown) that is stretched between the support rod 53 and biases the leveling portion 52 upward (non-working position). The vertical movement mechanism 61 moves the leveling device 51 up and down by operating the leveling device lifting cylinder 102 and rotating the linkage arm 66.

  The operation mechanism 81 is disposed on the left side of the seat seat 20 in the traveling direction, and is rotatably supported by a shaft 84 (see FIG. 1), an arm 86 fixed to the operation lever 85 integrally, A lever guide 83 is provided below the side surface of the seat 20, and the operation lever 85 can be operated in the front-rear direction along the lever guide 83.

  As shown in FIG. 4A, the lever guide 83 is formed with notches in the lever positions P1, P2, P3, and P4. When the operation lever 85 is tilted backward, as shown in FIG. The leveling device 51 rises to the non-working position (P4: stored), and when the operation lever 85 is tilted backward as shown in FIG. 4B, the leveling device 51 descends as shown in FIG. The working position (P1: deeper, P2: standard, P3 shallower).

  As shown in FIG. 3, an operating lever potentiometer 92 (see FIG. 13) that generates an output corresponding to the rotation angle of the operating lever 85 is provided on the shaft 84 (FIG. 5) of the operating lever 85. A lift height detection potentiometer 99 for detecting a relative angle between the support rod 53 and the linkage arm 66 is provided at a pivotal support position between the linkage arm 66 and the linkage arm 66.

  The control unit 100 of the agricultural work machine 10 detects the output of the operation lever potentiometer 92, discriminates the lever positions P1, P2, P3, and P4 (FIG. 4), and expands and contracts the leveling device lifting cylinder 102 according to the discrimination result. The leveling device 51 is discriminated and the leveling device 51 is guided to the respective height positions corresponding to the lever positions P1, P2, P3, and P4.

  A lift angle potentiometer 96 that outputs a voltage signal corresponding to the rotation angle of the upper link 22 is disposed at a pivotal support position of the upper link 22 with respect to the machine body 15. The control unit 100 detects the ascending / descending and height positions of the planting device 31 based on the output of the lift angle potentiometer 96.

  As shown in FIG. 6, when the operation lever 85 is rotated backward, the control unit 100 operates the leveling device elevating cylinder 102 in the shortening direction to rotate the linkage arm 66 clockwise to support it. The rod 53 is raised.

  However, as shown in FIG. 5, when the operation lever 85 is turned forward, the control unit 100 operates the leveling device lifting cylinder 102 in the extending direction to rotate the linkage arm 66 counterclockwise. The support rod 53 is lowered.

  The leveling device lifting cylinder 102 is an electric cylinder that retains its expansion / contraction position when the power supply is cut off. Therefore, the control unit 100 counts the number of rotations of the motor that operates the electric cylinder without providing the lifting height detection potentiometer 99. By doing so, you may guide the leveling device 51 to each set height position.

  As shown in FIG. 3, the power transmission mechanism 71 is disposed at the rear of the machine body 15 and driven by the engine 17 (FIG. 1), and a clutch 73 disposed on the output side of the power transmission unit 72. And a telescopic transmission shaft 75 that receives power transmission via the clutch 73.

  As shown in FIG. 5, the clutch 73 is provided with a clutch arm 110 for turning the clutch 73 on and off. The rotating end of the clutch arm 110 is pivotally supported by the lower end of the link 108, and the bracket 107 fixed to the upper end of the link 108 is pivotally supported by the rotating end of the arm 86 of the operation mechanism 81.

  Therefore, as shown in FIG. 5, when the operation lever 85 is tilted forward, the link 108 is pushed downward, the clutch arm 110 is rotated clockwise, and the clutch 73 is engaged. By the engagement operation of the clutch 73, the output of the power transmission unit 72 is transmitted to the rotary shaft 56 of the leveling unit 52 through the power transmission mechanism 71 to rotate the cage rotor 57.

  However, as shown in FIG. 6, when the operation lever 85 is tilted backward, the link 108 is lifted upward, the clutch arm 110 is rotated counterclockwise, and the clutch 73 is disengaged. When the clutch 73 is disengaged, the power of the power transmission unit 72 is cut off and the rotation of the cage rotor 57 is stopped.

  A work machine operation lever (not shown) for operating the planting device 31 is arranged on the right side of the traveling direction of the seat 20 of the traveling machine body 11 shown in FIG. A work implement lifting lever potentiometer 101 that generates a voltage signal corresponding to the rotation angle of the machine operation lever is provided. A planting device control unit 140 shown in FIG. 7 is disposed below the seat seat 20.

  As shown in FIG. 7, the planting device control unit 140 operates the work implement cam motor 141 to rotate the work implement operation cam 142, and sets the rotation position corresponding to the operation position of the work implement operation lever to the work implement operation cam. 142. Specifically, the control unit 100 (FIG. 3) rotates the work implement cam motor 141 forward and backward according to the output of the work implement lift lever potentio 101 while referring to the output of the planting device operation cam potentiometer 143. When the output of the planting device operation cam potentiometer 143 becomes a value corresponding to the output of the work implement lift lever potentiometer 101, the work implement cam motor 141 is stopped.

  The work implement operation cam 142 turns on / off the power transmission to the planting unit 33 of the planting apparatus 31 shown in FIG. The contour of the work machine operation cam 142 is followed by a roller 146 attached to an arm 144 pivotally supported by a shaft 145, and the swing of the arm 144 in response to the entering / exiting of the contour turns on / off power transmission to the planting unit 33. It is transmitted to a planting clutch (not shown) that performs the cutting operation.

  As a result, when the planting device 31 is raised or lowered according to the operation of the work implement operating lever, the power transmission to the planting portion 33 is automatically turned on / off at a predetermined timing following the operation of the work implement operating lever. Is done. A sensitivity adjustment unit 120 and a hydraulic pressure sensing unit 130 shown in FIG. 8 are arranged behind the planting device control unit 140.

<Elevation control unit and sensitivity adjustment unit>
The hydraulic pressure sensing unit 130 mechanically feeds back the grounding state of the planting device 31 (FIG. 1) to the hydraulic valve 131 through the linkage mechanism 130A as shown in Patent Document 1 and the like. By turning the hydraulic cylinder 26 (FIG. 1) finely by turning it OFF, the plant scene and the float 45 are supported while the weight of the planting device 31 is supported by the elevating link mechanism 21, as shown in FIG. The grounding state is kept almost constant.

  As shown in FIG. 9, the front end portion of the float 45 is linked to the arm 136 of the hydraulic valve 131 via a linkage mechanism 130A. The linkage mechanism 130A includes a sensing plate 125 pivotally supported at the front end of the float 45, a rear linkage rod 134 linked to the sense plate 125 via a swing arm 135, and a front end portion of the rear linkage rod 134. A front connecting rod 132 connected through a connecting arm 133.

  When the front end of the float 45 rises, the swing arm 135 rotates counterclockwise, pulls the rear connecting rod 134 and the front connecting rod 132 rearward, and rotates the arm 136 of the hydraulic valve 131 rearward. Then, the hydraulic valve 131 is turned ON, the hydraulic pressure of the hydraulic cylinder 26 (FIG. 8) is increased, and the planting device 31 is moved upward. However, when the front end of the float 45 is lowered, the arm 136 of the hydraulic valve 131 is rotated forward by the linkage mechanism 130A to turn off the hydraulic valve 131, and the hydraulic pressure of the hydraulic cylinder 26 (FIG. 8) is lowered to plant. The device 31 is moved downward. Be operated. By repeating such automatic raising and lowering, the height of the planting device 31 with respect to a soft field scene is maintained substantially constant, and seedlings are planted at a certain planting depth.

  As shown in FIG. 8, the front end portion of the front connecting rod 132 is tensioned forward by the sensing load springs 137A and 137B. The sense load springs 137A and 137B urge the tip of the float 45 downward via the linkage mechanism 130A, and this urging force is a sense load (field scene pressing force) of the float 45. The sense load springs 137A and 137B are provided with a sense load adjustment spring 138 that pulls the front end of the front connecting rod 132 forward. A sensing load adjustment wire 139 is connected to the sensing load adjustment spring 138, and the sensing load of the float 45 is adjusted by changing the biasing force of the sensing load adjustment spring 138 by pushing and pulling the sensing load adjustment wire 139.

  The front end of the sense load adjustment wire 139 is connected to a main transmission lever (not shown) disposed close to the steering handle 18 shown in FIG. 1, and when the main transmission lever is operated to the high speed side, the detection load adjustment wire 139 is moved to the front side. As a result, the urging force of the sense load adjusting spring 138 is increased. Thereby, the field scene pressing force of the center float 45 increases at the time of high speed traveling, and the floating of the float 45 due to earth pressure or water pressure is prevented.

  As shown in FIG. 9, one end side of the swing arm 135 constituting the linkage mechanism 130A is connected to the sensing plate 125 via a pin 135a. The pin 135 a is movable in the vertical direction along a long connecting hole 125 a formed in the sensing plate 125. The pin 135a is urged downward by a return spring (not shown) stretched between the lower end portion of the sensing plate 125, and is lifted from the upper side to the reference posture adjusting wire 123 to be fixed at a certain height of the connecting hole 125a. It is positioned in the position.

  The reference posture adjustment wire 123 is a flexible operation transmission member that transmits a relative movement amount with respect to the outer tube 124, and the outer tube 124 is fixed to the upper end portion of the sensing plate 125. By pushing and pulling the wire 123 with respect to the outer tube 124, the height position of the pin 135a along the sensing plate 125 is moved up and down, and the reference posture of the float 45 can be adjusted.

  That is, when the reference attitude adjusting wire 123 is pulled upward, the sensing plate 125 moves downward with respect to the pin 135a positioned at a predetermined height by the above-described linkage mechanism 130A, and the front end of the float 45 is pushed down. However, when the reference posture adjusting wire 123 is pushed downward, the sensing plate 125 moves upward with respect to the pin 135a and the front end of the float 45 is lifted.

  As shown in FIG. 8, the hydraulic sensitivity adjustment motor 121 of the sensitivity adjustment unit 120 pushes and pulls the reference posture adjustment wire 123 with respect to the outer tube 124. The output gear of the hydraulic sensitivity adjustment motor 121 meshes with a fan-shaped plate gear 122 that is rotatably provided, and a reference attitude adjustment wire 123 is connected to the plate gear 122.

  The control unit 100 (FIG. 3) adjusts the reference posture of the float 45 by rotating the plate gear 122 by rotating the hydraulic sensitivity adjustment motor 121 forward and backward and pushing and pulling the reference posture adjustment wire 123.

<Adjustment of float standard posture>
As shown in FIG. 3, in the agricultural work machine 10 according to the present embodiment, the control unit 100 adjusts the reference posture of the float 45 according to the forward / backward inclination angle of the traveling machine body 11, the engine speed, and the hardness of the farm scene. The control unit 100 calculates the target value of the forward / reverse rotation angle of the hydraulic sensitivity adjustment motor 121 (FIG. 8) using the set values or measured values of these parameters, and operates the hydraulic sensitivity adjustment motor 121 to the target value. .

  An inclination sensor 95 that generates an output corresponding to the front-rear inclination angle of the airframe 15 in the vicinity of the control unit 100 is provided. Throttle lever potentiometer 91 (FIG. 13) provided on the rotation shaft of the main transmission lever (not shown) outputs a voltage signal corresponding to the engine speed. The sensitivity setting potentiometer 94 provided on the rotation shaft of the sensitivity adjustment lever disposed on the lower right side in the traveling direction of the seat 20 is a voltage signal corresponding to a numerical value (11 steps) set by the operator according to the hardness of the field scene. Is output. The control unit 100, which is a microcomputer control device, detects these inputs and controls the hydraulic sensitivity adjustment motor 121.

  The forward / backward inclination of the vehicle body 11 and the change thereof are caused by changes in the load of seedlings and fertilizers, unevenness of the cultivator, entering and exiting the field, head-up at the start, etc., many of which cannot be predicted by the operator. While manual adjustment is not possible, the forward / backward inclination of the traveling machine body 11 directly becomes an inclination error of the float 45 through the lifting / lowering link mechanism 21, and the planting depth is changed by changing the height of the planting part 33. To disperse.

  Accordingly, when the traveling machine body 11 is in the forwardly raised posture, the float 45 sinks against the contrary, so when the forward movement of the traveling machine body 11 is detected by the inclination sensor 95, the control unit 100 sets the reference posture of the float 45 to the lower side on the front side. The front side of the float 45 is easily subjected to earth pressure. Thereby, the raising / lowering control by the hydraulic pressure sensing part 130 (FIG. 8) acts on the ascending side, and the planting device 31 is kept at an appropriate height. In addition, when the traveling machine body 11 is in the forwardly lowered posture, the front side of the float 45 is lowered and raises the planting unit 33. Therefore, when the forward movement of the traveling machine body 11 is detected by the inclination sensor 95, the control unit 100 The reference posture of 45 is adjusted to the front rising side, and the inclination angle of the float 45 with respect to the farm scene is corrected to the inclination angle assuming the horizontal traveling machine body 11.

  In addition, in a soft field scene, the float 45 sinks, so the control unit 100 adjusts the reference posture of the float 45 to the front lowering side, and makes the front side of the center float 45 susceptible to earth pressure. Thereby, the raising / lowering control by the hydraulic pressure sensing part 130 (FIG. 8) acts on the ascending side, and the planting part 33 is guided to an appropriate height. On the other hand, in the hard farm scene, since the float 45 is floating, the control unit 100 adjusts the reference posture of the float 45 to the front ascending side so that the rear side of the float 45 is easily subjected to earth pressure. Thereby, the raising / lowering control by the hydraulic pressure sensing part 130 (FIG. 8) acts on the descending side, and the planting part 33 is guided to an appropriate height.

  In addition, when the engine speed is low, the operating speed of the lifting control is slowed due to a decrease in hydraulic pressure. Therefore, the control unit 100 adjusts the reference posture of the float 45 to the front lower side, and the front side of the float 45 is the earth. Make it easier to receive pressure. Thereby, the speed (slow) and sensitivity (sharp) of the lifting control are balanced. On the other hand, when the engine speed is high, the operating speed of the lift control is increased due to an increase in hydraulic pressure. Therefore, the reference posture of the float 45 is adjusted to the front ascending side, and the front side of the float 45 is less susceptible to earth pressure. . Thereby, the speed (fast) and sensitivity (dull) of raising / lowering control are balanced.

  The above control is executed according to the control procedure shown in the flowcharts of FIGS. A control system including the control unit 100 and a control procedure related to adjustment of the reference posture of the float will be described in detail in the description of another embodiment to be described later.

<Elevation control of leveling device>
As shown in FIG. 3, in the agricultural working machine 10 according to the present embodiment, the control unit 100 performs the operation of the leveling device 51 on the basis of the outputs of the operation lever potentiometer 92, the planting depth setting potentiometer 97, and the inclination sensor 95 described above. The target value of the positioning height is calculated, and the control unit 100 operates the leveling device lifting cylinder 102 while referring to the output of the above-described lifting height detection potentiometer 99 to bring the leveling device 51 to the height position according to the target value. Induce.

  As shown in FIG. 4A, since the lever guide 83 can set three working positions (P1: deeper, P2: standard, P3 shallower), the control unit 100 controls the lever positions P1, P2 respectively. , A target value A having a magnitude corresponding to P3 is set.

  As shown in FIG. 5, the contact of the float 45 is set according to the setting of the standard position using the adjustment lever 47 and the lever guide 48, the shallow planting position (the seedling table 35 side), and the deep planting position (the traveling machine body 11 side). When the height of the planting part 33 relative to the ground changes, the squirrel-cage rotor 57 whose positional relationship with the planting part 33 is fixed has a different depth of entry into the topsoil layer. A target value B corresponding to the output of the depth setting potentiometer 97 (FIG. 3) is set.

  When the traveling machine body 11 shown in FIG. 1 is in the forwardly raised state, as shown in FIG. 9, the height relationship between the leveling device 51 and the planting part 33 is also raised forward by the lift link mechanism 21, and the cage rotor. Since the approach depth to the topsoil layer 57 becomes shallow, the control unit 100 sets the target value C in the direction in which the leveling device 51 is lowered based on the output of the inclination sensor 95. At this time, the float 45 also rises forward, and the height of the planting portion 33 decreases, but as a result of the reference posture adjustment wire 123 being pulled upward by the above-described control, the float 45 is corrected to be lowered forward, The height of the planting part 33 is restored.

  When the traveling machine body 11 shown in FIG. 1 is in the front lowering state, the elevation link mechanism 21 lowers the height relationship between the leveling device 51 and the planting portion 33 as shown in FIG. Since the depth of entry to the topsoil layer 57 becomes deeper, the control unit 100 sets a target value C in the direction in which the leveling device 51 is raised based on the output of the inclination sensor 95. At this time, the float 45 is also in a forward-lowering state and the height of the planting part 33 is increased, but as a result of the reference posture adjusting wire 123 being pushed downward by the above-described control, the float 45 is corrected to be lifted forward, The height of the planting part 33 is restored.

  It should be noted that if the inclination angle exceeds a predetermined value (for example, 10 degrees) regardless of whether the vehicle is moving up or down, there is a possibility of climbing onto the root stone or overcoming the paddle. Raise to non-working position.

  If the tilt angle does not exceed the predetermined value, the control unit 100 adds / subtracts the target value A, the target value B, and the target value C, and the positioning height target value (including these factors) ( Rotor height target value) is calculated, and the leveling device lifting cylinder 102 is operated momentarily to continue guiding the lifting device 51 to the height position according to the target value.

  In addition, after being raised to the non-working position very much, if it is automatically lowered to the working position, there is a possibility that the cage rotor 57 will be overloaded, etc. Even if the angle returns to the predetermined value, the leveling device 51 may be prevented from descending until the work position is reset by the operator's operation of the operation lever 85.

  The control procedure regarding the elevation control of the leveling device 31 will be described in more detail in the description of another embodiment to be described later.

  The above control is executed by the control procedure shown in the flowcharts of FIGS. The control system including the control unit 100 and the control procedure related to the lifting control of the leveling device will be described in detail in the description of another embodiment to be described later.

<Effect of this embodiment>
The agricultural work machine 10 according to the present embodiment includes a planting device 31 supported at the rear portion of the traveling machine body 11 so as to be movable up and down using a lifting link mechanism 21 (four-bar link mechanism), and the traveling machine body 31 and the planting apparatus 31. In the agricultural work machine 10 provided with the leveling device 51 that is positioned in the middle and attached to the planting device 31, the inclination sensor 95 that detects the front and rear inclination angle of the traveling machine body 11 and the planting device 51 with respect to the leveling device 51. A vertical movement mechanism 61 that can adjust the relative height of the two by moving the vertical movement mechanism 61, and a control unit 100 that causes the vertical movement mechanism 61 to lower the leveling device 51 when the tilt sensor 95 detects a forward rise of the traveling machine body 11; Therefore, the floating of the cage rotor 57 due to the front elevation of the traveling machine body 11 is offset, and the fluctuation of the leveling depth by the cage rotor 57 can be reduced.

  Moreover, the planting apparatus 31 supported so that raising / lowering is possible using the raising / lowering link mechanism 21 (four-bar link mechanism) in the rear part of the traveling body 11, and it is located in the middle of the traveling body 31 and the planting apparatus 31. In the agricultural work machine 10 provided with the leveling device 51 attached to 31, the inclination sensor 95 that detects the front and rear inclination angle of the traveling machine body 11 and the leveling device 51 are moved up and down relative to the planting device 31, so that the relative Since the vertical movement mechanism 61 capable of adjusting the height and the control unit 100 that raises the leveling device 51 by the vertical movement mechanism 61 when the inclination sensor 95 detects the forward drop of the traveling machine body 11, the traveling machine body 11 is provided. This offsets the sinking of the cage-type rotor 57 due to the forward descending of the vehicle, so that the fluctuation of the leveling depth by the cage-type rotor 57 can be reduced.

  In addition, the planting device 31 supported by the traveling machine body 11 so as to be movable up and down is disposed between the traveling machine body 11 and the planting device 31 and supported by the planting device 31 in an up-and-down manner, and at least at the working position. In the agricultural work machine 10 provided with the leveling device 51 that is rotationally driven, an inclination sensor 95 that detects the front-back inclination angle of the traveling machine body 11 and a vertical movement mechanism that moves the leveling device 51 up and down relative to the planting device 31. 61 and a control unit 100 that controls the vertical movement mechanism 61 based on a signal from the inclination sensor 95 at the work position of the leveling device 51, so that the leveling device 51 is in a planting work state at the work position. When the traveling machine body 11 tilts forward or backward, the longitudinal tilt sensor 95 detects this and controls the vertical movement means 61 to move the leveling means 51 up and down. Regardless, leveling device 51 can perform ground leveling work at a constant working depth.

  Further, the planting device 31 is provided with a float 45 that can swing up and down, a hydraulic valve 131 that automatically controls the planting device 31 to move up and down so that the vertical swinging posture of the float 45 becomes a reference posture, and hydraulic pressure. The control unit 100 includes a cylinder 26 and a sensitivity adjustment unit 120 that adjusts the reference posture of the float 45. When the inclination sensor 95 detects the front ascending state of the traveling machine body 11, the sensitivity adjustment unit 120 controls the reference of the float 45. When the attitude is adjusted to the lower side and the leveling device 51 is controlled to the lower side by the vertical movement mechanism 61 and the inclination sensor 95 detects the forward descending state of the traveling machine body 11, the sensitivity adjustment unit 120 causes the reference attitude of the float 45 to be adjusted. Since the leveling device 51 is controlled to the raising side by the vertical movement mechanism 61, the planting device 51 is moved up and down by the posture of the float 45. In this case, planting at a certain depth is performed. At this time, when the traveling body 11 is in the front ascending state, the float 45 is also in the ascending direction. However, at the same time, the leveling device 51 is also controlled to the lower side so that the leveling work at a certain depth can be performed, and when the traveling machine body 11 is in the forward descending state, the float 45 is also in the forward descending state. Therefore, the above-mentioned fixed planting depth is maintained by adjusting the reference posture to the up side, and the leveling device 51 is also controlled to the up side to perform leveling work at a constant depth.

  Further, since the leveling device 51 is moved up and down by the leveling device lifting cylinder 102, the operation load of the operation lever 85 is reduced as compared with the case where the leveling device 51 is moved up and down by mechanically transmitting the operation amount of the operation lever 85. it can. And since the control part 100 can control raising / lowering of the leveling apparatus 51 irrespective of the operation state of the operation lever 85, it judges emergency and retracts a leveling apparatus to a non-working position, or according to an inclination angle etc. every moment. It is possible to adjust the height.

  Further, since the leveling device 51 is moved up and down by the leveling device lifting cylinder 102, a mechanism for mechanically transmitting the operation amount of the operation lever 85 becomes unnecessary, and the leveling device 51 can be operated with the operation lever 85 set at the lowered position. The elevating mechanism can be configured to be small and light with a simple combination of a small number of parts, and the number of parts of the agricultural work machine 10 can be reduced, the ease of assembly and maintenance can be improved, and the degree of freedom of the overall design can be increased.

<Agricultural working machine of another embodiment>
FIG. 11 is an explanatory view of a clutch control mechanism of a leveling device for an agricultural work machine according to another embodiment of the present invention, FIG. 12 is an explanatory view of raising / lowering control of the leveling device at an inclination exceeding a predetermined value, and FIG. 14 is a block diagram of a control system of the agricultural work machine according to the embodiment, FIG. 14 is a flowchart of elevation control of the leveling device, FIG. 15 is an explanatory diagram of a calculation flow of the target value C based on the output of the inclination sensor, and FIG. FIG. 17 is an explanatory diagram of the calculation flow of the engine rotation target value, and FIG. 18 is an explanatory diagram of the calculation flow of the angle target value based on the output of the tilt sensor.

  As described above, the agricultural work machine 10 according to another embodiment is described with reference to FIGS. 1 to 10 except that power transmission to the leveling device 51 is turned on / off by the leveling device clutch cylinder 103 (FIG. 11). Since it is configured in the same way as the agricultural work machine 10 of the above-described embodiment and is controlled in the same manner, a part of the overlapping configuration is not shown, and a detailed description is omitted by attaching a common reference numeral. To do.

  As shown in FIG. 11, in the agricultural working machine 10 according to another embodiment, a leveling device that is an electric cylinder of the same type as the leveling device lifting cylinder 102 is provided at the rotating end of the clutch arm 110 that performs the on / off operation of the clutch 73. The working end of the clutch cylinder 103 is connected. The control unit 100 operates the leveling device clutch cylinder 103 according to the set position of the operation lever 85 determined based on the output of the operation lever potentiometer 92 to perform the on / off operation of the clutch 73.

  As shown in FIG. 12, in the agricultural work machine 10 according to another embodiment, the inclination angle determined based on the output of the inclination sensor 95 is a predetermined value (for example, 10), regardless of whether the traveling machine body 11 is inclined forward or forward. If the angle exceeds the degree, there is a possibility of climbing onto the root stone, overcoming the paddle, etc., so the leveling device is extremely raised to the retracted position (non-working position).

  As shown in FIG. 13, the control unit 100 is configured using a microcomputer (including a CPU, a ROM, a RAM, and the like), and on the input side of the control unit 100, a throttle lever potentiometer 91 and an operation lever potentiometer 92 are provided. , Sensitivity setting potentiometer 94, inclination sensor 95, lift angle potentiometer 96, planting depth setting potentiometer 97, work implement lifting lever potentiometer 101, planting device operation cam potentiometer 143, other sensors and communication wiring are connected. To the output side of the control unit 100, a leveling device lifting cylinder 102, a leveling device clutch cylinder 103, a hydraulic sensitivity adjustment motor 121, a work machine cam motor 141, other motors, actuators, and communication wiring are connected.

  The control unit 100 is written with a control program of the agricultural work machine 10 including the control and calculation shown in the flowcharts of FIGS. 14 to 17, and reads these inputs every moment based on the read and held control program. , Perform these necessary operations to control these outputs. Each input / output is as described above. Other inputs / outputs include a wire sensor that detects the rotational position of the plate gear 122, a tilt sensor that detects the left / right tilt angle of the planting device 31, an angular velocity sensor that detects an angular velocity of the planting device 31 in the left / right tilt, and a traveling machine body. 11 is a horizontal position sensor that detects the right and left tilt angle of the planting device 31 with respect to 11, a horizontal control motor that adjusts the left and right tilt posture of the planting device 31, and the like.

  As shown in FIG. 14 with reference to FIG. 11, the control unit 100 reads the output of the lift angle potentiometer 96 and determines whether or not the planting device 31 is in the lowered position (S110). If it is not the lowered position (fixing or raising of S110), the leveling device clutch cylinder 103 is operated and the clutch 73 is disengaged (S180), and then the leveling device clutch cylinder 103 is operated and the leveling device 51 is not operated. Raise to position.

  However, if the planting device 31 is in the lowered position (lowering or planting in S110), the control unit 100 reads the output of the tilt sensor 95 and the absolute value of the tilt angle exceeds a predetermined value (for example, 10 degrees). (S120), if it exceeds, the leveling device clutch cylinder 103 is operated and the clutch 73 is disengaged (S180), and then the leveling device clutch cylinder 103 is operated and the leveling device 51 is not operated. Raise to position.

  That is, the control unit 100 determines the ascending / descending state of the planting device 31 based on the output of the lift angle potentiometer 96, and when the lifting of the planting device 31 is detected by the output of the lift angle potentiometer 96, Even when the set position is the work position (P1, P2, P3), the leveling device clutch cylinder 103 is operated, the clutch 73 is disengaged, and the rotation of the cage rotor 57 is forcibly stopped.

  If the inclination angle is within the predetermined range, the control unit 100 reads the output of the operation lever potentiometer 92, and the height setting of the leveling device 51 by the operator is set to the non-working position (P4: storage) and three steps. It is determined which of the work positions (P1: deeper, P2: standard, P3 shallower) corresponds to the target value A corresponding to the height setting (S130).

  Subsequently, the control unit 100 reads the output of the planting depth setting potentiometer 97, determines the correction value B according to the planting depth of the seedling (S140), and then reads the output of the inclination sensor 95. Thus, the inclination angle of the body 15 is obtained, and the target value C corresponding to the inclination angle is determined as shown in FIG. 15 (S150).

  Thereafter, the target value ABC is added / subtracted according to the influence direction to determine the rotor height target value (S160), and the leveling device lifting cylinder 102 as the leveling rotor lifting actuator is operated to the rotor height target value (S170). .

  In step S150, as shown in FIG. 15A, the control unit 100 determines that the absolute value of the inclination angle does not exceed a predetermined value (for example, 10 degrees) (S151 ≦ predetermined value) ( As shown in b), a target value C corresponding to the tilt angle is determined (S152).

  As shown in FIG. 16, the control unit 100 reads an angle target value for controlling the inclination of the float 45 according to the front-rear inclination angle of the aircraft 15 (S210), and sets the inclination of the float 45 according to the engine speed. The engine rotation target value for control is read (S220), and the target value is determined by subtracting the inclination target value and the engine rotation target value (S230).

  Then, the control unit 100 reads the output of the sensitivity setting potentiometer 94 and determines whether or not the set sensitivity (field scene hardness) is standard (S240). If it is standard (S240 = standard), The current oil pressure sensing target value is replaced with the target value (S290).

  However, if it is not standard (S240 ≠ standard), the control unit 100 adds / subtracts the correction amount according to the setting of the sensitivity setting potentiometer 94 to the target value (S250), and the target value is a predetermined value (for example, ± 5). It is determined whether or not it exceeds the range of (degree) (S260). If it exceeds (S260> default value), the current hydraulic pressure sensing target value is replaced with the default value (S280), but if not exceeded (S280) The current oil pressure sensing target value is recalculated (S250) and replaced with the target value (S270).

  In step S220 described above, the control unit 100 reads the output of the throttle lever potentiometer 91 to estimate the engine speed as shown in FIG. 17A, and the engine speed exceeds a predetermined value (for example, 1000 rpm). Whether or not (S221). If the predetermined value is exceeded (> default value in S221), as shown in FIG. 17B, a constant engine rotation target value is set (S223), but if it is equal to or less than the predetermined value (S221). ≦ predetermined value), as shown in FIG. 17B, an engine rotation target value corresponding to the engine speed is set (S222).

  In step S210 described above, as shown in FIG. 18A, the control unit 100 reads the output of the inclination sensor 95 to obtain the inclination angle (airframe angle) of the airframe 15, and the airframe angle is a predetermined value (for example, ± It is determined whether it is within a range of 10 degrees (S211). If it is out of the range of the default value (> default value of S211), as shown in FIG. 18B, a constant angle target value is set (S213), but if it is within the range (in S211). As shown in FIG. 18B, an angle target value corresponding to the inclination angle is set (S212).

<Effect of another embodiment>
In the agricultural work machine 10 according to another embodiment, the leveling device clutch cylinder 103 is provided and the clutch arm 110 is turned to turn the clutch 73 on and off. Therefore, the clutch arm 110 and the operation lever 85 are mechanically connected. There is no need for a communication mechanism.

  Since the clutch 73 can be turned on / off based on the determination of the control unit 100 regardless of the setting position of the operation lever 85, the turning operation of the aircraft 15 and the emergency retreat leveling device 51 are raised (exceeding a predetermined value). When the inclination angle is detected, etc., the rotation / stop of the squirrel-cage rotor 57 can be arbitrarily determined.

  As described above, when turning the body 15, when the planting device 31 is raised while the operation lever 85 is set to the working position, the clutch 73 is automatically turned off, and the squirrel-cage rotor is operated. Since the rotation of 57 stops, it is possible to prevent mud from being scattered to the surroundings by the raised squirrel-cage rotor 57, rotation noise, foreign matter entrainment, and the like.

  Then, when the turning of the airframe 15 is completed and the planting device 31 is lowered, the cage rotor 57 starts to rotate in advance of grounding based on the output of the lift angle potentiometer 96 without operating the operation lever 85. Normal grounding work can be started simultaneously with grounding.

It is a side view of the agricultural working machine which is one Embodiment of this invention. It is a top view of the agricultural working machine of this embodiment. It is explanatory drawing of the raising / lowering mechanism of the planting apparatus of the agricultural working machine of this embodiment, and a leveling apparatus. It is explanatory drawing of a lever guide. It is an expanded side view of the leveling device vicinity in the state which set the leveling device to the working position. It is an expanded side view of the leveling device vicinity in the state which set the leveling device to the non-working position. It is explanatory drawing of a planting apparatus control part. It is explanatory drawing of a hydraulic pressure sensing part and a sensitivity adjustment part. It is explanatory drawing of the raising / lowering control in a state where a traveling body rises forward. It is explanatory drawing of the raising / lowering control in a state in which the traveling body is lowered forward. It is explanatory drawing of the clutch control mechanism of the leveling apparatus of the agricultural working machine of another embodiment of this invention. It is explanatory drawing of the raising / lowering control of the leveling apparatus in the inclination exceeding a predetermined value. It is a block diagram of the control system of the agricultural working machine of another embodiment. It is a flowchart of the raising / lowering control of a leveling apparatus. It is explanatory drawing of the calculation flow of the target value C based on the output of an inclination sensor. It is a flowchart of the calculation of the oil pressure sensing target value in the angle adjustment control of the float. It is explanatory drawing of the calculation flow of an engine rotation target value. It is explanatory drawing of the calculation flow of the angle target value based on the output of an inclination sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Agricultural work machine 11 Traveling machine body 17 Engine 26, 130 Elevation control means (hydraulic cylinder, oil pressure sensing part)
31 Planting device 45 Float 51 Leveling device 61 Vertical movement means (vertical movement mechanism)
71 Power transmission device (power transmission mechanism)
73 Clutch 85 One operating means (operating lever)
95 Longitudinal tilt sensor (tilt sensor)
100 Control means (control unit)
102 Leveling device lifting cylinder 103 Leveling device clutch cylinder 120 Sensitivity adjusting means (sensitivity adjusting unit)
P1, P2, P3 Working position (lever position)
P4 Non-working position (lever position)

Claims (2)

A planting device supported by the traveling machine body so as to be movable up and down;
An agricultural work machine comprising: a ground leveling device that is disposed between the traveling machine body and the planting device and is supported by being lifted and lowered in conjunction with the planting device and is driven to rotate at least at a work position.
A front / rear tilt sensor for detecting a front / rear tilt angle of the traveling machine body;
Vertical movement means for moving the leveling device up and down with respect to the planting device;
An agricultural work machine comprising: control means for controlling the vertical movement means based on a signal from the longitudinal tilt sensor at a work position of the leveling device. A float provided in the planting device so as to be swingable up and down;
Elevating control means for automatically elevating and lowering the planting device such that the float swinging posture of the float becomes a reference posture;
Sensitivity adjusting means for adjusting a reference posture of the float, and
The control means includes
When the forward / backward tilt sensor detects the front ascending state of the traveling machine body, the sensitivity adjustment means adjusts the reference posture of the float to the lower side, and the vertical movement means controls the leveling device to the lower side,
When the forward / backward tilt sensor detects a forward descending state of the traveling machine body, the sensitivity adjustment means adjusts the reference posture of the float to the up side, and the vertical movement means controls the leveling device to the up side. Become,
The agricultural work machine according to claim 1.

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