JP2007259782A - Lift controlling structure of planting work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To keep a seedling planting apparatus to a preset ground height in high accuracy in an automatic lift-control independent of the planting depth control without taking effort on the lay-out of parts or causing the increase of cost and the lowering of assembling work efficiency and maintainability. <P>SOLUTION: The planting depth is adjusted by varying the height of a grounding member 17 relative to a planting mechanism 16 by an operation means 51, and the action of an actuator 2 for lifting and lowering a seedling planting apparatus by a controlling means 40 in a manner to coincide the detected angle θb of the grounding member 17 detected by a tilt angle detection means 54 with a preset controlling target angle θo to keep the seedling planting apparatus 4 to a preset ground height. The lift controlling structure of a planting work machine having the above structure is further provided with a correction means 64 to correct the detection angle θb of the tilt angle detection means 54 interlocked with the control of planting depth. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention is equipped with a grounding body so that the height can be changed with respect to the planting mechanism, and provided with operating means for changing the height position of the grounding body, the height position of the grounding body with respect to the planting mechanism. The planting depth can be adjusted by changing, and the seedling planting device including the grounding body and the planting mechanism is connected to the traveling vehicle body so as to be able to be raised and lowered, and the grounding body is equipped to be able to swing up and down, An actuator that drives the seedling planting device to move up and down, a swing angle detecting means that detects a vertical swing angle of the grounding body, and a detection angle of the swing angle detecting means so as to coincide with a preset control target angle And a control means for controlling the operation of the actuator, and a lifting control structure for a planting work machine configured to enable execution of automatic lifting control for maintaining the seedling planting device at a preset ground contact height position. .

  In the raising / lowering control structure of the planting work machine as described above, in order to enable detection of the vertical swing angle of the grounding body (grading float), the swing angle detection linked to the grounding body via the linkage link mechanism. A means (float sensor) is connected to the front lower part of the seedling planting device via a pair of upper and lower swing links constituting a parallel quadruple link mechanism, and the height changing operation of the grounding body with respect to the planting mechanism is performed. In conjunction with the operation of the lever for adjusting the planting depth, the linkage rod is moved so that the height position of the swing angle detecting means is changed to the height position corresponding to the height position of the grounding body. By linking to the upper swing link, the height position and detection posture of the swing angle detection means with respect to the grounding body can be maintained constant or substantially constant regardless of the planting depth adjustment. Body vertical swing angle and swing angle detection There is configured to hold a correlation between the detection angle means a constant or substantially constant (for example, see Patent Document 1).

JP 2000-333517 A (paragraph numbers 0035 and 0039, FIGS. 3 to 7)

  In other words, in the above configuration, the height position of the swing angle detecting means is changed to a height position corresponding to the height position of the grounding body in conjunction with the height changing operation of the grounding body, and the height Regardless of the changing operation, the support structure of the swing angle detecting means is devised so that the detection posture of the swing angle detecting means is maintained constant, so that the grounding body can be The correlation between the vertical swing angle and the detection angle of the swing angle detection means can be kept constant or substantially constant, and thereby the vertical swing angle and swing angle detection means of the grounding body can be adjusted by adjusting the planting depth. Due to the fact that the correlation with the detected angle is broken, it is possible to avoid the occurrence of inconvenience that the seedling planting device is not maintained at the preset ground contact height position in the automatic lifting control.

  For this reason, in the above configuration, the support structure of the swing angle detection means becomes complicated and large, and it is necessary to secure a large space for mounting the support structure. As a result, the cost increases and the assembling property and the maintenance property decrease.

  It is an object of the present invention to provide a seedling planting device in automatic elevation control regardless of planting depth adjustment, without bothering parts layout and without causing an increase in cost and a decrease in assembly and maintenance. An object of the present invention is to maintain the position of the ground contact height set in advance with high accuracy.

  In the invention according to claim 1 of the present invention, the grounding body is equipped so that the height can be changed with respect to the planting mechanism, and operating means for changing the height position of the grounding body is provided, and the planting A planting depth adjustment is possible by changing a height position of the grounding body with respect to a mechanism, a seedling planting device including the grounding body and the planting mechanism is connected to a traveling vehicle body so as to be movable up and down, and the grounding The body is equipped so that it can swing up and down, the actuator for driving the seedling planting device up and down, the swing angle detecting means for detecting the vertical swing angle of the grounding body, and the detection angle of the swing angle detecting means are Control means for controlling the operation of the actuator so as to coincide with a preset control target angle, and configured to enable execution of automatic lifting control for maintaining the seedling planting device at a preset ground contact height position Lifted planting machine In the control structure, it said in conjunction with the planting depth adjustment, are provided with a correction means for correcting the detected angle or the control target angle of the swing angle detecting means.

  According to this configuration, when the planting depth is adjusted using the operating means, the height position of the grounding body relative to the planting mechanism is changed by the planting depth adjustment, so that the grounding to the swing angle detecting means is performed. The height position of the body and the detection posture of the swing angle detection means change, so that the correlation between the vertical swing angle of the grounding body and the detection angle of the swing angle detection means, and the swing angle detection Correlation between the detection angle of the means and the control target angle will be disrupted, but in conjunction with the adjustment of the planting depth at this time, the correction means appropriately corrects the detection angle or control target angle of the swing angle detection means Since the correlation is matched, the occurrence of inconvenience that the seedling planting device is not maintained at the preset ground contact height position in the automatic lifting control due to the collapse of the correlation due to the planting depth adjustment is prevented. it can.

  Moreover, in order to prevent the occurrence of the inconvenience, it is not necessary to devise the support structure of the swing angle detecting means, so that the support structure for the swing angle detecting means can be prevented from becoming complicated and large, It is not necessary to secure a large space for mounting the support structure.

  Therefore, without worrying about the parts layout, and without causing a rise in cost and a decrease in assembling and maintenance properties, the automatic raising / lowering control presets the seedling planting device regardless of the planting depth adjustment. As a result, it becomes possible to accurately maintain the ground contact height position, and as a result, planting by the seedling planting device can be performed with the planting depth after adjustment by the planting depth adjustment.

  The invention according to claim 2 of the present invention is the invention according to claim 1, further comprising planting depth detection means for detecting planting depth, wherein the correcting means detects the planting depth detection. Based on the detection of the means, the detection angle of the swing angle detection means linked to the planting depth adjustment or the control target angle is corrected.

  According to this configuration, when planting depth adjustment is performed using the operation means, the planting depth detection means detects the planting depth obtained by the planting depth adjustment, and based on the detection, the correction means Since the correlation broken by the planting depth adjustment is matched by appropriately correcting the detection angle or the control target angle of the swing angle detecting means, the automatic operation is caused by the collapse of the correlation by the planting depth adjustment. In the raising / lowering control, it is possible to prevent the inconvenience that the seedling planting apparatus is not maintained at the preset ground contact height position.

  Therefore, without worrying about the parts layout, and without causing a rise in cost and a decrease in assembling and maintenance, the automatic raising / lowering control has a higher seedling planting device regardless of the planting depth adjustment. It becomes possible to maintain the ground contact height position set in advance with accuracy, and as a result, planting by the seedling planting device can be performed with higher accuracy at the planting depth after adjustment by planting depth adjustment.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, vehicle speed detection means is provided, and the correction means is configured to adjust the fluctuation based on the detection speed of the vehicle speed detection means. The detection angle of the moving angle detection means or the control target angle is corrected.

  In planting machines, the higher the vehicle speed during work, the easier the grounding body will float, so if the correlation between the detection angle of the swing angle detection means and the control target angle is kept constant regardless of the vehicle speed, As the vehicle speed increases, the grounding body tends to rise and swing more sensitively to the slight uplift of soft mud in the field. Therefore, in the automatic lifting control based on the swinging of the grounding body, seedling planting Hunting in which the device moves up and down unnecessarily and shallow planting due to the floating seedling planting device are likely to occur.

  Therefore, in the invention according to claim 3, the correction means corrects the detection angle or the control target angle of the swing angle detection means based on the detection speed of the vehicle speed detection means. In consideration of the fact that the higher the detected vehicle speed, the easier it is for the grounding body to float, so the detection angle of the swing angle detection means is corrected in the forward and downward direction, or the control target angle is corrected in the forward and upward direction. As a result, there is no risk of the grounding body rising and swinging sensitively to a slight uplift of soft mud in the field as the vehicle speed increases. In the automatic lifting control based on the movement, it is possible to avoid the occurrence of hunting in which the seedling planting device moves up and down unnecessarily and the occurrence of shallow planting due to the floating seedling planting device.

  Therefore, it is possible to stably perform good planting in which the occurrence of hunting and shallow planting due to the increase in vehicle speed in the automatic lifting control is avoided.

  FIG. 1 shows an overall side view of a riding rice transplanter that is an example of a planting work machine. This rice transplanter is provided with a hydraulic lift cylinder (an example of an actuator) at the rear of a traveling vehicle body 1 formed in a riding type. The seedling planting device 4 is connected so as to be capable of being driven up and down through a link mechanism 3 that moves up and down by the operation of 2, and is equipped with a fertilizer application device 5.

  The traveling vehicle body 1 transmits the power from the engine 6 mounted on the front thereof to the left and right front wheels 9 and the rear wheels 10 via the hydrostatic continuously variable transmission 7 and the gear transmission 8 for traveling. The boarding operation part 13 provided with the steering wheel 11 which steers the left-right front wheel 9, the driver's seat 12, etc. is formed in the center part.

  As shown in FIGS. 1 to 5, the seedling planting device 4 is a working power from the gear type transmission 8 transmitted to the power distribution mechanism 14, and a seedling mounting table 15 on which a plurality of mat-shaped seedlings are placed. A plurality of rotary planting mechanisms 16 that are reciprocally driven in the left-right direction with a constant stroke cut out a predetermined amount of seedlings from the lower end of the seedling mounting table 15 by a predetermined amount, and a plurality of leveling floats ( An example of a grounding body) Each mat-like seedling is driven toward the lower end of the seedling stage 15 every time it is driven to rotate so as to be planted in the mud portion ground leveled at 17 and the seedling stage 15 reaches the left and right stroke ends. A plurality of seedlings are planted by being vertically fed at a pitch.

  As shown in FIG. 1, the fertilizer application 5 is a rear-wheel drive power output from the gear-type transmission 8, and a plurality of feeding mechanisms 18 arranged in parallel in the left-right direction are stored in a fertilization tank 19. The granular fertilizer 22 driven by the feeding blower 20 driven by a predetermined amount of the granular fertilizer and fed from each feeding mechanism 18 by the conveying air generated by the electric blower 20 respectively corresponds to the corresponding groove forming device 22 via the guide hose 21. It is comprised so that fertilization according to the number of planting ridges may be performed by conveying it toward the surface and supplying it into the field mud from each of the groovers 22.

  As shown in FIGS. 1, 6, and 7, the hydrostatic continuously variable transmission device 7 is operatively linked to a main transmission lever 23 disposed on the left side of the steering wheel 11 via a main transmission linking mechanism 24. The main transmission lever 23 is operated and guided by the guide groove 26 of the guide plate 25, and the operation of the neutral return mechanism 28 that urges the hydrostatic continuously variable transmission 7 to return to the neutral state by the operation of the detent mechanism 27. Against this, it is possible to operate and hold at each of the shift operation positions of the fifth forward speed and the third reverse speed across the neutral position.

  That is, by operating the main transmission lever 23, the neutral state of the hydrostatic continuously variable transmission 7 and the respective shift states of the fifth forward speed and the third reverse speed can be displayed and held.

  Although not shown, the main transmission linkage mechanism 24 is connected to the brake pedal provided in the boarding operation unit 13 in conjunction with the depression operation of the brake pedal and based on the depression operation amount at that time. Operation is linked through an automatic deceleration linkage mechanism (not shown) so as to forcibly return 23 from the current shift position to the neutral position.

  From this configuration, when the brake pedal is largely depressed to a predetermined depression limit region during forward traveling or reverse traveling, the main transmission lever 23 can be returned to the neutral position in conjunction with the operation, and the hydrostatic type The neutral state of the continuously variable transmission 7 can be revealed.

  Further, if the brake pedal is depressed to the extent that it does not reach the depressing limit region, the main transmission lever 23 can be returned to the shift operation position corresponding to the depression operation amount at that time, and the hydrostatic continuously variable transmission 7 is It can be decelerated.

  As shown in FIGS. 6 to 9, when the main transmission lever 23 is positioned at a neutral position formed so as to have a left and right operation area, the main transmission lever 23 communicates with the reverse transmission area by the action of the torsion spring 30. It is oscillated and biased from the backward end portion on one end side toward the forward end portion on the left and right other end side communicating with the forward shifting region.

  Further, the speed control of the speed control mechanism 31 provided in the engine 6 is changed so that the engine speed is changed in conjunction with the speed change operation of the hydrostatic continuously variable transmission 7 by the swing operation along the guide groove 26. The lever 32 is operated and linked through a linkage mechanism 33 for interlocking speed control.

  The speed control lever 32 is urged to swing toward the low speed side by the action of the tension spring 34, and returns to the idling position when the main transmission lever 23 is positioned at the forward end of the neutral position.

  The interlocking mechanism 33 for interlocking speed adjustment includes a forward interlocking member 35 and a main shift lever 23 that are mounted on the guide plate 25 so as to swing and displace in conjunction with a shift operation in the forward shift region of the main shift lever 23. The reverse interlocking member 36 and the forward interlocking member 35 that are mounted on the guide plate 25 so as to swing and displace in conjunction with the swing operation at the neutral position and the shift operation in the reverse shift region. 32, a release wire 37 that is linked to the operation, a tension spring 38 that swings and energizes the forward interlocking member 35 in the deceleration direction, and the like, between the speed change operation position of the main speed change lever 23 and the engine speed. A preset correlation (see FIG. 8) is obtained.

  One end portion of the reverse interlocking member 36 is separated from one end portion of the forward interlocking member 35 so that the forward interlocking member 35 swings and displaces in the speed increasing direction with the swing displacement in the speed increasing direction. When the main transmission lever 23 is in the forward neutral position, the other end presses the backup switch 39 and the main transmission lever 23 is in the reverse neutral position. The pressing operation of the backup switch 39 by the other end is released.

  The backup switch 39 outputs the on / off signal to a control device (an example of control means) 40 formed of a microcomputer mounted on the traveling vehicle body 1, and the control device 40 is based on the off signal from the backup switch 39. The link mechanism 3 controls the operation of an electric clutch motor 42 that engages and disengages the planting clutch 41 so that the seedling planting device 4 stops operating. Backup control is performed to control the operation of the electromagnetic lift valve 44 that controls the flow of hydraulic oil to the lift cylinder 2 so that the seedling planting device 4 rises to the upper limit position where it is turned on.

  With the above configuration, when the main transmission lever 23 is swung in the forward shift region from the forward end of the neutral position or in the speed increasing direction in the forward shift region, the shift state corresponding to the shift operation position The hydrostatic continuously variable transmission 7 is operated to advance and accelerate, and the speed control lever 32 is swung in the speed increasing direction against the bias of the tension spring 34, The engine speed increases up to the speed corresponding to the speed change operation position of the main speed change lever 23.

  When the main shift lever 23 is swung from the forward shift region to the forward end of the neutral position or in the deceleration direction in the forward shift region, a shift state corresponding to the shift operation position appears. Then, the hydrostatic continuously variable transmission 7 is operated to decelerate forward, and the speed control lever 32 is oscillated in the decelerating direction by the biasing force of the tension spring 34, so as to correspond to the speed change operation position of the main speed change lever 23. The engine speed is reduced to the engine speed.

  When the main speed change lever 23 is swung from the forward end to the reverse end at the neutral position, the speed control lever 32 is swung in the speed increasing direction against the bias of the tension spring 34. When the engine speed increases to the speed corresponding to the speed change operation position of the main speed change lever 23 and the main speed change lever 23 reaches the reverse side end of the neutral position by this operation, an off signal from the backup switch 39 is generated. Based on this, the control device 40 executes the backup control, whereby the seedling planting device 4 stops operating and rises to the upper limit position.

  When the main shift lever 23 is swung in the reverse shift region from the reverse side end of the neutral position or in the speed increasing direction in the reverse shift region, a shift state corresponding to the shift operation position appears. In this way, the hydrostatic continuously variable transmission 7 operates in reverse speed and the speed control lever 32 is swung in the speed increasing direction against the urging force of the tension spring 34, so that the main speed change lever 23 The engine speed increases up to the speed corresponding to the shift operation position.

  When the main shift lever 23 is swung from the reverse shift region to the reverse end of the neutral position or in the deceleration direction in the reverse shift region, a shift state corresponding to the shift operation position appears. Then, the hydrostatic continuously variable transmission 7 is reversely decelerated, and the speed control lever 32 is swung in the deceleration direction by the biasing force of the tension spring 34, so as to correspond to the speed change operation position of the main speed change lever 23. The engine speed is reduced to the engine speed.

  By the way, the above-described backup control may cause the leveling float 17 to be caught in mud or to collide with dredging, etc. due to inadvertently appearing the reverse state when the leveling float 17 is grounded. Since it is provided to avoid the possibility of inconvenience, it is necessary to quickly raise the seedling planting device 4 based on reverse detection.

  Therefore, in the rice transplanter exemplified in this embodiment, the amount of oil pumped from the hydraulic pump 45 driven by the engine power toward the lift valve 44 is increased from the stage before the reverse state appears. From the stage where the main transmission lever 23 is swung from the forward end to the reverse end in the neutral position so that the seedling planting device 4 can be quickly raised by the operation of the lift cylinder 2. The engine speed is increased in conjunction with the swing operation of the main speed change lever 23.

  As shown in FIG. 7, the speed adjusting mechanism 31 is connected to an accelerator pedal 46 provided in the boarding operation unit 13 so that the speed adjusting mechanism 32 can be operated independently. The operation is linked through.

  As shown in FIGS. 2 to 5, in the seedling planting apparatus 4, a main frame 48 formed in the shape of a square pipe is mounted on the front lower part in the left-right direction, and the power is directed rearward from the main frame 48. A plurality of planting transmission cases 49 that also serve as a frame and are equipped with a transmission mechanism (not shown) such as a chain transmission type or a shaft transmission type that transmits power from the distribution mechanism 14 to the corresponding planting mechanism 16 are provided in the left-right direction. Each planting transmission case 49 is provided with a single float fulcrum shaft 50 made of a round pipe in a state of being supported in a horizontally-oriented manner so as to be relatively rotatable. And at the rear end portion, a pair of corresponding left and right planting mechanisms 16 are equipped so as to be capable of planting, and a single operation lever (an example of an operation means) 51 is extended from the float fulcrum shaft 50 to the front, After float fulcrum shaft 50 A plurality of support arms 52 are extended toward the end, and a corresponding leveling float 17 is connected to the extended end of each support arm 52 via a left and right support shaft 29 so as to be swingable up and down. In addition, a holding bracket 53 is provided that enables engagement and holding at an arbitrary operation position of the operation lever 51 that is swung up and down with the float fulcrum shaft 50 as a fulcrum.

  With this configuration, when the operating lever 51 is swung up and down, the leveling floats 17 are swung up and down all at once with the float fulcrum shaft 50 as a fulcrum, and the height position with respect to each planting mechanism 16 is set. Thus, the planting depth of the seedling by each planting mechanism 16 can be adjusted. Then, by engaging and holding the operation lever 51 at an operation position where a desired planting depth can be obtained, planting at a desired planting depth can be performed.

  As shown in FIGS. 1, 4, 5, and 9, the leveling float 17 disposed at the center of the right and left of the seedling planting device 4 is a rotary potentiometer whose front end is fixedly attached to the main frame 48. The float rod 54 detects the vertical rocking angle θa with the left and right support shaft 29 as a fulcrum on the detection arm 55 of the float sensor (an example of the rocking angle detection means). And is grounded by a torsion spring 57 provided in the float sensor 54 via a linkage rod 56 and the like. The float sensor 54 outputs the detected angle θb to the control device 40.

  The control device 40 determines the operation position of the first work lever 58 based on the detection of the first lever sensor 59 formed of a rotary potentiometer that detects the operation position of the first work lever 58 arranged on the right side of the driver seat 12. The control operation according to is performed.

  Hereinafter, the control operation of the control device 40 based on the detection of the first lever sensor 59 will be described.

  When the control device 40 detects the operation of the first work lever 58 to the “down” position based on the detection of the first lever sensor 59, the control device 40 controls the lift valve 44 so that the lift cylinder 2 is extended. Then, the control is switched to the discharge state in which the hydraulic oil is discharged from the lift cylinder 2 and the lowering control for lowering the seedling planting device 4 toward the lower limit position is performed.

  When the operation to the “up” position of the first work lever 58 is detected, the elevating valve 44 is switched to a supply state for supplying hydraulic oil to the lift cylinder 2 so that the lift cylinder 2 is contracted. Ascending control for raising the seedling planting device 4 toward the upper limit position is performed.

  When the operation of the first work lever 58 to the “neutral” position is detected, the elevating valve 44 is stopped so as to stop the supply and discharge of the hydraulic oil to and from the lift cylinder 2 so that the lift cylinder 2 stops operating. Switching to the state, the lifting stop control for stopping the raising and lowering of the seedling planting device 4 is performed.

  In the above-described descending control, when it is detected that the detection angle θb of the float sensor 54 matches the control target angle θo set in advance by the setting dial 62 composed of a rotary potentiometer provided in the boarding operation unit 13 (float sensor 54 when the detected angle θb falls within the dead zone width of the control target angle θo), and in the above ascent control, the upper limit switch 43 is turned on by the link mechanism 3 to reach the upper limit position of the seedling planting device 4 Even when detected, the lift stop control is performed.

  When an operation to the “planting” position of the first work lever 58 is detected, the clutch motor 42 is operated so that the planting clutch 41 is engaged and operated, and the planting operation of the seedling planting device 4 is started. The planting start control is performed, and when the operation to the “planting” position of the first work lever 58 is not detected, the clutch motor 42 is operated so that the planting clutch 41 is turned off, Planting stop control for stopping the planting operation of the planting device 4 is performed.

  When an operation to the “automatic” position of the first work lever 58 is detected, it is composed of a plurality of limit switches that output operation information of the neutral return type second work lever 60 arranged at the lower right of the steering wheel 11. Based on the output of the second lever sensor 61, a control operation corresponding to the operation of the second work lever 60 is executed.

  That is, by operating the first work lever 58, the seedling planting device 4 can be positioned at an arbitrary height position within the ascending / descending range, and at the arbitrary height position, seedling planting is performed. The operation state and the operation stop state of the device 4 can be switched and displayed, and the control mode of the control device 40 is controlled based on the detection of the first lever sensor 59 and the second lever sensor. Based on the output of 61, the control mode can be switched to the control mode.

  Next, the control operation of the control device 40 based on the output of the second lever sensor 61 will be described.

  Based on the output of the second lever sensor 61, the control device 40 determines whether or not automatic lift control, which will be described later, is being executed, when detecting a downward operation of the second work lever 60.

  When the automatic elevation control is not executed, based on the control target angle θo preset by the setting dial 62 and the detection angle θb of the float sensor 54, the detection angle θb matches the control target angle θo. Then, the operation of the lift valve 44 is controlled, and the lift cylinder 2 is expanded and contracted, so that the ground height of the seedling planting device 4 is maintained at a predetermined ground height position where the leveling float 17 is grounded at the control target angle θo. Thus, automatic raising / lowering control for raising / lowering the seedling planting device 4 is performed.

  When the automatic raising / lowering control is executed, the planting start control for starting the planting operation of the seedling planting device 4 is performed by operating the clutch motor 42 so that the planting clutch 41 is engaged and operated.

  When an upward operation of the second work lever 60 is detected, it is determined whether or not the planting operation is being performed after the planting start control is performed.

  When the planting operation is being performed after the planting start control is performed, the planting stop control is performed to stop the planting operation of the seedling planting device 4 by operating the clutch motor 42 so that the planting clutch 41 is turned off. Until the upper limit switch 43 is turned on by the link mechanism 3, the lift valve 44 is switched to the supply state so that the lift cylinder 2 is contracted, and the seedling planting device 4 is automatically raised to the upper limit position. As the on-operation is detected, the elevation valve 44 is switched to the supply / discharge stop state so that the lift cylinder 2 stops operating, and automatic raising control is performed to automatically stop the seedling planting device 4 at the upper limit position.

  When the planting stop is not being performed and the planting start control is not being performed, only the automatic ascent control described above is performed.

  That is, the leveling state in which the seedling planting device 4 is maintained at a predetermined grounding height position by the operation of the second work lever 60 and the planting operation in which the seedling planting device 4 is planted while being maintained at the predetermined grounding height position. The state and the non-working state in which the seedling planting device 4 is retracted to the upper limit position can be easily switched and displayed. In the planting state, the field cultivator and the field mud surface that change with traveling can be displayed. Regardless of undulations, seedlings can be planted stably at a preset planting depth.

  The control target angle θo can be set and changed by operating the setting dial 62. As the angle θo is increased in the upward direction by operating the setting dial 62, the detected angle θb of the float sensor 54 is increased to the angle θo. Since the ground contact height position of the seedling planting device 4 in a state where the two have matched, the ground contact pressure of each leveling float 17 is increased, so that each leveling float with respect to the undulation of the field mud surface that changes with traveling, etc. 17 followability falls.

  Conversely, as the setting dial 62 is increased in the forward downward direction, the ground contact height position of the seedling planting device 4 in a state where the detection angle θb of the float sensor 54 matches the angle θo increases. Since the ground pressure of the leveling float 17 becomes low, the followability of each leveling float 17 with respect to the ups and downs of the field mud surface that changes with traveling is improved.

  Therefore, in the automatic lifting control for maintaining the seedling planting device 4 at the predetermined ground contact height position, the field mud that changes with traveling as the control target angle θo is increased in the forward upward direction by the operation of the setting dial 62. Since the followability of each leveling float 17 with respect to surface undulations and the like decreases, the vertical swing angle θa of the leveling float 17 detected by the float sensor 54 becomes difficult to change with respect to the control target angle θo. The raising / lowering operation of the seedling planting device 4 is difficult to perform.

  Conversely, as the control target angle θo is increased in the forward and downward direction by operating the setting dial 62, the followability of each leveling float 17 with respect to the undulation of the field mud surface that changes with traveling is improved. Since the vertical swing angle θa of the leveling float 17 detected at 54 is easily changed with respect to the control target angle θo, the raising / lowering operation of the seedling planting device 4 is easily performed.

  That is, as the control target angle θo is increased in the forward upward direction by operating the setting dial 62, the control sensitivity in the automatic upward / downward control can be made less sensitive. Conversely, as the control target angle θo is increased in the forward downward direction, the automatic upward / downward control is performed. The control sensitivity can be made sensitive.

  As a result, when the mud in the field is hard, if the control target angle θo is changed in the forward upward direction in accordance with the hardness, the leveling float 17 can be applied to the slight undulation of the field mud surface in the automatic lifting control. Therefore, it is possible to prevent the occurrence of hunting caused by the fact that the seedling planting device 4 frequently moves up and down by following and swinging sensitively.

  In addition, when the mud in the field is soft, the leveling float 17 can follow large undulations in the field mud surface in the automatic lifting control by changing the control target angle θo to the forward and downward direction according to the softness. Since it can prevent the seedling from falling due to the fact that it does not swing and mud push is likely to occur, it is possible to perform good planting in consideration of the hardness of the field mud.

  As described above, in this rice transplanter, in order to detect the vertical swing angle θa of the leveling float 17, the float sensor 54 in which the detection arm 55 is linked to the front end portion of the leveling float 17 via the linkage rod 56 or the like. The main frame 48 of the seedling planting device 4 is fixedly equipped.

  The planting depth can be adjusted by operating the operating lever 51 to swing the leveling float 17 up and down with the float fulcrum shaft 50 as a fulcrum, thereby changing the height position of the leveling float 17 relative to the planting mechanism 16. You can do that.

  Therefore, when the height position of the leveling float 17 with respect to the planting mechanism 16 is changed in order to adjust the planting depth of the seedling, the height position of the leveling float 17 with respect to the float sensor 54 is also changed. Accordingly, the detection arm 55 of the float sensor 54 linked to the front end portion of the leveling float 17 via the linkage rod 56 or the like is oscillated and displaced according to the amount of change.

  That is, by adjusting the planting depth, a change occurs in the correlation between the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54, and automatic elevation control is performed without taking this change into consideration. In this case, since the detected angle θb of the float sensor 54 in which the correlation with the vertical swing angle θa of the leveling float 17 has changed is matched with the control target angle θo set by the setting dial 62, the leveling float 17 It becomes impossible to maintain the seedling planting device 4 at a predetermined ground contact height position obtained by matching the vertical swing angle θa of the target to the control target angle θo, and at the planting depth set by planting depth adjustment Seedlings cannot be planted well.

  Therefore, in this rice transplanter, planting depth detection means 63 comprising a rotary potentiometer that detects the amount of rotation from the reference position of the float fulcrum shaft 50 that rotates when planting depth is adjusted, as planting depth, Based on the detection of the planting depth detection means 63, the detection angle θb of the float sensor 54 is appropriately corrected, and the correlation between the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 is obtained. The correction means 64 comprising a control program or the like configured to be matched is equipped, and the correlation between the vertical rocking angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 that change by adjusting the planting depth is obtained. It is configured to perform automatic lifting control in consideration.

  More specifically, the correction means 64 has a plurality of correction coefficients for appropriately correcting the detection angle θb of the float sensor 54 corresponding to each planting depth detected by the planting depth detection means 63 in advance. The correction means 64 selects a correction coefficient to be adopted based on the detection of the planting depth detection means 63, and multiplies the selected correction coefficient by the detection angle θb of the float sensor 54, thereby the float sensor. The detection angle θb of 54 is corrected appropriately.

  For example, the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 obtained when the operation lever 51 for adjusting the planting depth is set to a standard position where the planting depth is a general depth. Is used as a reference, the height position of the leveling float 17 with respect to the planting mechanism 16 is higher as the operation lever 51 for planting depth adjustment is set to the operation position on the deep planting side than the standard position. And the height position of the leveling float 17 with respect to the float sensor 54 is also changed to the higher side, so that the detection angle θb of the float sensor 54 is relative to the vertical swing angle θa of the actual leveling float 17. Therefore, the correction means 64 detects the float sensor 54 at that time according to the planting depth detected by the planting depth detection means 63 at that time. By selecting a correction coefficient that can appropriately reduce the angle θb and multiplying the detection angle θb of the float sensor 54 by the selected correction coefficient, the detection angle θb of the float sensor 54 is changed to the vertical swing angle of the actual leveling float 17. Decrease correction to an appropriate angle corresponding to θa.

  On the contrary, the height position of the leveling float 17 with respect to the planting mechanism 16 is changed to a lower side as the operation lever 51 for adjusting the planting depth is set to the operation position closer to the planting side than the standard position. The height position of the leveling float 17 with respect to the sensor 54 is also changed to the lower side, and the detection angle θb of the float sensor 54 becomes relatively smaller than the vertical swing angle θa of the actual leveling float 17. The means 64 selects a correction coefficient capable of appropriately increasing the detection angle θb of the float sensor 54 at that time according to the planting depth detected by the planting depth detection means 63 at that time, and the selected correction. By multiplying the coefficient by the detection angle θb of the float sensor 54, the detection angle θb of the float sensor 54 is adjusted to an appropriate value corresponding to the vertical swing angle θa of the actual leveling float 17. Increased compensation to such angle.

  That is, when the planting depth is adjusted using the operation lever 51, the leveling float 17 with respect to the float sensor 54 is changed as the height position of the leveling float 17 with respect to the planting mechanism 16 is changed by the planting depth adjustment. Is changed so that the correlation between the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 and the control by the setting dial 62 and the detection angle θb of the float sensor 54 are controlled. There is a change in the correlation with the target angle θo. In conjunction with the adjustment of the planting depth at this time, the correction unit 64 determines the detection angle θb of the float sensor 54 according to the detection of the planting depth detection unit 63. And the correlation between the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54, and the float sensor 5 Since the correlation between the detected angle θb and the control target angle θo by the setting dial 62 is matched, the seedling planting device 4 is set by the setting dial 62 regardless of the planting depth adjustment in the automatic lifting control. It is possible to accurately maintain the ground contact height position where the leveling float 17 contacts the ground at the control target angle θo, and it is possible to stably plant a good seedling at the planting depth set by the planting depth adjustment.

  By the way, in a configuration different from the configuration exemplified in the present embodiment, a method of maintaining a constant correlation between the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 regardless of the planting depth adjustment. Although the illustration is omitted, the float sensor 54 linked to the front end of the leveling float 17 via the linkage link mechanism is used for seedling planting via a pair of upper and lower swing links constituting the parallel quadruple link mechanism. An operation lever 51 that is connected to the main frame 48 so as to be positioned at the front lower part of the device 4 and that enables the height changing operation of the leveling float 17 with respect to the planting mechanism 16 is linked to the operation to float. It is conceivable that the sensor 54 is linked to the upper swing link via the linkage rod so that the height position of the sensor 54 is changed to a height position corresponding to the height position of the leveling float 17. It is.

  However, with this configuration, the support structure of the float sensor 54 becomes complicated and large, and a large space for mounting the support structure needs to be secured in the front lower portion of the seedling planting device 4.

  In this regard, in the configuration exemplified in the present embodiment, as described above, the detection angle θb of the float sensor 54 is corrected by the correction means 64, so that a support structure that supports the float sensor 54 so as to be capable of relative displacement is provided. It is not necessary to secure a large space in the front lower part of the seedling planting device 4.

  Therefore, as shown in FIGS. 1 to 4 and FIG. 9, in the rice transplanter exemplified in the present embodiment, the empty space in the lower front portion of the seedling planting device 4 is effectively used, and immediately before planting in front of the leveling float 17. A scraping rotor 65 that stirs and smoothes the field mud surface is provided so as to be able to drive and rotate, so that normal scraping work can be dispensed with.

  The scraper rotor 65 is configured by mounting a plurality of rotating bodies 67 and spacers 68 made of resin moldings on a drive shaft 66 made of a square pipe facing left and right so as to be integrally rotatable. The power distribution mechanism 14 of the planting device 4 is installed so that the power distributed from the power distribution mechanism 14 can be transmitted from the power distribution mechanism 14 to each planting transmission case 49, and the power transmission shaft 69 and the drive shaft 66 are installed. By being transmitted through a torque limiter, a chain-type transmission mechanism (not shown), a one-way clutch, and the like built in the transmission case 70, it is rotationally driven in the down cut direction.

  At the time of this rotational drive, an overload on the drive system is prevented by the action of the torque limiter, and at the time of leveling work in which the seedling planting device 4 is grounded in the drive stop state, the plurality of rotating bodies 67 are brought about by the action of the one-way clutch. As it travels, it turns in the down cut direction.

  The scraper rotor 65 is supported by a transmission case 70 and a support member 71 disposed on the left and right sides so as to be capable of independent up-and-down swinging with the transmission shaft 69 as a fulcrum, and is disposed above the scraper rotor 65. It is linked to a lift motor 72 of the type via an operation rod 73 and a sector gear 74 so as to be capable of independent lift drive.

  As shown in FIGS. 2 to 4 and 9, the elevating motor 72 is a rotor that changes the swing angle of the rotor gear setting operation tool 75 composed of a rotary potentiometer equipped in the boarding operation unit 13 and the sector gear 74. In the control operation of the control device 40 based on the detection of the rotor sensor 76 composed of a rotary potentiometer that is detected as a height position of 65, the detected height of the rotor sensor 76 coincides with the set height by the operation tool 75 (set height). ), The scraping rotor 65 is positioned at the height position set by the operation tool 75.

  That is, by operating the operating tool 75 for setting the rotor height, the scraping rotor 65 can be easily positioned at a desired height position, and when not required, the non-working height floated from the field mud surface. It can be easily retreated to the position.

  Reference numerals 77 shown in FIGS. 2 and 3 are a pair of left and right tension springs that reduce the lifting load of the scraping rotor 65 applied to the lifting motor 72 by lifting and biasing the scraping rotor 65.

  The reference numeral 78 shown in FIGS. 2 and 3 is a mud splash prevention cover that prevents backward splashing by the scraping rotor 65, and this mud splash prevention cover 78 is at the time of scraping action when the scraping rotor 65 contacts the ground. In addition to preventing mud splashing, the lower end of the ground contacts the mud surface of the field, and the surface of the surface of the surface is leveled by pressing the surface of the surface of the surface of the surface of the surface of the surface of the surface of the surface of the surface of the surface.

  By the way, at the time of planting work or ground leveling work in which the leveling float 17 is grounded, the leveling float 17 is more likely to float as the vehicle speed increases. Therefore, regardless of the vehicle speed, the detection angle θb of the float sensor 54 and control by the setting dial 62 are performed. If the correlation with the target angle θo is kept constant, the leveling float 17 tends to rise and swing more sensitively to a slight uplift of soft mud in the field, as the vehicle speed during work increases. In the automatic raising / lowering control based on the swinging of the leveling float 17, hunting in which the seedling planting device 4 moves up and down unnecessarily, and shallow planting and leveling failure due to the floating feeling of the seedling planting device 4 are likely to occur. Become.

  Therefore, in the rice transplanter exemplified in the present embodiment, the correction unit 64 appropriately corrects the control target angle θo by the setting dial 62 based on the detection speed of the vehicle speed detection unit 79. Specifically, in the field For example, as shown in FIG. 10, the leveling float 17 floats as the vehicle speed detected by the vehicle speed detection means 79 exceeds 1.5 m / s due to the amount of water and the shape of the leveling float 17. If it is recognized that the vehicle speed becomes easy, the vehicle speed is increased faster than 1.5 m / s based on, for example, the correlation between the vehicle speed and the control target angle as shown in FIG. As shown, the control target angle θo is greatly corrected in the upward direction, and as a result, the control target angle θo is set by operating the setting dial 62 as the vehicle speed at the time of work exceeds a predetermined speed. As in the case of increasing in the upward direction, the control sensitivity in the automatic lifting control can be made insensitive, and as a result, the leveling float 17 causes a slight uplift of soft mud in the field as the vehicle speed increases. On the other hand, it is possible to prevent the possibility that the seedling planting device 4 moves up and down unnecessarily in the automatic lifting control based on the swinging of the leveling float 17 and the seedling planting device 4 is in a floating state. It is possible to avoid the occurrence of shallow planting and poor leveling due to becoming.

  When the control target angle θo is corrected based on the detection speed of the vehicle speed detection means 79, the floating level of the leveling float 17 changes depending on the amount of water in the field, the shape of the leveling float 17, etc. The correction coefficient in the correction means 64 can be changed in various ways according to the amount of water in the field and the shape of the leveling float 17.

  By the way, in this rice transplanter, as described above, the main transmission lever 23 is adjusted so that, for example, a correlation as shown in FIG. 8 is obtained between the shift operation position of the main transmission lever 23 and the engine speed. Since the operation is linked to the speed control lever 32 of the speed mechanism 31, by detecting the engine speed, the speed change operation position of the main speed change lever 23 can be determined, and the vehicle speed can be estimated.

  That is, as the vehicle speed detecting means 79, it is only necessary to equip a rotation sensor for detecting the engine speed, so that the vehicle speed detecting means 79 is equipped with a rotation sensor and a lever sensor for detecting the shift operation position of the main transmission lever 23. The configuration can be simplified as compared with the case of configuring the above.

[Another embodiment]

[1] The planting machine may be, for example, a grass transplanting machine for planting rice seedlings other than the rice planting machine for planting rice seedlings.

[2] The grounding body 17 may be a leveling plate or the like that swings up and down about a left and right support shaft according to the ups and downs of the field mud surface that changes with traveling.

[3] The planting mechanism 16 may be a crank arm type.

[4] As the actuator 2 for moving the seedling planting device 4 up and down, a hydraulic lift motor, an electric lift motor, or the like can be adopted.

[5] As the planting depth detection means 63, an ultrasonic sensor that detects the height position of the grounding body 17 in the seedling planting device 4 as the planting depth may be employed.

[6] As the correction means 64, the planting depth and the detection angle θb of the float sensor 54 for appropriately correcting the detection angle θb of the float sensor 54 according to the planting depth detected by the planting depth detection means 63. A correlation equation indicating a correlation with a correction coefficient with respect to is stored in advance, and the detection coefficient θb of the float sensor 54 is multiplied by the correction coefficient obtained from the correlation expression and the detection of the planting depth detection unit 63, The detection angle θb of the float sensor 54 may be appropriately corrected to an angle corresponding to the vertical swing angle θa of the actual leveling float 17.

[7] As the correction means 64, detection of a plurality of float sensors 54 for appropriately correcting the detection angle θb of the float sensor 54 corresponding to each planting depth detected by the planting depth detection means 63. A correlation formula or map data indicating the correlation between the angle θb and the correction value is stored in advance, and a correlation formula or map data to be adopted based on the detection of the planting depth detection means 63 is selected and selected. By adding a correction value obtained from the correlation equation or map data obtained and the detection angle θb of the float sensor 54 to the detection angle θb of the float sensor 54, the detection angle θb of the float sensor 54 is changed to the actual leveling float 17. The angle may be appropriately corrected to an angle corresponding to the vertical swing angle θa.

[8] The correction unit 64 appropriately corrects the control target angle θo by the setting dial 62 based on the detection by the planting depth detection unit 63, and controls the detection angle θb of the float sensor 54 and the control by the setting dial 62. By matching the correlation with the target angle θo, automatic elevation control is performed in consideration of the change in the correlation between the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 caused by the planting depth adjustment. It may be something that can be done.

  More specifically, the correction unit 64 has a plurality of correction coefficients for appropriately correcting the control target angle θo by the setting dial 62 corresponding to each planting depth detected by the planting depth detection unit 63 in advance. The control target angle θo is appropriately selected by selecting a correction coefficient to be stored based on the detection of the planting depth detection means 63 and multiplying the selected correction coefficient by the control target angle θo set by the setting dial 62. To correct.

  For example, the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 obtained when the operation lever 51 for adjusting the planting depth is set to a standard position where the planting depth is a general depth. When the operation lever 51 for adjusting the planting depth is set to the operation position closer to the planting side than the standard position where the standard planting depth is obtained, the leveling of the planting mechanism 16 is adjusted. While the height position of the float 17 is changed to the higher side, the height position of the leveling float 17 with respect to the float sensor 54 is also changed to the higher side, so that the detection angle θb of the float sensor 54 swings up and down of the actual leveling float 17. Since the moving angle θa is relatively larger than the moving angle θa, the correcting means 64 is adjusted based on the planting depth detected by the planting depth detecting means 63 at that time. Corresponding to the detected angle θb of the float sensor 54, a correction coefficient for appropriately increasing the control target angle θo set by the setting dial 62 is selected, and the selected correction coefficient is set by the control dial 62. By multiplying θo, the control target angle θo is corrected to rise to an appropriate angle corresponding to the detection angle θb of the float sensor 54 after the planting depth adjustment.

  On the contrary, the height position of the leveling float 17 with respect to the planting mechanism 16 is changed to a lower side as the operation lever 51 for adjusting the planting depth is set to the operation position closer to the planting side than the standard position. The height position of the leveling float 17 with respect to the sensor 54 is also changed to the lower side, and the detection angle θb of the float sensor 54 becomes relatively smaller than the vertical swing angle θa of the actual leveling float 17. Based on the planting depth detected by the planting depth detection unit 63 at that time, the unit 64 corresponds to the detected angle θb of the float sensor 54 at that time, and the control target angle θo set by the setting dial 62. Is selected, and the control target angle θo is planted by multiplying the selected correction coefficient by the control target angle θo set by the setting dial 62. Only it descends corrected to an appropriate angle corresponding to the detection angle θb of depth adjustment after the float sensor 54.

  That is, when the planting depth is adjusted using the operation lever 51, the leveling float 17 with respect to the float sensor 54 is changed as the height position of the leveling float 17 with respect to the planting mechanism 16 is changed by the planting depth adjustment. Is changed so that the correlation between the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 and the control by the setting dial 62 and the detection angle θb of the float sensor 54 are controlled. There is a change in the correlation with the target angle θo, but in conjunction with the adjustment of the planting depth at this time, the correction unit 64 uses the control target angle θo set by the setting dial 62 to determine the planting depth detection unit 63. The phase of the vertical swing angle θa of the leveling float 17 and the detection angle θb of the float sensor 54 associated with the adjustment of the planting depth is corrected appropriately according to the detection. Since the correlation between the detection angle θb of the float sensor 54 and the control target angle θo by the setting dial 62 is matched while allowing the change in the relationship, in the automatic lifting control, the seedling planting is performed regardless of the planting depth adjustment. The attachment device 4 can be accurately maintained at the ground contact height position where the leveling float 17 contacts the ground at the control target angle θo set by the setting dial 62, and a good seedling at the planting depth set by the planting depth adjustment Can be planted stably.

[9] The correction unit 64 appropriately corrects the detection angle θb of the float sensor 54 based on the detection speed of the vehicle speed detection unit 79. Specifically, from the shape of the leveling float 17, for example, FIG. As shown, when it is recognized that as the vehicle speed detected by the vehicle speed detection means 79 exceeds 1.5 m / s, the leveling float 17 becomes more likely to float accordingly, this point is taken into consideration. As the vehicle speed exceeds 1.5 m / s, the configuration is such that the detection angle θb of the float sensor 54 is largely corrected in the forward and downward direction, so that the vehicle speed during work exceeds a predetermined speed. As in the case where the control target angle θo is increased in the upward direction by the operation of the setting dial 62, the control sensitivity in the automatic elevation control becomes insensitive, and the leveling float 17 is adjusted as the vehicle speed increases. In the automatic lifting control based on the swinging of the leveling float 17, the seedling planting device 4 moves up and down unnecessarily so as to prevent the possibility of rising and swinging sensitively even with a slight uplift of soft mud on the ground. It may be possible to avoid occurrence of shallow planting and poor leveling due to hunting to be performed and the seedling planting device 4 becoming floating.

[10] An operation lever 51 for adjusting the planting depth is provided on the upper part on the back side of the seedling stage 15, and the operation lever 51 and the float fulcrum shaft 50 are provided with a plurality of linkage members. You may comprise so that operation linkage may be carried out via a mechanism or a linkage wire.

[11] For example, an electric lift motor that rotationally drives a float fulcrum shaft 50 that supports the grounding body 17 so as to be swingable up and down via the support arm 52, and a target planting depth (target height position of the grounding body 17). ) And a rotary type that detects the amount of rotation from the reference position of the float fulcrum shaft 50 as the planting depth (height position of the grounding body 17). Planting depth detection means 63 comprising a potentiometer, and control means for controlling the operation of the elevating motor so that the planting depth detection means 63 matches the target planting depth by the setting dial. Thus, the planting depth may be adjusted electrically.

  In this configuration, the correction means 64 can be configured to appropriately correct the detection angle θb of the float sensor 54 based on the output of the setting dial in conjunction with the planting depth adjustment by the operation of the setting dial. become.

[12] For example, an electric lift motor that rotationally drives a float fulcrum shaft 50 that supports the grounding body 17 so as to be swingable up and down via the support arm 52, and a target planting depth (target height position of the grounding body 17). ) Based on the setting dial (an example of the operating means) consisting of a rotary potentiometer that changes the setting and the setting dial changing operation amount when changing the target planting depth, the operation amount according to the changing operation amount Control means for controlling the operation of the elevating motor so that the grounding body 17 is displaced, and the planting depth may be adjusted electrically.

  In this configuration, the correction means 64 can be configured to appropriately correct the detection angle θb of the float sensor 54 based on the output of the setting dial in conjunction with the planting depth adjustment by the operation of the setting dial. Moreover, the installation of the planting depth detection means 63 can be made unnecessary.

[13] The vehicle speed detecting means 79 may be composed of a rotation sensor for detecting the engine speed and a lever sensor for detecting the speed change operation position of the main speed change lever 23, and the rotation of the final transmission shaft for traveling. You may comprise with the rotation sensor which detects a number.

Overall side view of riding rice transplanter Side view of seedling planting device Front view of seedling planting device Partial vertical side view of seedling planting device Schematic plan view showing planting depth adjustment structure Longitudinal side view of the main part showing the shift operation structure Linkage diagram showing operating structure of speed governor The figure which shows the relationship between the speed change operation position of the main speed change lever, and an engine speed Block diagram showing control configuration Diagram showing the relationship between vehicle speed and lift of leveling float Diagram showing the relationship between vehicle speed and control target angle

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling vehicle body 2 Actuator 4 Seedling planting device 16 Planting mechanism 17 Grounding body 40 Control means 51 Operation means 54 Oscillation angle detection means 63 Planting depth detection means 64 Correction means 79 Vehicle speed detection means θa Vertical swing of grounding body Angle θb Detection angle θo Control target angle

Claims (3)

By equip | installing a grounding body so that a height change is possible with respect to a planting mechanism, providing the operation means which changes the height position of the said grounding body, and changing the height position of the said grounding body with respect to the said planting mechanism The planting depth can be adjusted,
A seedling planting device including the grounding body and the planting mechanism is connected to a traveling vehicle body so as to be movable up and down, the grounding body is equipped so as to swing up and down, and an actuator for driving the seedling planting device up and down, and the grounding Swing angle detection means for detecting the vertical swing angle of the body, and control means for controlling the operation of the actuator so that the detection angle of the swing angle detection means matches a preset control target angle. The planting work machine lifting control structure is configured to enable execution of automatic lifting control to maintain the seedling planting device at a preset ground contact height position,
An ascending / descending control structure for a planting work machine comprising correction means for correcting the detection angle of the swing angle detection means or the control target angle in conjunction with the planting depth adjustment. A planting depth detecting means for detecting the planting depth;
The correction means is configured to correct the detection angle of the swing angle detection means or the control target angle in conjunction with the planting depth adjustment based on the detection of the planting depth detection means. The raising / lowering control structure of the planting work machine of Claim 1. Vehicle speed detecting means,
The planting work machine according to claim 1 or 2, wherein the correction unit is configured to correct a detection angle of the swing angle detection unit or the control target angle based on a detection speed of the vehicle speed detection unit. Elevating control structure.

Images