JP2010046007A - Transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transplanter which can reduce the operational load of an operator and can suitably control the height of a land-leveling implement to improve the accuracy of the land-leveling work, when the height of land-leveling implement is adjusted. <P>SOLUTION: There is provided a riding type rice transplanter comprising a planting implement 10 liftably connected to a travel machine frame 1 to plant seedlings, a land-leveling implement 17 liftably connected to the front portion of the planting implement 10 to level the land in front of the planting implement 10, a rotor-lifting or lowering motor 52 for lifting or lowering the land-leveling implement 17 on the basis of the planting implement 10, a rotor height-setting dial 54 for setting the height of the land-leveling implement 17, and a controller 21 for controlling the height of the land-leveling implement 17 on the basis of the driving control of the rotor-lifting or lowering motor 52 in response to the operation of the rotor height-setting dial 54, characterized in that the controller 21 finely adjusts the height of the land-leveling implement 17 in a prescribed direction in response to a prescribed operation tool operation different from the operation of the rotor height-setting dial 54. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a transplanter including a leveling work machine that performs leveling in front of a planting work machine.

  2. Description of the Related Art A transplanter equipped with a leveling machine for leveling a farm scene in front of a planting machine is known (see, for example, Patent Document 1). In such transplanters, leveling can be done at the same time as planting, so the planting accuracy and work efficiency can be improved. It is remarkable, and the planting accuracy can be greatly improved.

Moreover, the transplanter shown by patent document 1 is an actuator which raises / lowers a leveling work machine with respect to a planting work machine, a leveling work machine height operation tool which sets and operates the height of a leveling work machine, and a leveling work machine The leveling work machine height control means for controlling the height of the leveling work machine based on the drive control of the actuator according to the operation of the height operation tool is provided, and the operator can arbitrarily set the height of the leveling work machine. It is possible to adjust.
JP 2007-267614 A

  However, conventionally, since the operator manually adjusts the height of the leveling work machine according to the situation, there is a problem that the operation burden on the operator increases. Further, when the operator neglects to adjust the height of the leveling work machine, there is a possibility that the leveling is not performed properly, or inconveniences such as the already planted seedling fall down due to a water pushing phenomenon.

The present invention was created for the purpose of solving these problems in view of the above situation, and is connected to a traveling machine body so as to be movable up and down, and a planting work machine for planting seedlings, and planting The leveling work machine is connected to the front part of the work machine so that it can be raised and lowered, and performs leveling in front of the planting work machine, the actuator for raising and lowering the leveling work machine with respect to the planting work machine, A leveling work implement height operating tool for setting operation and a leveling work implement height control means for controlling the height of the leveling work implement based on the drive control of the actuator according to the operation of the leveling work implement height operating tool. In the transplanter, the leveling work machine height control means finely adjusts the height of the leveling work machine in a predetermined direction in accordance with a predetermined operation tool operation different from the leveling work machine height operation tool. To do. In this case, the height of the leveling work machine is finely adjusted in a predetermined direction by performing a predetermined operation tool operation different from the leveling work machine height operation tool. Compared with the case of finely adjusting the height, it is possible not only to reduce the operation burden on the operator, but also to improve the leveling work accuracy by optimizing the height of the leveling work machine.
Further, the predetermined operation tool is a headland setting operation tool for selectively setting whether or not the headland is a headland, and based on the setting operation of the headland setting operation tool, The control state of the control device is also changed. If it does in this way, based on whether it is a headland or not, the height of the leveling machine can be finely adjusted in a predetermined direction. For example, in the case of headland, a large leveling effect can be obtained by finely adjusting the height of the leveling work machine in the downward direction, and in the case of other than headland, the height of the leveling work machine in the upward direction. The water pushing phenomenon can be suppressed by fine adjustment. Moreover, since the control state of the control device (hydraulic lifting control device, marker swing control device, etc.) related to the planting work machine is also changed based on the setting operation of the headland setting operation tool, the leveling work machine and the planting work It is possible to comprehensively optimize the control state of the control device related to the machine and further improve the work accuracy.
Further, the leveling work machine height control means controls the leveling work machine to be slightly increased by a predetermined amount when the traveling speed reaches a predetermined speed or exceeds a predetermined speed. In this way, when the traveling speed reaches the predetermined speed or exceeds the predetermined speed, the leveling work machine is slightly raised and controlled to suppress the water pushing phenomenon of the leveling work machine at the time of high speed planting. it can.

  Next, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a traveling machine body of a passenger rice transplanter (transplanter), which is supported by a front wheel 2 and a rear wheel 3, and an engine ( (Not shown) is mounted, and a driving unit 6 having a seat 5 is formed in the middle part of the traveling body 1 in the front-rear direction. An operation tool such as a steering wheel 7 is disposed in the driving unit 6, and a pedal 8 for operating the main clutch and the traveling brake projects on the floor surface of the driving unit 6.

  Here, first, an outline of each part of the riding rice transplanter will be described with reference to FIGS.

  As shown in FIG. 1, a planting work machine 10 is connected to the rear part of the traveling machine body 1 through an elevating link mechanism 9 having an upper link 9 a and a lower link 9 b so as to be movable up and down. The planting work machine 10 includes a plurality of planting claws 11, a float 12, a seedling stage 13, a planting transmission case 14, and the like. An intermediate portion of the float 12 is supported so as to be rotatable about a support shaft 15 provided at a lower portion of the planting transmission case 14, and a front end portion is connected to the sensing plate 16.

  In front of the planting work machine 10, a leveling work machine 17 for leveling the farm scene is disposed. The leveling work machine 17 is connected to the planting work machine 10 so as to be movable up and down. At the time of planting work, the height of the leveling work machine 17 is held at the work height, so that the planting work machine 10 The farm scene is leveled ahead.

  Markers 18 (R, L) are attached to the left and right ends of the planting work machine 10. As the planting work machine 10 is moved up and down, the left and right markers 18 are arranged at a work position that is swung out to the outside of the planting work machine 10 and a non-working position that is stored at the left and right ends of the planting work machine 10. It is possible to switch automatically and alternately, and at the work position, it becomes possible to draw a narrow groove serving as a travel reference line for the next stroke in the field scene.

  A hydraulic cylinder 19 is connected to the lift link mechanism 9. The hydraulic cylinder 19 is expanded and contracted by the control unit 21 controlling the hydraulic control valve 22 in accordance with an operation of a work machine operation lever 20 described later, and the planting work machine 10 is raised and lowered accordingly. The elevation height of the planting work machine 10 is detected by the lifter angle potentiometer 23.

  Below the seat 7, an operating body 24 is disposed together with the hydraulic control valve 22, and the hydraulic control valve 22 is operated by the operating body 24. The operating body 24 includes a lifter cam motor 25 disposed in the vicinity of the hydraulic control valve 22, a small gear 26 that rotates integrally with the motor shaft of the lifter cam motor 25, and a lifter cam 27 that meshes with the small gear 26. Have. A lifter cam potentiometer 28 for detecting a rotation angle of the fulcrum shaft is attached to the fulcrum shaft of the lifter cam 27.

  The hydraulic control valve 22 is operated by changing the state of the valve operation plate 29 provided on the operation shaft into four positions of ascending, fixing, descending (automatic), and planting. And by the said raise which is a lift function, when the planting work machine 10 is raised and this planting work machine 10 reaches the highest position, it will be in a fixed state automatically. In the fixed state, since the inflow of the hydraulic oil to the hydraulic cylinder 19 is stopped, the planting work machine 10 is held at a certain height. Further, when the planting work machine 10 is lowered by the above-described lowering or planting, which is a lift function, and the float 12 comes into contact with the rice field, automatic control is set. In the automatic control, the valve operating plate 29 is directly moved by the link connected to the float 12, so that the unevenness of the farm scene is detected by the float 12, and the planting work machine 10 is automatically moved up and down. It is something to be made. The hydraulic control valve 22, the float 12, and the sensing plate 16 constitute a hydraulic lifting control device 30.

  On the other hand, a switch box 31 is provided below the steering wheel 7 in the driving unit 6, and the switch box 31 is provided with a work machine operation lever 20 that can be operated in the vertical and front-back directions. Also, a headland switch 33 (headland setting operation tool) is disposed on the front side of the front panel 32 disposed so as to surround the steering wheel 7 and the switch box 31, and the marker automatic switch 34, work A switch 35, a hydraulic sensitivity adjustment dial 36, and an alarm stop switch 37 are provided. Various monitors such as a planting monitor 38, a horizontal automatic monitor 39, and a ground work machine monitor 40 are disposed on the panel surface of the front panel 32.

  Next, raising / lowering control of the planting work machine 10 will be described with reference to FIG.

  When the work implement operating lever 20 is operated, the operation content is discriminated by a changeover switch (not shown) arranged in the switch box 31 and a signal from the changeover switch is sent to the control unit 21. . The control unit 21 controls the drive of the lifter cam motor 25 according to the signal from the changeover switch. As a result, the lifter cam 27 rotates and the hydraulic control valve 22 is switched, and the hydraulic cylinder 19 expands and contracts in response to the valve switching, and the planting work machine 10 is controlled to move up and down.

  The work implement operating lever 20 is linked to the work switch 35 of the front panel 32. When the work switch 35 is in the ON state, the work implement operating lever 20 causes the “planting clutch on / off”, “ The raising and lowering of the planting work machine 10 and the “operation of the marker 18” can be performed. Note that when the work switch 35 is in the OFF state, only the “raising and lowering of the planting work machine 10” can be performed by the work machine operating lever 20.

  Here, a specific operation of the work implement operation lever 20 when the work switch 35 is in each of the above-described on / off states will be described.

  When the work switch 35 is in the on state, the work implement operation lever 20 can be operated in the up / down and front / rear directions from the central reference position. The operation in the up / down direction is related to the control of the planting work machine 10, and the operation in the front / rear direction is related to the marker 18.

  For example, when the work implement operating lever 20 is operated once in the upward direction from the state where the planting work implement 10 is grounded and the planting clutch is engaged, “planting clutch is disengaged” and is operated upward again. From the state of “planting clutch disengaged”, “planting machine rises”. Conversely, when the planting work machine 10 is raised and stopped once, it is operated “down planting work machine” once, and when operated again downward, “planting work machine lowering”. From this state, the planting clutch is engaged. If you want to stop during the "planting work machine ascent", perform the operation once in the downward direction. If you want to stop during the "planting work machine ascending", perform the operation once. Perform the operation.

  In addition, when the planting work machine 10 is in the uppermost position and the marker automatic switch 34 on the front panel 32 is in the ON state in the “planting work machine rise”, the work machine operation lever 20 is moved forward. Is operated as “marker left set”, and when operated backward, “marker right set” is obtained. In addition, in a state where “marker left set” or “marker right set” is performed and the planting work machine 10 is lowered by the above “planting work machine lowering”, for example, within 7 seconds When the work implement operation lever 20 is operated to the side opposite to the marker set, the marker 18 is set to the left and right side, resulting in “marker double drop”. Further, when the marker automatic switch 34 is turned off after the engine is started, the marker 18 is not set and the marker is turned off.

  When the work switch 35 is in the OFF state, only the raising / lowering operation of the planting work machine 10 can be performed by operating the work machine operation lever 20 in each of the up and down directions from the center reference position. .

  When the work machine operation lever 20 is operated once in the upward direction, the planting work machine is raised, and conversely, when the operation is performed once in the downward direction, the planting work machine is lowered. . In addition, if you want to stop “planting machine rise” halfway, perform one operation in the downward direction. If you want to stop “planting machine lowering” halfway, do it once. Perform the operation. Further, when the work switch 35 is in the OFF state, the operation relating to the marker 18 cannot be performed.

  In the passenger rice transplanter of this embodiment, when a main shift lever (not shown) is put in reverse, the reverse shift detection switch 41 is turned on, and the lifter cam 27 is rotated by the lifter cam motor 25 to plant. It has a function of disengaging the attached clutch and raising the planting work machine 10 to a predetermined height.

  Next, automatic hydraulic pressure sensing in the planting work machine 10 will be described.

  The mechanism related to the automatic hydraulic pressure sensing is a kind of automatic control device that transmits the movement of the float 12 that floats and sinks due to “soft” on the surface to the hydraulic control valve 22 and keeps the planting work machine 10 in an appropriate position. This automatic control device changes and controls the hydraulic sensitivity in accordance with changes in engine rotation, working speed, and body posture, and automatically makes planting with hydraulic sensitivity that matches the field.

  When the control by the engine rotation is performed, the engine rotation is directly detected by the engine rotation pulse 42 (engine rotation sensor) which is a pulse unit, and the sensing wire 43 is advanced and retracted by the calculation process of the control unit 21 to thereby control the float 12. Correct the basic posture. As a result, hydraulic pressure sensing follows engine rotation fluctuations, and good planting can be achieved at high speed. However, when the engine is dropped, the hydraulic pump is also rotated at a low speed, the amount of oil sent to the hydraulic cylinder 19 is reduced, and the planting depth tends to increase. Therefore, the engine rotation is detected directly, and the planting depth is maintained at a predetermined depth by changing the basic posture of the float 12 by advancing / retreating the sensing wire 43 and sensitively correcting the hydraulic pressure sensitivity. is there.

  Further, the control based on the work speed will be described in detail. When the planting speed is increased, the resistance of water increases, and the planting depth may become shallower by sensing the water surface rather than the paddy surface. When the shift lever is operated to the speed increasing side, the HST interlocking wire 44 connecting the main shift lever and the link portion of the hydraulic control valve 22 is pulled to increase the sensing load of the float 12 and reduce the hydraulic sensitivity to the insensitive side. To correct. Thereby, the float 12 can be prevented from being lifted, and the planting depth can be maintained at a predetermined depth.

  Further, when the control based on the body posture is performed, the body sensor detects an inclination of the traveling body 1 in the front-rear direction, and the sensing wire 43 is advanced and retracted by the arithmetic processing of the control unit 21. Thereby, the dispersion | variation in the planting depth by the change of the front-back attitude | position of the traveling body 1 can be prevented. For example, when the traveling aircraft 1 heads up, the front portion of the float 12 is lowered relative to the aircraft, the hydraulic control valve 22 is operated to the lower side, and the float 12 may sink and push mud. A situation occurs where the planting depth increases. Such a change in the longitudinal posture of the traveling machine body 1 is detected, and the posture of the float 12 with respect to the traveling machine body 1 is corrected to maintain the planting depth at a predetermined depth.

  By the way, the above-described automatic hydraulic sensitivity may be insufficient or excessive depending on the field conditions (the softness of the surface of the field). In such a case, the float 12 may sink or float. . In such a case, the reference posture of the float 12 is corrected by the hydraulic sensitivity adjustment dial 45. The hydraulic pressure sensitivity adjustment dial 45 starts the operation from the reference position at which the standard sensitivity is achieved, and adjusts the reference posture of the float 12 by rotating the dial 45 to a position suitable for a soft field or a hard field.

  In a soft field, the front part of the float 12 tends to sink, and the front part side of the float 12 is easily subjected to earth pressure, so that the hydraulic control valve 22 rises through the hydraulic link that continues from the sensing plate 16. Act on. Further, in a hard field, the front part of the float 12 is lifted and the rear side of the float 12 is easily subjected to earth pressure, so that the hydraulic control valve 22 acts in a downward direction.

  Next, the leveling work machine 17 will be described with reference to FIG.

  The leveling work machine 17 includes a squirrel-cage leveling rotor 46 that contacts the surface of the field and leveling, a power transmission shaft 47 that is transmitted to the leveling rotor 46 by rear wheel power, and the leveling rotor 46 at the front of the planting work machine 10. A parallel link mechanism 48 that can be moved up and down, a sector gear 51 that is integrally provided on the support shaft 50 of the upper arm 49 that constitutes the parallel link mechanism 48, and a small gear (not shown) that meshes with the sector gear 51. And a rotor height detection potentiometer 53 that detects the height of the leveling rotor 46, and a rotor height detection potentiometer 53 that detects the height of the leveling rotor 46. have.

  The operation unit 6 is provided with a rotor height setting dial 54 (leveling work machine height operation tool) for setting and operating the height of the leveling work machine 17. When the rotor height setting dial 54 is operated, the control unit 21 (leveling work machine height control means) drives and controls the rotor lifting / lowering motor 52 to raise and lower the leveling rotor 46 to the set height of the rotor height setting dial 54. Thereby, the operator can arbitrarily adjust the height of the leveling rotor 46 according to the work situation.

  Next, automatic control of the marker 18 will be described with reference to FIGS.

  The marker 18 includes a marker arm 55 that protrudes from the planting work machine 10 to the left and right sides and pivots up and down, and a rotating body marker 56 provided at the tip of the marker arm 55. A marker motor 57 and a rotary switch 58 are connected to the marker arm 55, and the posture of the marker 18 is controlled based on the drive.

  The automatic control of the marker 18 is started when the planting work machine 10 is lifted to the uppermost position when the work switch 35 is in the on state and the marker automatic switch 34 is in the on state. When the automatic control of the marker 18 is activated, the planting operation is performed alternately on the left and right sides for every vertical movement of the planting work machine 10 during the planting work. When the work switch 35 is in the off state, the marker 18 is not shaken out.

  Here, a specific operation of the work implement operation lever 20 related to the swinging out of the marker 18 when both the work switch 35 and the marker automatic switch 34 are in the on state will be described.

  That is, when both the work switch 35 and the automatic marker switch 34 are in the on state, the right marker 18 is set when the work implement operating lever 20 is operated from the center reference position to the near side. Conversely, when the work implement operation lever 20 is operated forward from the center reference position, the left marker 18 is set.

  Further, when the planting work machine 10 is located at the uppermost position, when the marker automatic switch 34 is pressed, the lamp is turned off and the automatic control of the marker 18 can be stopped (marker switching). This setting can be returned to the original automatic control state by depressing the marker automatic switch 34 again or operating the work machine operation lever 20 forward or forward.

  Further, when the planting work machine 10 is lowered and the work machine operation lever 20 is operated in the opposite direction to the marker 18 being swung out at that time, the marker 18 in the opposite direction is also swung out, so that both fallen states are caused. (Marker drop)

  Next, the control system in this embodiment is demonstrated along FIG.

  The control unit 21 receives a signal related to the control of the planting work machine 10, a signal related to the control of the marker 18, a signal related to the control of the headland control and hydraulic automatic sensing, and a signal related to the control of the leveling work machine 17. The

  In controlling the planting work machine 10, signals are input from the work machine operation lever 20, the work switch 35, the reverse shift detection switch 41, the lifter cam potentiometer 28, and the lifter angle potentiometer 23. In controlling the marker 18, signals are input from the marker automatic switch 34, the work machine operation lever 20, and the marker switch 58. In the headland control and the automatic hydraulic pressure control, the alarm stop switch 37, the headland switch 33, the hydraulic sensitivity adjustment dial 36, the engine rotation pulse 42, the pitching sensor 59, the sensing wire potentiometer 60, and the vehicle speed sensor 61 are used. The signals are respectively input from. In the control of the leveling work machine 17, signals are respectively input from the rotor height detection potentiometer 53 and the rotor height setting dial 54.

  Further, the control unit 21 outputs a signal related to the control of the planting work machine 10, a signal related to the control of the marker 18, a signal related to the control of the headland control and the automatic hydraulic pressure detection, and a signal related to the leveling work machine 17. The

  In controlling the planting work machine 10, the planting monitor 38, the horizontal automatic monitor 39, the alarm buzzer 62, and the lifter cam motor 25 are controlled via the control unit 21 based on the input signal described above. In controlling the marker 18, the marker automatic monitor 63, the marker monitor 64, and the marker motor 57 are controlled. In the headland control and the automatic hydraulic pressure detection control, the sensing wire motor 65 is controlled via the control unit 21 based on the input signal described above. Further, in controlling the leveling work machine 17, the rotor lifting / lowering motor 52 is controlled based on the above-described input signal.

  Next, the headland control setting performed by the control unit 21 will be described with reference to FIGS. 10 and 14.

  FIG. 14 is an explanatory diagram showing a traveling example of the riding rice transplanter in the field. In the case of performing a planting operation in the riding rice transplanter in the rectangular farm field 100 as shown in this figure, for example, the riding rice transplanter enters the farm field 100 as indicated by the arrow IN and is shown in the farm field 100 as it is. The work proceeds in the manner of a so-called one-stroke drawing along the course line, and exits from the arrow OUT after completion.

  Among the courses shown in the field 100, the solid line 101 shown in the left-right width direction indicates the planting travel position in such a rectangular field, and the portion indicated by the alternate long and short dash line 102 is the following. It shows the moving travel position (aircraft turning position etc.) for moving to the planting process.

  In the main planting travel locus indicated by the solid line 101 in the left-right width direction, the operator lowers the planting work machine 10 and draws the travel reference line by appropriately swinging the marker 18. Planting work. At that time, the hydraulic pressure is automatically detected by the float 12.

  In addition, at the moving travel position indicated by the one-dot chain line 102, for example, the drooping body turning position (headland), the operator stops the planting work and raises the planting work machine 10 for riding. Turn the rice transplanter. At this time, when the planting work machine 10 is raised, the leveling work machine 17 rises together with the planting work machine 10, and the marker 18 is stored in the non-working position.

  On the other hand, in the field 100, an area called a headland as shown in the range M at the left and right ends of the field 100 is generated on the verge. This headland has a large wheel mark when the aircraft turns, and the surface of the paddy field is likely to be rough compared to the planting position inside the field 100. Therefore, the control unit 21 operates the headland switch 33 and the like. Whether or not it is a headland is determined based on the above, and the control state related to the planting work machine 10 and the control state related to the leveling work machine 17 are changed. Hereinafter, a specific control processing procedure of the headland control setting performed by the control unit 21 will be described.

  In the headland control setting shown in FIG. 10, first, it is determined whether the work switch 35 is ON / OFF (S101). If the determination result is OFF, the process directly returns to the upper routine. On the other hand, when the work switch 35 is ON, it is determined whether or not the height of the planting work machine 10 is at the highest position (S102). Here, when the planting work machine 10 is at the highest position, the process returns to the upper routine, but when the planting work machine 10 is at a position lower than the highest position, whether the headland switch 33 has been operated or not. Is determined (S103). If the result of this determination is that there is no operation, the process directly returns to the upper routine, but if the headland switch 33 is in operation, it is further determined whether or not the headland switch 33 has been pressed for a long time (S104).

  If the operation of the headland switch 33 is not long-pressed, it is determined whether the headland mode is in an OFF state (S105). If the determination result is other than OFF, the headland mode is set to an OFF state. Then, the process returns to the upper routine (S106). On the other hand, when the headland mode is in the OFF state, the headland mode is set to the ON state (S107), the headland control setting value is initialized, and the process returns to the upper routine (S108).

  If the headland switch 33 is pressed for a long time, it is determined whether or not the marker automatic switch 34 has been operated (S109). Here, when it is determined that the marker automatic switch 34 is operated, it is determined whether marker switching is set or not switched in the headland mode (S110). Then, when switching is set in the headland mode, the switch is set to no switching (S111), and when switching is not set, the switching is set (S112). That is, the control state of the marker 18 in the headland mode is continuously controlled automatically during the planting work in the headland, and the marker swing-out direction as the planting work machine 10 moves up and down is continued. "Switching present" for switching the left and right alternately, and automatic control related to the swinging out of the marker 18 is stopped, and the next swinging direction is not switched as the planting work machine 10 is raised or lowered. It can be set arbitrarily.

  In addition, the control unit 21 determines whether or not the hydraulic sensitivity adjustment dial 36 is operated regardless of whether or not the marker automatic switch 34 is operated (S113). Here, when the hydraulic sensitivity adjustment dial 36 is not operated, the process returns to the upper routine. However, when the operation is performed, the “hydraulic sensitivity dial position × α” is set to the headland control setting value and the upper routine is set. Return to (S114).

  Next, oil pressure sensing control (including oil pressure sensing target value setting) performed by the control unit 21 will be described with reference to FIGS. 11 (a) and 11 (b).

  In the hydraulic pressure sensing control shown in FIG. 11A, first, a hydraulic pressure sensing target value is set (S201). As shown in FIG. 11B, the oil pressure sensing target value is set by the engine speed Ep from the engine speed pulse 42, the pitching sensor value Ps from the pitching sensor 59, and the oil pressure from the hydraulic sensitivity adjustment dial 36. The sensitivity adjustment dial value Yd and the headland control setting value M are respectively acquired (step S211).

  Next, it is determined whether the headland control flag is ON / OFF (S212). If the determination result is ON, the hydraulic pressure detection target value is set to “Yd + Ps × α + Ep × β + M” (S213). If the control flag is OFF, the hydraulic pressure sensing target value is set to “Yd + Ps × α + Ep × β” (S214).

  Further, after setting the hydraulic pressure sensing target value, it is determined whether or not the position of the lifter cam 27 is in the raised state (S215). Here, when the position of the lifter cam 27 is in the raised state, a predetermined value is set in the detection restriction timer (S216). Next, it is determined whether or not the value of the detection restriction timer is 0 (S217). If the determination result is other than 0, the detection restriction position is set to the hydraulic pressure detection target value (S218), If the value of the detection restriction timer is other than 0, the process is terminated and the process returns to the upper routine.

  When the oil pressure sensing target value is set by the process shown in FIG. 11B, the deviation is obtained by subtracting the oil pressure sensing target value from the value of the sensing wire potentiometer 60 and taking the absolute value (S202). Next, it is determined whether the deviation is outside the dead zone or inside the dead zone (S203). If the deviation is within the dead zone, the operation of the sensing wire motor 65 that changes the length of the sensing wire 43 is stopped and the process is terminated (S204).

  On the other hand, if the deviation is outside the dead zone, it is determined whether the value of the sensing wire potentiometer 60 is equal to or less than the hydraulic pressure sensing target value (S205). If the value of the sensing wire potentiometer 60 is less than or equal to the hydraulic pressure sensing target value, the sensing wire motor 65 is operated in a direction in which the hydraulic pressure sensing sensitivity becomes dull (S206), and the process ends. On the other hand, if the value of the sensing wire potentiometer 60 exceeds the oil pressure sensing target value, the sensing wire motor 65 is operated in a direction in which the oil pressure sensing sensitivity becomes sharp (S207), and the process is terminated.

  Next, a characteristic configuration of the present invention will be described.

  The riding rice transplanter according to the embodiment of the present invention is connected to the traveling machine body 1 so as to be movable up and down, and is connected to a planting work machine 10 for planting seedlings and a front part of the planting work machine 10 so as to be raised and lowered. The leveling work machine 17 that performs leveling in front of the attached work machine 10, the rotor lifting / lowering motor 52 (actuator) that moves the leveling work machine 17 up and down relative to the planting work machine 10, and the height setting operation of the leveling work machine 17 Control for controlling the height of the leveling work machine 17 based on drive control of the rotor height setting dial 54 (leveling work machine height operating tool) and the rotor lifting / lowering motor 52 corresponding to the operation of the rotor height setting dial 54. Unit 21 (leveling machine height control means). Here, the control unit 21 is configured to finely adjust the height of the leveling work machine 17 in a predetermined direction in accordance with a predetermined operation tool operation different from the rotor height setting dial 54. In other words, by performing a predetermined operation tool operation different from the rotor height setting dial 54, the height of the leveling work machine 17 is finely adjusted in a predetermined direction. Compared with the case where the height is finely adjusted, not only can the operation burden on the operator be reduced, but also the height of the leveling work machine 17 can be optimized and the leveling work accuracy can be improved.

  The predetermined operating tool is a headland switch 33 (headland setting operating tool) for selectively setting whether or not the headland is a headland. Based on the setting operation of the headland switch 33, the planting work machine It is preferable that the control state of the control device according to 10 is also changed. If it does in this way, the height of the leveling work machine 17 can be finely adjusted to a predetermined direction based on whether it is a headland. For example, in the case of a headland, a large leveling effect can be obtained by finely adjusting the height of the leveling work machine 17 in the descending direction, and in the case of other than the headland, the height of the leveling work machine 17 is increased. The water pushing phenomenon can be suppressed by fine adjustment in the direction. In addition, since the control state of the control (hydraulic lifting control, marker swing control, etc.) related to the planting work machine 10 is changed based on the setting operation of the headland switch 33, the leveling work machine 17 and the planting work machine 10 are also changed. Therefore, it is possible to comprehensively optimize the control state related to the above and further improve the work accuracy.

  In addition, when the headland switch 33 is set to other than the headland, the control unit 21 controls the leveling work machine 17 to be slightly raised from the set height of the rotor height setting dial 54 by a predetermined amount. When the traveling speed reaches or exceeds the predetermined speed in the state, it is preferable that the leveling work machine 17 is further slightly increased by a predetermined amount. In this way, in cases other than the headland, the water pushing phenomenon during normal planting can be suppressed by slightly raising the height of the leveling work machine 17, and the traveling speed in the slightly raised state can be reduced. When the speed exceeds the predetermined speed, the leveling work machine 17 is further raised and controlled to suppress an increase in the amount of water pushing during high-speed planting.

  Next, a characteristic configuration of the present invention will be specifically described with reference to FIGS.

  FIG. 12 is a flowchart of the rotor height control performed by the control unit 21. In the control, first, it is determined whether or not the height of the planting work machine 10 is equal to or higher than a predetermined height (S 301). If the determination result is NO, the storage height is set in the rotor height variable (S302), and the leveling work machine 17 is raised to the storage height.

  On the other hand, when the height of the planting work machine 10 is not equal to or higher than the predetermined height, the detected value of the vehicle speed sensor 61 is set to the traveling speed V and the set value of the rotor height setting dial 54 is set to the rotor operation tool position A1. Further, a predetermined value is set to the rotor height correction values M1 and M2 (S303).

  Next, the rotor operating tool position A1 is determined (S304). If this is the storage position, step S302 is executed to raise the leveling work implement 17 to the storage height. On the other hand, when the rotor operating tool position A1 is other than the storage position, it is determined whether or not the headland mode to be switched based on the operation of the headland switch 33 is ON (S305). Here, when the headland mode is ON, A1 is set as the headland height in the rotor height variable (S306), and the height of the leveling work machine 17 is controlled to the headland height.

  On the other hand, when the headland mode is OFF, it is determined whether or not the traveling speed V is equal to or higher than the predetermined speed (S307). If the determination result is NO, the rotor height variable is set for normal planting. (A1 + M1) is set as the height A2 (S308), and the height of the leveling work machine 17 is slightly raised and controlled. When the traveling speed V is equal to or higher than the predetermined speed, (A1 + M1 + M2) is set as the high-speed planting height A3 in the rotor height variable (S309), and the height of the leveling work machine 17 is further increased and controlled. .

  According to the present embodiment configured as described, it is connected to the traveling machine body 1 so as to be raised and lowered, and is connected to the planting work machine 10 for planting seedlings and the front part of the planting work machine 10 so as to be raised and lowered. The leveling work machine 17 that performs leveling in front of the planting work machine 10, the rotor lifting / lowering motor 52 that raises and lowers the leveling work machine 17 relative to the planting work machine 10, and the rotor that sets and operates the height of the leveling work machine 17 In a riding rice transplanter that includes a height setting dial 54 and a control unit 21 that controls the height of the leveling work machine 17 based on the drive control of the rotor lifting / lowering motor 52 according to the operation of the rotor height setting dial 54. The unit 21 finely adjusts the height of the leveling work machine 17 in a predetermined direction in response to a predetermined operation tool operation different from the rotor height setting dial 54. For fine-tuning In comparison, it is possible to improve not only possible to reduce the operation load of the operator, the leveling work accuracy by optimizing the height of the ground leveling work machine 17.

  The predetermined operating tool is a headland switch 33 for selectively setting whether or not the headland is a headland. Based on the setting operation of the headland switch 33, the control relating to the planting work machine 10 is performed. Since the control state of the apparatus is also changed, the height of the leveling work machine 17 can be finely adjusted in a predetermined direction based on whether or not the headland is used. For example, in the case of a headland, a large leveling effect can be obtained by finely adjusting the height of the leveling work machine 17 in the descending direction, and in the case of other than the headland, the height of the leveling work machine 17 is increased. The water pushing phenomenon can be suppressed by fine adjustment in the direction. In addition, since the control state of the control (hydraulic lifting control, marker swing control, etc.) related to the planting work machine 10 is changed based on the setting operation of the headland switch 33, the leveling work machine 17 and the planting work machine 10 are also changed. Therefore, it is possible to comprehensively optimize the control state related to the above and further improve the work accuracy.

  Further, when the traveling speed reaches the predetermined speed or exceeds the predetermined speed, the control unit 21 controls the leveling work machine 17 to be slightly raised by a predetermined amount. The phenomenon can be suppressed.

  Note that the present invention is not limited to the above-described embodiment, and can be modified arbitrarily without departing from the scope of the claims. For example, in the above embodiment, in order to finely adjust the height of the leveling work machine in a predetermined direction according to a predetermined operation tool operation, the predetermined operation tool is a headland switch, but a dedicated switch is provided separately, The height of the leveling machine may be finely adjusted in a predetermined direction according to the operation of the dedicated switch. Specifically, in step S305 shown in FIG. 12, it is determined whether the dedicated switch is ON or OFF, and fine leveling control or leveling control of the leveling work machine is performed. In this way, there is an advantage that it is possible to select the presence or absence of the fine raising control and the fine lowering control according to the field conditions (water amount or the like) regardless of whether or not it is a headland. In particular, when the traveling speed exceeds a predetermined speed, the height of the leveling work machine is slightly increased by a predetermined amount without performing complicated control to raise and lower the height of the leveling work machine in proportion to the traveling speed. In the case of the simple configuration to be controlled, the fine raising control and the fine lowering control by the dedicated switch are effective in optimizing the height of the leveling work machine.

It is a side view of a riding rice transplanter. It is a schematic perspective view of a front panel, a steering wheel, and a working machine operation lever. It is a schematic front view of a front panel. It is a side view which shows a lifter cam and its periphery. It is a side view which shows a float and the periphery of a sensing plate. It is a side view which shows a leveling work machine and its periphery. It is a top view which shows a marker and its periphery. (A) And (B) is a side view which shows a marker switch and its periphery. It is a block diagram which shows the input / output of a control part. It is a flowchart which shows a headland control setting. (A) is a flowchart showing oil pressure sensing control, and (B) is a flowchart showing oil pressure sensing target value setting. It is a flowchart which shows rotor height control. It is operation | movement explanatory drawing of rotor height control. It is explanatory drawing which shows the driving example of the riding rice transplanter in an agricultural field.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling machine body 10 Planting work machine 17 Leveling work machine 21 Control part 33 Headland switch 46 Leveling rotor 48 Parallel link mechanism 51 Fan-shaped gear 52 Rotor raising / lowering motor 54 Rotor height setting dial

Claims (3)

A planting work machine that is connected to the traveling machine body so as to be able to move up and down and plant seedlings;
A leveling work machine connected to the front part of the planting work machine so as to be movable up and down and leveling in front of the planting work machine;
An actuator for raising and lowering the leveling machine relative to the planting machine;
A leveling implement height operating tool for setting and operating the height of the leveling implement,
In a transplanter equipped with a leveling work machine height control means for controlling the height of the leveling work machine based on the drive control of the actuator according to the operation of the leveling work machine height operation tool,
The leveling work machine height control means finely adjusts the height of the leveling work machine in a predetermined direction according to a predetermined operation tool operation different from the leveling work machine height operation tool.   The predetermined operation tool is a headland setting operation tool for selectively setting whether or not the headland is a headland, and based on the setting operation of the headland setting operation tool, the control device according to the planting work machine 2. The transplanter according to claim 1, wherein the control state of said is also changed.   The leveling work machine height control means controls the leveling work machine to slightly increase by a predetermined amount when the traveling speed reaches or exceeds a predetermined speed. Transplanter.

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