JP2011050325A - Paddy field working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce risk of unnecessary misoperation, etc., in an action of a lift-relating working device constituted to work linked with lifting and lowering motion of a planting or sowing device. <P>SOLUTION: The working state of the lift-relating working device is set different between the upper side and the lower side of a preset height position H2 during lifting and lowering work and to keep the working state to be the same in a lifting step and a lowering step in the lifting and lowering process at a side lower than the preset height position H2, based on the lifting or lowering direction of the planting or sowing device and decision result which the planting and sowing device is positioned above or below the preset height position H2, so that the preset height position H2 is changeable. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention provides a paddy field work machine including a planting work device connected to a traveling machine body so as to be able to move up and down. The work related to lifting and lowering is configured to operate in association with the lifting and lowering of the planting work device. The present invention relates to a technique that includes a device and controls an operation state of the lifting-related work device in relation to a lifting operation position of the planting work device.

As described above, as the paddy field work machine that controls the operation state of the lifting-related work device in relation to the lifting and lowering of the planting work device, those described in [1] and [2] below are known. ing.
[1] A lowering work position for lowering the position of the seedling planting device as a planting system working device connected to the traveling machine body so as to be movable up and down, and a rising limit position raised to the upper limit The height can be changed over and the planting system working device can be stopped at an arbitrary height position between the descending work position and the ascent limit position, and the marker is provided as a lifting-related work device Is configured to be switchable between a state in which the planting work apparatus is operated and the state in which the planting system working apparatus is not operated (see Patent Document 1).

[2] A lowering work position for lowering the position of the seedling planting device as a planting system working device connected to the traveling machine body so as to be movable up and down, and a rising limit position raised to an upper limit And a marker is provided as a lifting-related work device configured to operate in association with lifting of the seedling planting device. Then, if the posture of the marker is higher than a predetermined height position set between the descending work position and the ascent limit position, the marker is not operated in relation to the raising / lowering of the seedling planting device, and if the marker posture falls below the predetermined height, Is configured to operate in association with the lifting operation (see Patent Document 2).

JP 2001-275410 A (paragraphs [0024], [0028] to [0033], FIG. 2, FIG. 3, FIG. 4) JP 2007-306814 A (paragraphs [0036], [0043], [0044], FIG. 2, FIG. 6, FIG. 10)

As described in [1] above, the seedling planting device as the planting system working device can be stopped at any height position between the descending work position and the ascent limit position, and as a lifting-related work device When the provided marker is configured to be switchable between a state in which the marker is operated in relation to the raising / lowering of the planting system working device and a state in which the marker is not activated, the seedling planting device can be stopped at an arbitrary height position. This is useful in that the marker can be moved in and out at the same time as the seedling planting device is moved up and down.
However, in this structure, if the marker is automatically moved in and out in conjunction with the raising and lowering operation of the seedling planting device, the driver's body or a part of the clothes touches the operating tool. In such a case, an unnecessary operation may be performed in situations where it is not necessary to actually move the marker out, and the marker touches an obstacle such as a fence or a tree at the end of the field. May cause problems such as damage.

As described in [2] above, the position of the marker as the lifting-related work device configured to operate in association with the lifting and lowering of the seedling planting device as the planting work device is defined as the lowering work position and the rising limit position. In a structure where the operation is not performed at a position higher than the predetermined height position set during the period, and the operation toward the working posture side of the marker is started after reaching a low height position lower than the predetermined height. Since the operation to the working posture side of the marker is not performed unless the seedling planting device is located at a position lower than the predetermined height, there is little possibility of causing the above-described malfunction with respect to the operation to the working posture side of the marker. Useful in terms.
However, in this structure, when the seedling planting device moves from a low position below the predetermined height to a high position, the marker is also operated so as to be in the retracted position in relation to the raising / lowering operation of the seedling planting device. Therefore, in the low position below the predetermined height, the same problem as in the case of [1], that is, when the driver's body or a part of clothes touches the operation tool, There is a possibility that an unnecessary operation may be performed in a situation where it is not necessary to perform a marker exit / exit operation.

  The present invention provides a paddy field work machine that is less likely to cause unnecessary erroneous operations when operating a lifting-related work device configured to operate in relation to lifting / lowering of a planting work device. There is that purpose.

  The technical means of the present invention taken in order to achieve the above object has the following structural features and operational effects.

[Solution 1]
A paddy field work machine according to the present invention is equipped with a planting system working device for sowing or seedling planting so as to be movable up and down with respect to the traveling machine body, and lowering the height position of the planting system working apparatus with respect to the machine body. The elevating and lowering positions are configured such that the height can be changed over the descending work position for performing the work and the ascending limit position raised to the upper limit, and configured to operate in association with the raising and lowering of the planting work device. A related working device, set a predetermined height position in the middle of the lifting operation stroke of the planting work device between the lowering work position and the rising limit position, the lifting operation direction of the planting work device, And based on the determination result of whether the planting system working device is located on the upper side or the lower side of the predetermined height position, the operating state of the lifting-related working device is changed during the lifting operation stroke. Above the specified height and The operation state is different from each other on the side, and the operation state below the predetermined height position is maintained in the same operation state in both the ascending stroke and the descending stroke of the lifting operation stroke, and There is a structural feature in that the predetermined height position can be set and changed.

[Operation and effect of invention according to Solution 1]
According to the configuration of the present invention shown in the above solution 1, the operating state of the lifting-related work device is different between the upper side and the lower side of the predetermined height position during the lifting operation stroke of the planting system working device. So that the unnecessary operation is not performed until the planting work device reaches the predetermined height position during the lifting and lowering operation stroke, and the necessary operation is performed after reaching the predetermined height position. Can be configured. Therefore, the required operating state can be accurately operated within the required range, and waste and adverse effects caused by operating within the range where the operating state is not required can be reduced.
Further, in the lifting-related work device, the operation state on the lower side of the predetermined height position during the lifting operation stroke of the planting work device is configured to be maintained in the same operation state in both the rising stroke and the lowering stroke. Therefore, even if the raising / lowering direction is changed below the predetermined height position, the operating state does not change. Therefore, for example, even if an erroneous operation is performed, it is easy to correct the operation state before the erroneous operation is performed if the operation is performed again after it is noticed and the predetermined height position is exceeded.
Since the predetermined height position is configured to be changeable, when the predetermined height position is set, the predetermined height position can be set to an appropriate height according to the target work content and the operator's feeling. This has the advantage that it is easy to work in a state with a good operational feeling.

[Solution 2]
Another technical means of the present invention taken in order to solve the above-mentioned problems is a marker in which the lifting-related work device forms an index on the surface, as claimed in claim 2, and the ascending operation of the planting work device At the time, the marker is configured so that the posture is changed from the acting posture to the retracted posture, and the posture change of the marker is performed until the planting work device in the lowered work position reaches a predetermined height position. The posture changing operation to the storage posture side of the marker is stopped, and the posture changing operation to the storage posture side of the marker is performed after the planting work device has passed a predetermined height position. is there.

[Operation and Effect of Solution 2]
In the paddy field working machine of the present invention according to the above solution 2, the change in the posture of the marker as the lifting-related work device is performed until the planting work work device at the lowering work position reaches a predetermined height position. The posture change operation to the retracted posture side is stopped. And it is comprised so that the attitude | position change operation | movement to the storing attitude | position side of a marker may be performed after the planting system working device passes a predetermined height position. As a result, in the range below the predetermined height position where the marker is required to be in the action posture, the posture change operation to the storage posture side of the marker is stopped and the marker is in the action posture. The posture changing operation of the marker toward the retracted posture side is performed after the planting work device has passed the predetermined height position.
Therefore, even if the planting work device at the lowering work position is mistakenly operated to the ascending side, if the operation is performed again after it is noticed and the predetermined height position is exceeded, before the erroneous operation is executed. There is an advantage that it can be corrected to a correct operation state to avoid unnecessary marker storing operation and accompanying left / right marker switching action.

And while the range in which the acting posture of the marker is maintained as described above is not only a simple lowering work position, it is widened to be a range from the lowering work position to a predetermined height position, The position at which the posture change operation to the storage posture side of the marker is performed is a predetermined height position set in the middle of the raising / lowering operation process of the planting system work device, so that the planting system work device is set to the ascent limit position. It is possible to change the posture of the marker to the retracted posture without the need to raise it to the up position.
Therefore, for example, when the aircraft is moved backward, if the planting work device is lifted from the lowered work position to a height position slightly beyond the predetermined height position and then moved backward, the planting work device is moved to the predetermined height. Since it has risen to a position slightly exceeding the vertical position, it is possible to avoid the generation of mud waves by lifting the leveling float in reverse, and the marker is operated to the retracted position in this state.
In this way, the planting system work device can be moved up to a relatively low height position that is slightly higher than the predetermined height position, so that the backward movement can be performed without any trouble. There is an advantage that it is not necessary to obstruct the rear view as in the case where it is greatly raised, and it is not necessary to spend unnecessary time for the lifting and lowering operation of the planting work device.

[Solution 3]
Another technical means of the present invention taken to solve the above-mentioned problem is a rolling drive mechanism in which the lifting-related work device controls the horizontal posture of the planting work device, as described in claim 3, In the ascending operation of the planting work device, the rolling drive mechanism is configured to be changed from a rolling control operation state to a rolling lock state in which the rolling control operation is stopped, and the rolling lock state is The rolling drive mechanism maintains the rolling operation state until the planting work device in the descending work position reaches a predetermined height position, and the rolling operation mechanism is moved after the planting work device has passed the predetermined height position. It is configured to be in a locked state.

[Operation and Effect of Solution 3]
As described above, in the paddy field working machine according to the present invention according to the solving means 3, the rolling drive mechanism as the lifting-related work device performs the rolling operation until the planting work work device in the lowering work position reaches the predetermined height position. The state is maintained, and the planting system working device is configured to be in a rolling lock state after passing a predetermined height position. As a result, in the range where the rolling drive mechanism is required to be in the rolling control operating state, but below the predetermined height position, the operation for changing to the rolling lock state is stopped and the rolling drive is performed. The mechanism is maintained in the rolling operation state, and the changing operation to the rolling lock state is performed after the planting work device has passed the predetermined height position.
Therefore, even if the planting work device at the lowering work position is mistakenly operated to the ascending side, if the operation is performed again after it is noticed and the predetermined height position is exceeded, before the erroneous operation is executed. There is an advantage that it can be corrected to a correct operation state and avoiding an operation of changing to an unnecessary rolling lock state.

The range in which the rolling control operation state is maintained in this way is not limited to a simple lowering work position but a range from the lowering work position to a predetermined height position. There is a working effect.
In other words, when the machine is moved backward, if the planting work device is raised from the lowered work position to a height range slightly before the predetermined height position and then moved backward, the planting work device is moved to the predetermined height. Therefore, it is possible to avoid the generation of mud waves by floating the leveling float when moving backward, and the rolling control is active in that state, so even if the aircraft tilts left and right, It is possible to avoid the entry of the right and left leveling floats of the planting system working device into the mud surface by rolling so as to maintain the horizontal posture of the sowing system working device.
In this way, the planting system work device can be moved backward from the lowered work position to a relatively low height position, a height position slightly before the predetermined height position, so that the backward movement can be performed without hindrance. There is an advantage that it is not necessary to obstruct the rear view like when the apparatus is greatly raised to the upper limit, and it is not necessary to spend unnecessary time for the raising / lowering operation of the planting work apparatus.

[Solution 4]
The other technical means of the present invention taken to solve the above-mentioned problem is that, as described in claim 4, the lifting-related work device is an alarm device, and the planting system work device is lowered in a non-plantable state. The alarm device is configured to be activated at the time, and the operation of the alarm device in the non-planting state is performed until the planting work device in the rising limit position reaches a predetermined height position. The operation stop state of the alarm device is maintained, and when the planting work device is lowered past a predetermined height position, the alarm operation state is set.

[Operations and effects of invention according to Solution 4]
According to the configuration of the present invention shown in the solution means 4, the operation of the alarm device that indicates that the planting is impossible is stopped until the planting work device at the rising limit position reaches the predetermined height position. When the planting work device is lowered while maintaining and descending past a predetermined height position, it is in an operating state. That is, the range in which the alarm device operates can be limited only to the lower side than the predetermined height position.
Therefore, it is possible to perform a reliable alarm operation as compared with the configuration in which the alarm device is activated as soon as the descending operation is started, but it is possible to avoid the alarm operation state from being continued longer than necessary, and to reduce the noise. There is an advantage that the deterioration of the work environment due to can be reduced.
In other words, when the planting impossible state is “seedling out” or “fertilizer out” during seedling planting work, there is no need to return the planting system working device in the descending work position to the ascent limit position. The alarm action can be canceled by returning to.
If the planting impossible state is “forgetting to put the planting clutch”, the planting system work device at the upper limit position is not lowered and the planting system work device is lifted at the end of the field and the machine is turned. In this case, the alarm device is activated, but the alarm device at this time is also positioned above the predetermined height position without the need to return the planting work device to the upper limit position. You just have to do it.

[Solution 5]
The other technical means of the present invention taken in order to solve the above-mentioned problem is that, as described in claim 5, the lifting-related work device is a fertilizer supply blower for supplying fertilizer to the rice field, and The fertilizer blower is configured to be changed from the operating state to the operation stopped state during the lifting operation, and the operation stoppage of the fertilizer blower is performed when the planting work device in the lowering work position is moved to a predetermined height position. Until it reaches, the operating state of the fertilizer application blower is maintained, and the operation of the fertilizer application blower is stopped after the planting system working device passes a predetermined height position.

[Operation and Effect of Solution 5]
In the paddy field working machine of the present invention according to the above solution 5, the operation of the fertilizer blower is maintained until the planting system working device in the descending work position reaches a predetermined height position. Operation is stopped after the device has passed a predetermined height position. Generally, fertilizer blowers have a large starting torque and power consumption at the time of starting. It is advantageous to reduce power loss.
Therefore, according to the present invention, when the planting work device is no longer operated at the lowered work position, the fertilizer blower is not immediately stopped, but the planting work device at the lowered work position is predetermined. The operation state of the fertilizer blower is maintained until the height position is reached. Therefore, even if the planting system working device at the descending work position is accidentally operated to the ascending side, if the operation is repeated until the predetermined height position is exceeded after it is noticed, the unnecessary fertilizer blower will be activated due to an erroneous operation. There is an advantage that a stop can be avoided.

[Solution 6]
According to another technical means of the present invention taken to solve the above-mentioned problems, as described in claim 6, the planting system working device is a seedling planting device, and the lifting-related working device is a small number of planting strips. A small number of clutches that intermittently drive the planting claw drive mechanism for planting the strips, and the operation mode is changed to the engaged state when the seedling planting device is in the disengaged state when the seedling planting device is lifted. In addition, the change of the operation mode of the small number of clutches is such that the small number of clutches are maintained in the disengaged state until the seedling planting device at the lowering operation position reaches a predetermined height position. Is configured so that the minority clutch is changed to the engaged state after a predetermined height position.

[Operation and Effect of Solution 6]
As described above, in the paddy field working machine of the present invention according to the solving means 6, the operation mode of the minority number clutch is in the disengagement state of the minority number clutch until the seedling planting device in the lowering work position reaches a predetermined height position. Is maintained, and the small number of clutches are changed to the engaged state after the seedling planting device passes the predetermined height position.
In general, when the seedling planting apparatus is lifted while the predetermined number of small clutches are disengaged, the small number of clutches are returned to the engaged state. This is to prevent forgetting to put in the minority clutch when the minority clutch on one side in the left-right direction is turned off and then turned at the end of the field and then the whole planting operation is performed.
Therefore, in the present invention, when the planting work device is no longer operated at the lowering work position, the disengagement state of the small number of clutches is not immediately released and returned to the full condition, but is lowered. The disengagement state of the small number of clutches is maintained until the planting system working device in the working position reaches a predetermined height position. Therefore, even if the planting system working device in the descending work position is accidentally operated to the ascending side, if the operation is repeated until the predetermined height position is exceeded after recognizing this, the unnecessary small number of clutches due to the erroneous operation will be removed. There is an advantage that an operation of releasing the cut state can be avoided.

[Solution 7]
The other technical means of the present invention taken in order to solve the above-mentioned problem is configured so that the rising limit position and the predetermined height position can be set and changed as described in claim 7, and these When one of the two positions is changed in setting, the other is also changed in conjunction with the setting.

[Operation and effect of invention according to Solution 7]
According to the configuration of the present invention shown in the solving means 7, when one of the rising limit position and the predetermined height position is set and changed, the other is also set and changed accordingly. Since only the height position of one of the height positions can be set and changed, the other height position can be set and changed.
Further, since the setting can be changed while maintaining the difference in height between the ascent limit position and the predetermined height position, there is an advantage that the setting of the height position can be easily changed while maintaining this difference in an appropriate range. .

[Solution 8]
The other technical means of the present invention taken in order to solve the above-described problem is that the rising limit position can be independently set and changed with respect to the predetermined height position as described in claim 8. It is.

[Operation and Effect of Solution 8]
In the paddy field working machine of the present invention according to the above solution 8, since the upper limit position can be independently set and changed with respect to the predetermined height position, while the predetermined height position is set as predetermined, Since the height of the ascent limit position can be freely set and changed, the difference in height between the ascent limit position and the predetermined height position can be set and changed within a desired range.
This makes it possible to lower the ascent limit position when working under conditions where the ascent limit position of the planting work equipment is not desired to be too high. For example, when it is desired to raise the position toward the front side, the rising limit position can be increased, and the rising limit position can be arbitrarily set.

[Solution 9]
The other technical means of the present invention taken in order to solve the above-mentioned problem is that, as described in claim 9, the traveling mode of the traveling machine body is determined, and when the traveling mode is in the predetermined traveling mode, The rising limit position or the predetermined height position is configured to be changed.

[Operation and Effect of Solution 9]
As described above, in the paddy field working machine of the present invention according to the solving means 9, from the determination result of the traveling form in the traveling machine body, in the predetermined traveling form, the ascent limit position or the predetermined height position of the planting work device Therefore, it is possible to set the ascent limit position or the predetermined height position suitable for the traveling mode.
That is, for example, if the traveling form is a traveling form at the time of turning at the end of the field at the time of planting work in the field, the ascending limit position of the planting system working apparatus is relatively lowered, and the planting system working apparatus up to the upper limit is set. Shortening the time required for raising and lowering, and if it is a traveling form on the road, it is easy to avoid contact with other objects by raising the rising limit position and the predetermined height position of the planting work device, etc. The setting can be changed to a state suitable for the traveling mode.

Side view of the entire riding rice transplanter Top view of the entire riding rice transplanter Front view showing seedling planting device Sectional view of the rolling drive mechanism part of the seedling planting device Front view of marker and marker operation mechanism Front view showing marker operation structure by marker operation mechanism Block diagram showing control device and related equipment Explanatory drawing which shows the relationship between the raising / lowering operation | movement of a seedling planting apparatus, and the operation | movement in a raising / lowering operation related apparatus. Flow chart showing main routine of control device Flow chart showing lift cylinder lifting control Flow chart showing rolling control Flow chart showing minority clutch control Flow chart showing marker insertion / removal control Flow chart showing marker insertion / removal control Flow chart showing marker insertion / removal control Flow chart showing fertilizer application blower control Flow chart showing alarm control Explanatory drawing which shows the relationship between the raising / lowering operation | movement of the conventional seedling planting apparatus, and the operation | movement in a raising / lowering operation related apparatus. Explanatory drawing which shows the ground-floating operation | movement of another embodiment. The chart which shows the relation between the posture of the grounding float of another embodiment, and engine speed Explanatory drawing which shows the auxiliary operation lever of another embodiment. Explanatory drawing which shows the ground-floating operation | movement of another embodiment.

Hereinafter, an example of an embodiment of the present invention will be described based on the drawings.
[Overall configuration of paddy field machine]
As shown in FIG. 1, a riding type rice transplanter, which is an example of a paddy field work machine, is provided at a front portion of a traveling machine body 1 including a pair of left and right front wheels 11 and a pair of left and right rear wheels 12. The engine 10 is mounted, and a riding type driving unit having a steering handle 13 and a driving seat 14 is provided at the center in the front-rear direction of the traveling machine body 1 on the rear side of the engine 10, and a lift cylinder 15 is provided at the rear part of the traveling machine body 1. A seedling planting device 2, which is an example of a planting work device, is connected via a link mechanism 16. The paddy field generally has a mud and water layer formed on the lower hard cultivator G1, and the uppermost surface of the mud and water layer is the field surface G2, and the right and left front wheels 11, the right and left The rear wheel 12 travels in contact with the tiller G1.

  For the seedling planting device 2, the driving force from the engine 10 is transmitted to the feed case 21 of the seedling planting device 2 via the rotating shaft 17, and the traveling machine body on the rear side of the driver seat 14. 1 is provided with a fertilizer 3 having a fertilizer tank 31, and the driving force from the engine 10 is also transmitted to the fertilizer 3 via a transmission mechanism (not shown) branched from the rotary shaft 17. Has been.

This riding type rice transplanter is for planting rice seedlings and supplying fertilizer to the planted seedlings. By operating the lift cylinder 15, the lift cylinder 15 moves the link mechanism 16 up and down with respect to the traveling machine body. It is configured to swing. As the link mechanism 16 is swung up and down, the grounding float 22 provided in the seedling planting device 2 is in a descending working state in which the grounding float 22 comes into contact with the field surface G2, and the ascending non-working state in which the grounding float 22 floats from the field surface G2. Is moved up and down.
A potentiometer 18 for detecting the vertical angle of the link mechanism 16 with respect to the traveling machine body of the seedling planting device 2 is provided, and the detection value of the potentiometer 18 and the detection signal of the main switch 75 provided in the boarding operation unit will be described later. Input to the device 100.
The seedling planting device 2 is pivotally connected to the link mechanism 16 so as to be able to swing left and right around the longitudinal axis P, and the rolling drive mechanism 4 has a predetermined horizontal position relative to the traveling machine body. Rolling control is performed so as to maintain the orientation.

When the traveling machine body 1 is driven with the seedling planting device 2 lowered, the plurality of planting mechanisms 23 arranged in the lateral direction of the planting frame body 20 of the seedling planting device 2 are interlocked with the seedling planting movement of the planting mechanism 23. The seedling block for one stock is cut and taken out from the mat-like seedling placed on the seedling placing table 24 that is reciprocated in the horizontal direction of the seedling planting device 2, and the grounded float 22 is grounded by the grounded seed block. It is comprised so that it may plant on the rice field G2 after doing.
At the same time, a feeding mechanism 32 connected to the lower portion of the fertilizer tank 31 of the fertilizer application device 3 feeds the powdered fertilizer from the fertilizer tank 31 by a set amount, and the fertilizer blower driven by the electric motor from the fertilizer from the feeding mechanism 32. 33 is supplied to the fertilizer hose 34 by the conveying wind, and the grooving device 35 provided in the grounding float 22 forms a fertilizer groove on the surface G2 near the side of the planted seedling by the planting mechanism 23, and the fertilizer hose is provided in this fertilizer groove. Fertilizer from 34 will be supplied.

[Configuration of seedling planting device (planting system work device)]
As shown in FIGS. 1 to 3, the seedling planting device 2 includes a main frame 25 made of a square steel pipe along the lateral direction, the feed case 21 connected to the center of the main frame 25, and the main frame 25. The planting frame body 20 includes four planting drive cases 26 extending rearward from a plurality of locations.
A planting mechanism 23 is rotatably provided on both lateral sides of the rear end portion of each planting drive case 26, and is positioned higher in front of each planting mechanism 23 of the planting frame body 20 toward the front end side. A seedling base 24 having a forwardly inclined posture is provided, and the grounding floats 22 are supported at the lower part of the planting frame 20 to form an eight-row planting type.
As shown in FIG. 2, the planting drive case 26 includes a small number of clutches for intermittently transmitting power to the planting mechanisms 23 provided on the left and right of each planting drive case 26. 27, and this small number of clutches 27 are linked to a control device 100, which will be described later, so as to be individually operated by an electric motor (not shown).

  As shown in FIG. 1 to FIG. 3, the lower end side of the seedling raising table 24 is slidably supported by a guide rail 28 supported by the planting frame 20 near the front side of each planting mechanism 23. The upper end side of the base 24 includes a pair of left and right vertical vertical rods 29a erected on the main frame 25 of the planting frame 20, and horizontal horizontal rods 29b fixed to the upper end sides of both vertical rods 29a. Is supported slidably on the horizontal bar 29b. The seedling platform 24 is supported so as to slide in the lateral direction of the planting frame 20 along a guide rail 28 by a known seedling lateral feed mechanism.

  As shown in FIG. 7, the seedling planting device 2 includes a float sensor 22 a including a potentiometer that detects the height of the ground contact float 22 at the center of the seedling planting device 2. By inputting the detection value of the float sensor 22a to the control device 100, seedlings from the rice field G2 (central grounding float 22) so that the central grounding float 22 follows the ground surface G2 as the aircraft advances. The height to the planting device 2 can be controlled.

  As shown in FIGS. 1, 3, and 7, the planting frame 20 of the seedling planting device 2 is provided with a connecting portion 21 a that protrudes forward from the feed case 21, and the connecting portion 21 a The seedling planting device 2 is connected to a rear link 16c connected over the rear ends of the lower link 16a and the upper link 16b of the link mechanism 16 so as to be rotatable. It rolls with respect to the traveling body around the core P.

  As shown in FIGS. 1 and 3, a rolling drive mechanism 4 for rolling the seedling planting device 2 with respect to the traveling machine body 1 is provided at the rear end portion of the link mechanism 16, and as shown in FIGS. A tilt sensor 41 for detecting the left / right tilt of the seedling planting device 2 and a stroke sensor 42 of the rolling drive mechanism 4 are linked to the control device 100 linked with the rolling motor 40 of the rolling drive mechanism 4.

  As shown in FIGS. 3 and 4, the rolling drive mechanism 4 is swingably supported by a support body 43 fixed to the upper end side of the rear link 16c of the link mechanism 16 via a rotation support shaft 44a. A rolling operation arm 44, a fan-shaped arm operation gear 44b coupled to the rotation support shaft 44a so as to be integrally rotatable, a small-diameter transmission gear 45a meshed with the arm operation gear 44b, and a rotation support shaft 45 of the small-diameter transmission gear 45a The large-diameter transmission gear 45b is connected to the large-diameter transmission gear 45b. The output motor 40a is engaged with the large-diameter transmission gear 45b, and the rolling motor 40 is composed of an electric motor supported by the support body 43.

The rolling operation arm 44 is connected to both end sides of the horizontal basket 29b of the seedling support frame 29 via a connection spring 46, and when the rolling motor 40 is driven in the forward rotation direction or the reverse rotation direction. The rolling motor 40 is driven by the output gear 40a to rotate the arm operation gear 44b via the transmission gears 45b and 45a, so that the rolling operation arm 44 is swung around the axis of the rotary support shaft 44a in the longitudinal direction. Then, the rolling operation arm 44 pulls the one end side of the horizontal rod 29b of the seedling support frame 29 through one connecting spring 46, or the other side of the horizontal rod 29b through the other connecting spring 46. Pull the end side.
As a result, the rolling drive mechanism 4 is driven via the one connecting spring 46 by the rolling operation arm 44 that is driven and swung by the rolling motor 40 when the rolling motor 40 is driven in the forward rotation direction or the reverse rotation direction. The seedling planting device 2 can be rolled by moving one end side in the lateral direction of the planting frame body 20 or by pulling the other end side of the planting frame body 20 via the other connecting spring 46. A rolling operation is performed on the traveling body 1 around P. The reference numeral 47 shown in FIGS. 3 and 4 is a balance spring that connects the upper end portion of the support body 43 and appropriate positions of the seedling support frame 29 on the left and right sides thereof, and the rolling of the seedling planting device 2 is performed. This is to give a certain amount of resistance to free oscillation around the axis P.

  As shown in FIG. 3, the tilt sensor 41 includes a weight and a potentiometer (not shown), and is supported by the center portion of the main frame 25 of the planting frame 20, so that the seedling planting apparatus 2 Is inclined in the left-right direction with respect to the horizontal plane, the inclination direction and the inclination angle of the seedling planting device 2 are detected by the operation of the weight and potentiometer associated with the inclination, and the detection result is converted into an electrical signal to the control device 100. Output to.

  As shown in FIG. 4, the stroke sensor 42 is composed of a potentiometer linked to the rotation support shaft 44a of the rolling operation arm 44, and detects the operation stroke of the rolling operation arm 44 based on the rotation angle of the rotation support shaft 44a. The detection result is output as an electrical signal to the control device 100.

  On both sides of the front end of the planting frame body 20 of the seedling planting device 2, markers 5 for forming an index on the paddy surface are provided. Since the left and right markers 5 and the left and right marker operating mechanisms 50 are similarly configured on the left and right, the left marker 5 and the left marker operating mechanism 50 will be representatively described.

  As shown in FIGS. 5 and 6, the marker 5 is rotatably connected to a marker support arm bracket 25 </ b> A extending from the main frame 25 of the planting frame 20 via a connecting pin 25 </ b> B. A proximal marker arm 5A, a distal marker arm 5B extending from the distal end of the proximal marker arm 5A, and a marker ring 5C connected to the distal end of the distal marker arm 5B so as to freely rotate. It is configured with.

The base end side marker arm 5A is configured to swing up and down with respect to the planting frame 20 around the axial center of the connecting pin 25B in the longitudinal direction of the machine body. That is, as shown by the solid line in FIG. 5, the lower end side of the marker ring 5C is in contact with the surface G2 while the proximal end marker arm 5A extends from the marker support bracket 25A almost horizontally outward from the machine body. The marker ring body 5C is high from the surface G2, with the lowered use posture and the attachment posture in which the proximal marker arm 5A extends upward from the marker support bracket 25A as shown by a two-dot chain line in FIG. It is configured to switch to the ascending and retracting posture.
The marker 5 operated in the lowered use posture is such that the marker wheel 5C rolls on the surface G2 for running the vehicle body and the marker claw 5D arranged in the circumferential direction of the marker wheel body 5C lifts the mud. A traveling target line is formed on the surface G2 by the raised mud that is raised on the surface G2 and scattered in the traveling direction.

As shown in FIGS. 5 and 6, the marker operating mechanism 50 connects one end side to a marker motor 52 composed of an electric motor controlled by the control device 100 described later and a part of the base end side marker arm 5A, The operation rod 51 is connected to the crank operating body 58 driven by the marker motor 52 at the other end, and the spring 59 is connected to the base end side marker arm 5A at one end and to the main frame 25 at the other end. It is configured.
The marker motor 52 is housed in an operation case 53 provided in the main frame 25. The power of the marker motor 52 is obtained by outputting the output of the marker motor 52 via the output pinion gear 55 from the reduction gear box 52A having a worm gear. It is configured to be transmitted to the drive gear 56 of the crank operating body 58.
As shown in FIG. 5, the spring 59 of the marker operating mechanism 50 is a lock formed by the position of the connecting pin 22 of the base end side marker arm 5 </ b> A and the lock hole 25 a of the spring 59 on the main frame 25 side. Since the one end side of the spring 59 is connected to the base end side marker arm 5A above the virtual line segment x connecting the points, the biasing force of the spring 59 biases the marker 5 to the ascending storage posture side. It is comprised so that it may act in the direction to do.

As shown in FIGS. 5 and 6, the output gear 55 of the marker motor 52 is engaged with a drive gear 56 provided integrally with the shaft portion of the crank operating body 58, and the marker motor 52 is driven and operated in the upward direction. When the body 58 is rotationally driven to the marker raising side, the operating rod 51 pulls up the marker 5 while being assisted by the spring 59, so that the marker operating mechanism 50 has a driving force of the marker motor 52 and an elastic restoring force of the spring 59. Is used to switch the marker 5 to the raised storage posture.
When the marker motor 52 is driven to move downward and the crank operating body 58 is rotated to the marker lowering side, the operating rod 51 depresses the marker 5 against the urging force of the spring 59, thereby causing the marker operating mechanism 50. Switches the marker 5 to the lowered use posture by the driving force of the marker motor 52 and the weight of the marker 5.

  The operating rod 51 is composed of a rod-shaped wire made of spring steel, and a coiled overload buffer 51A is provided in the middle thereof. The overload buffer 51A damages the marker 5 itself and the marker motor 52 such that the marker 5 becomes difficult to move due to contact with a bag or some obstacle while the marker motor 52 is moving up and down by the marker motor 52. When such a temporary overload occurs, the coiled portion of the overload buffer 51A expands / contracts or elastically deforms and bends, so that there is an effect of helping to alleviate a certain degree of overload.

[Configuration of boarding operation section]
As shown in FIGS. 2 and 7, for raising / lowering the seedling planting device 2 as a planting system working device and for moving the marker 5 as a lifting related work device in and out of the steering handle 13 of the boarding operation unit. As an artificial operation tool, one operation lever 6 is provided. In addition to the operation lever 6, an elevating lever 36 for elevating the seedling planting device 2 as a planting work device is disposed at the right side portion of the driver seat 14.
The elevating lever 36 is configured to be operable in an “automatic” position, an “ascending” position, a “neutral” position, a “lowering” position, and a “planting” position, and detects an operating position of the elevating lever 36. A detection signal of a lever position detection sensor 37 composed of a potentiometer and a detection signal of a main switch 75 provided in the boarding operation unit are input to the control device 100.

  The control device 100 includes an electromagnetic operation portion of the control valve 15 a of the lift cylinder 15, a marker motor 52 of the left and right marker operation mechanism 50, and a transmission case of the traveling machine body so that transmission from the engine 10 to the seedling planting device 2 is turned on and off. 7, a clutch motor 71 including an electric motor as an example of a work clutch operating mechanism for switching operation of a work clutch 70 (planting clutch) provided in the interior of the engine 7, a clutch sensor 72 for detecting the on / off state of the work clutch 70, and a minority clutch 27 The item selection operation tool 73 for selecting the item, the alarm device 74 for notifying that normal seedling planting work is impossible, the main switch 75 provided in the prime mover, and the seedling detection detection provided in the seedling planting device 2 Sensor 76, fertilizer running-out detection sensor 77 provided in fertilizer applicator 3, etc. are linked. There.

  A detection switch provided inside the operation case 53 so as to detect that the left marker 5 is in the lowered use posture or the raised storage posture based on the rotational position of the switch operation portion 58a of the crank operation body 58. The left marker raising sensor 67 and the left marker lowering sensor 66, which are configured in the same manner as the left marker raising sensor 67 and the left marker lowering sensor 66, are also linked to the control device 100. It is.

As shown in FIG. 7, the operation lever 6 is extended laterally outward to the right below the steering handle 13. The operation lever 6 has a first raised position U1, a second raised position U2, a lower first lowered position D1, a second lowered position D2, a rear right marker position R, and a front left marker position L from the neutral position N. It is configured to be operable in the cross direction and is urged to return to the neutral position N.
The operation lever 6 is a combination of a pair of command switches 60, 61, 62, 63 arranged in the vertical direction, and constitutes a lift command means 6A that controls the lifting operation of the seedling planting device 2, and a pair of commands arranged in the front-back direction. The combination of the switches 64 and 65 constitutes the marker operation command means 6B that controls the operation of inserting and removing the marker 5.

That is, the up / down command means 6A includes the operation lever 6 and the set of command switches 60, 61, 62, 63, and the operation lever 6 swings from the neutral position N to the vehicle body lower side. Then, one of the command switches 62 and 63 is switched by the operating lever 6 to lower the seedling planting device 2 to the lowering work state and to change the work clutch 70 to the on state to make the work command to be an electric signal. To the control device 100.
When the operating lever 6 is swung from the neutral position N to the upper side of the vehicle body, the other command switches 60 and 61 are switched by the operating lever 6 to raise the seedling planting device 2 to the raised non-working state. At the same time, a work release command to be operated to switch the work clutch 70 to the disengaged state is output to the control device 100 as an electric signal.

  As shown in FIG. 7, the marker operation command means 6B includes the operation lever 6 and the pair of command switches 64 and 65, and the operation lever 6 swings from the neutral position N to the front side of the vehicle body. When operated, one of the command switches 64 is switched by the operation lever 6, and a left marker lowering command for lowering the left marker 5 to the lowering use posture is output as an electrical signal to the control device 100. Is moved from the neutral position N to the rear side of the vehicle body, the other command switch 65 is switched by the operation lever 6, and the right marker lowering command for lowering the right marker 5 to the lowering use posture is set as an electrical signal. To the control device 100.

A strip selection operation tool 73 including four push button switches for individually turning on and off each minority clutch 27 is disposed at a control panel portion below the steering handle 13 in the boarding operation section.
This strip selection operation tool 73 is configured as a push-on / push-off type push button type, and a light source such as a lamp or LED is provided in the button portion of each push button switch. Accordingly, it is possible to display which push button switch is turned on or off, and to input a detection signal indicating which push button switch has been pushed to the control device 100. is there.

In addition, when it is detected that a normal seedling planting operation is impossible at a proper place in the boarding operation unit, a warning sound or sound by a buzzer or the like is used to notify that it is impossible. An alarm device 74 is provided.
This alarm device 74 is a seedling shortage detection sensor 76 for detecting that the number of seedlings mounted on the seedling table 24 of the seedling planting device 2 is insufficient, and a fertilizer shortage for detecting the fertilizer shortage state of the fertilizer application device 3. Detection signals such as a detection sensor 77 and a clutch sensor 72 for detecting that the working clutch 70 for transmitting power to the seedling planting device 2 is not engaged are input to the alarm control means 106 of the control device 100, and the sensors 76, When any of 77 and 72 detects an implantable state, the alarm control means 106 is configured to output a command for alarm operation to the alarm device 74.

[Configuration of control device]
The control device 100 is configured using a microcomputer. The control device 100 stores and holds the lift cylinder lifting / lowering control means 101, the rolling control means 102, the minority clutch control means 103, the marker insertion / removal control means 104, the fertilizer blower control means 105, and the alarm control means 106 as control programming. And a predetermined height set by a predetermined height setter 38 provided for setting a predetermined height position between the rising limit position and the lowering work position of the seedling planting device 2 as the planting system working device. A storage means 107 comprising a non-volatile memory for storing the value of the height position and the operating state of the left and right markers 5 each time is provided.

  As shown in FIG. 7, the lift cylinder lifting / lowering control means 101 includes a detection signal from the float sensor 22 a that detects the height of the ground contact float 22 at the center of the seedling planting device 2 and the traveling body of the seedling planting device 2. The control valve 15a is operated on the basis of a detection signal from a potentiometer 18 for detecting the vertical angle of the link mechanism 16 with respect to or a command signal from an elevation command means 6A that controls the raising / lowering operation of the seedling planting device 2 by the operation lever 6. Then, the hydraulic cylinder 15 is expanded and contracted to move the seedling planting device 2 up and down.

  The rolling control means 102 is based on detection signals of an inclination sensor 41 that detects a horizontal inclination of the seedling planting device 2 with respect to a horizontal plane and a detection signal of a stroke sensor 42 that detects a rotation angle of the seedling planting device 2 around the rolling axis P. Thus, the rolling motor 40 is driven and controlled so that the seedling planting device 2 is in a horizontal posture.

  The small number of clutch control means 103 includes a detection signal from the float sensor 22a that detects the height of the seedling planting device 2 with respect to the machine body, and a potentiometer 18 that detects the vertical angle of the link mechanism 16 with respect to the traveling machine body of the seedling planting device 2. Detection signal and a command signal from the elevation command means 6A that controls the raising and lowering operation of the seedling planting device 2 by the operation lever 6, and a selection signal for the minority clutch 27 by the strip selection operation tool 73 are input. ing. Based on these input signals and the value of the predetermined height position H2 set by the predetermined height setting unit 38 stored in the storage means 107 of the control device 100, as will be described later. It is comprised so that the operation state of the minority number clutch 27 accompanying the raising / lowering operation | movement of the seedling planting apparatus 2 may be controlled.

  The marker insertion / removal control means 104 reads the value of the predetermined height position H2 set by the predetermined height setter 38 and the operating state of the marker 5 stored in the storage means 107 of the control device 100, Next, based on the detection signal from the potentiometer 18 that detects the vertical angle of the link mechanism 16 or the detection signal from the float sensor 22a that detects the height of the grounding float 22 relative to the machine body, the height of the seedling planting device 2 is determined. Information about the position is obtained, and as will be described later, it is configured to output to the left and right marker motors 52 and 52 which state the left and right markers 5 are switched to.

  The fertilizer application blower control means 105 detects that the operation position of the elevating lever 36 is the “automatic” position or the “planting” position by the detection signal from the lever position detection sensor 37 comprising a potentiometer, or the operation clutch 70 is driven. When detected by the clutch sensor 72, a detection signal from the potentiometer 18 that detects the vertical angle of the link mechanism 16, or a detection signal from the float sensor 22 a that detects the height of the grounding float 22 with respect to the body, and the control device 100. On the basis of the value of the predetermined height position H2 set by the predetermined height setter 38 stored in the storage means 107, the drive of the fertilizer blower 33 driven by the electric motor is operated intermittently. It is configured.

  The alarm control means 106 detects the detection signal from the float sensor 22a that detects the height of the seedling planting device 2 with respect to the machine body, and the detection from the potentiometer 18 that detects the vertical angle of the link mechanism 16 with respect to the traveling machine body of the seedling planting device 2. Set by the predetermined height setting unit 38 stored in the storage unit 107 of the control signal 100 and the detection signals of the signals and the detection signals of the seedling detection sensor 76, the fertilizer outage detection sensor 77, and the clutch sensor 72. The operation of the alarm device 75 is controlled based on the value of the predetermined height position H2.

As shown in FIGS. 7 and 8, the storage means 107 sets a predetermined height position H2 between the ascent limit position H3 and the descending work position H1 of the seedling planting device 2 as a planting system working device. In addition, an operation signal of a predetermined height setter 38 composed of a dial operation type volume provided at an appropriate position of the boarding operation unit is stored as a predetermined height position H2. The storage means 107 also stores the operating state of the left and right markers 5 and the operation state such as which minority clutch 27 has been operated in the clutch disengaged state.
The predetermined height position H2 set in response to the operation signal of the predetermined height setter 38 can be changed to an arbitrary value by the operation of the predetermined height setter 38, and the set predetermined height position H2 is set. Is configured such that the most recently set predetermined height position H2 is stored and held in the storage means 107.
The predetermined height position H2 stored in the storage means 107 is the above-mentioned control means, that is, the rolling control means 102, the minority clutch control means 103, the marker insertion / removal control means 104, the fertilizer blower control means 105, and the alarm control means 106. Is used as a predetermined height position H2 which is a reference for performing control in

That is, in the marker insertion / removal control means 104, when the seedling planting device 2 is lifted / lowered by operating the lift command means 6A, as shown in FIG. 8 (a), the seedling planting device 2 is positioned at the rising limit position H3. The marker 5 is lowered while maintaining the retracted posture until reaching the predetermined height position H2 set in the middle of the downward stroke from the state where the marker 5 is moved, and when the predetermined height position H2 is passed, the marker 5 is moved in the horizontal direction. It is controlled so as to be lowered while changing the posture to the action posture that projects to the top.
On the contrary, in the ascending process in which the seedling planting device 2 is lifted from the state where the seedling planting device 2 is positioned at the descending work position H1, the marker 5 is lifted in a state where the marker 5 is maintained in the acting posture until reaching a predetermined height position H2 set in the middle. When the predetermined height position H2 is passed, the marker 5 is controlled to be raised while changing its posture to the retracted posture.
Therefore, in the operation stroke hH in the region higher than the predetermined height position H2 and the operation stroke lH in the lower region, the posture of the marker 5 acts from the retracted posture during the same downward stroke. The posture changes, and during the ascending stroke, the acting posture changes to the retracted posture. However, in the operation stroke in the same region, that is, in the operation stroke 1H in the low region, the posture of the marker 5 is the operation posture in both the downward stroke and the upward stroke, and in the operation stroke hH in the high region, it rises in the downward stroke. Even during the stroke, the posture of the marker 5 is controlled to be the retracted posture.
At this time, if the value of the predetermined height position H2 is changed by the operation of the predetermined height setting unit 38, the value from the surface G2 of the predetermined height position H2 changes. The value of the predetermined height position H2 can be set to an arbitrary value.

  As described above, in the present invention in which the operation stroke hH in the region higher than the predetermined height position H2 and the operation stroke lH in the lower region are set, for example, FIG. As shown in a), the predetermined height position H2 is not set, or as shown in FIG. 18B, the predetermined height position H2 is set only for the downward stroke, When the control lever 6 is erroneously touched in the operation stroke 1H, compared to the control in which the posture of the marker 5 becomes the active posture in the downward stroke and the posture of the marker 5 becomes the retracted posture in the upward stroke. The possibility that the posture of the marker 5 is switched due to an erroneous operation such as the above can be reduced.

In the rolling control means 102, as shown in FIG. 8 (a), in the descending stroke in which the seedling planting device 2 is lowered from the state where it is located at the ascent limit position H3, the rolling height is set to a predetermined height position H2 set in the middle thereof. Until reaching, the seedling planting device 2 is lowered in a rolling locked state, and when the predetermined height position H2 is passed, the seedling planting device 2 is controlled to be lowered while changing the control mode to a state in which the seedling planting device 2 is subjected to rolling control.
On the contrary, in the ascending process in which the seedling planting device 2 is lifted from the state where the seedling planting device 2 is located at the descending work position H1, the seedling planting device 2 is maintained in the rolling control state until the predetermined height position H2 set in the middle is reached. When the predetermined height position H2 is passed, the seedling planting device 2 is controlled to be raised while changing the control form to the rolling lock state.
Therefore, in the operation stroke hH in a region higher than the predetermined height position H2 and the operation stroke lH in a lower region, the rolling control state is changed from the rolling lock state to the rolling lock state in the same lowering stroke. The state changes to the control state, and during the ascending stroke, the state changes from the rolling control state to the rolling lock state. However, in the operation stroke in the same region, that is, in the operation stroke lH in the low region, the rolling control state is in both the descending stroke and the ascending stroke, and in the high operation stroke hH, the rolling lock is performed in both the descending stroke and the ascending stroke. It is controlled to be in a state.
Also in the rolling control means 102, the value of the predetermined height position H2 can be set and changed by operating the predetermined height setting unit 38.

In the alarm control means 106, as shown in FIG. 8 (a), in the lowering process in which the seedling planting device 2 is lowered from the state where the seedling planting device 2 is located at the upper limit position H3, the alarm control means 106 is set at a predetermined height position H2 set in the middle. Control is performed so that the alarm device 74 is lowered in a state where the operation is stopped until it reaches, and the alarm device 74 is changed to the activated state when the alarm device 74 is lowered after a predetermined height position H2.
On the contrary, in the ascending process in which the seedling planting device 2 is lifted from the state where the seedling planting device 2 is positioned at the descending work position H1, the alarm device 74 is maintained in the operating state and is lifted until reaching the predetermined height position H2 set in the middle. Then, when the predetermined height position H2 is passed, control is performed so that the alarm device 74 is raised while changing the control mode to the state where the operation of the alarm device 74 is stopped.
Also in the alarm device 74, the value of the predetermined height position H2 can be set and changed by operating the predetermined height setting unit 38.

As shown in FIG. 8 (b), in the small number of lines clutch control means 103, in the descending process in which the seedling planting device 2 descends from the state where the seedling planting device 2 is located at the ascent limit position H3, Control is performed so that the clutch is disengaged while maintaining the clutch disengaged state (a state in which a small number of strips can be planted) of some of the few clutches 27 in the disengaged state.
On the contrary, in the ascending stroke in which the seedling planting device 2 is lifted from the state where it is located at the descending work position H1, it is selected by the line selection operation tool 73 until the predetermined height position H2 set in the middle is reached, and the clutch is disengaged. All the minority clutches 27 that have been operated in the clutch disengaged state after the predetermined height position H2 has passed are raised while maintaining the clutch disengaged state of some of the minority clutches 27 in the state. It is controlled to return to (in a state where all lines can be planted) and raise.

In the fertilizer application blower control means 105, as shown in FIG. 8 (b), in the downward stroke in which the seedling planting device 2 is lowered from the state where it is located at the upper limit position H3, the operation state of the fertilizer blower 33 is maintained and lowered. To control.
On the contrary, in the ascending stroke in which the seedling planting device 2 is raised from the state where the seedling planting device 2 is located at the descending work position H1, the operating state of the fertilizer blower 33 is maintained until the predetermined height position H2 set in the middle is reached. After passing the predetermined height position H2, the control is performed so as to be raised while changing so as to stop the operation of the fertilizer blower 33.

[Operating form by operating position of lifting lever]
When it is detected by the lever position detection sensor 37 made up of a potentiometer that the operation position of the elevating lever 36 is the “automatic” position, the elevating operation by the elevating command means 6 </ b> A that controls the elevating operation of the seedling planting device 2 by the operation lever 6 is performed. Is possible.
That is, as the operating lever 6 is operated from the neutral position N to the first raised position U1, the second raised position U2, the lower first lowered position D1, and the second lowered position D2, the hydraulic cylinder 15 is expanded and contracted. Then, the seedling planting device 2 is moved up and down.

  When the seedling planting device 2 is in contact with the field G2, if there is no new lifting operation command by the lifting command means 6A, as shown in FIG. 7, the grounding float 22 at the center of the seedling planting device 2 is used. The detected value of the float sensor 22a for detecting the height of the aircraft is input to the control device 100, and the height of the center grounding float 22 with respect to the seedling planting device 2 is detected by the detected value of the float sensor 22a. Then, from the detected value of the height of the grounding float 22, the lift cylinder lifting / lowering control means 101 operates the control valve 15a so that the seedling planting device 2 is maintained at the set height from the surface G2, and the hydraulic cylinder 15 Is controlled to move up and down so that the height of the seedling planting device 2 with respect to the machine body is automatically maintained at the set height (automatic lift control state). This automatic lifting control state also functions when the operation position of the lifting lever 37 is the “planting” position and the “lowering” position.

  Next, when the elevating lever 36 is operated to any of the “up” position, “neutral” position, “down” position, and “planting” position shown in FIG. 7 (the elevating lever 36 is set to the “automatic” position). When not operating) will be described.

  When the elevating lever 36 is operated to the above-described positions, the functions of the first and second raised positions U1, U2 and the functions of the first and second lowered positions D1, D2 of the operating lever 6 do not operate. That is, the function of the raising / lowering operation as the raising / lowering command means 6A does not work, and only the function of the right and left marker positions R, L of the operation lever 6, that is, the marker operation command means 6B operates.

  When the elevating lever 36 is operated to the “up” position, the automatic elevating control is stopped, the work clutch 70 is operated to be disconnected, the right and left markers 5 are operated to the retracted position, and the control valve 15a is moved to the supply position. When operated, the hydraulic cylinder 15 is contracted to raise the seedling planting device 2. When the potentiometer 18 detects that the seedling planting device 2 has reached the upper limit position with the lift lever 36 in the raised position, the control valve 15a is operated to the neutral position and the hydraulic cylinder 15 is automatically turned on. Stop.

  When the elevating lever 36 is operated to the “down” position, the automatic elevating control is stopped, the work clutch 70 is operated in the disconnected state, and the control valve 15a is discharged while the right and left markers 5 are operated in the retracted position. It is operated to the position, and the hydraulic cylinder 15 extends and the seedling planting device 2 descends. When the center grounding float 22 contacts the surface G2, the automatic raising / lowering control is activated, and the seedling planting device 2 moves to the surface G2. It will be in a state of stopping after grounding.

  When the elevating lever 36 is operated to the “neutral” position, the automatic elevating control is stopped, the work clutch 70 is operated in the disconnected state, and the control valve 15a is neutral while the right and left markers 5 are operated in the retracted position. When operated to the position, the hydraulic cylinder 15 stops. Thus, by operating the elevating lever 36 to the raised position, neutral position, and lowered position, the seedling planting device 2 can be raised and lowered to an arbitrary height and stopped.

When the elevating lever 36 is operated to the “planting” position, the automatic elevating control is activated with the right and left markers 5 being operated in the retracted posture, and the work clutch 70 is simultaneously operated in the transmission state. Thereby, as the seedling platform 24 is driven to reciprocate laterally to the left and right, the planting mechanism 23 alternately takes out seedlings from the lower part of the seedling platform 24 and plantes them on the field surface G2. Fertilizer is delivered from the tank 31 by a predetermined amount by the delivery mechanism 32, and the fertilizer is supplied to the groove producing device 35 through the fertilizer hose 34 by the air supplied from the fertilizer blower 33, and is supplied to the rice field G2 through the groove producing device 35. .

[Operation mode by operating the control lever]
As described above, when the elevating lever 36 is operated to the “automatic” position, the elevating operation function as the elevating command means 6A of the operating lever 6 works, and the control means 101 to 107 provided in the control device 100 are operated together with this function. When activated, the following control functions are exhibited.

  When the operation lever 6 is operated to the second ascending position U2 (operating to the second ascending position U2 and releasing the hand to return to the neutral position N), the work clutch 70 is operated to be in the disconnected state, and the automatic elevation control is stopped. The right and left markers 5 are operated to the retracted posture. Further, the control valve 15a is operated to the pressure oil supply position, the hydraulic cylinder 15 is contracted and the seedling planting device 2 is raised. When the potentiometer 18 detects that the seedling planting device 2 has reached the upper limit position, the control valve 15a is operated to the neutral position, and the hydraulic cylinder 15 automatically stops.

For example, when the automatic elevating control is stopped, the work clutch 70 is operated in the disengaged state, and the right and left markers 5 are operated in the retracted posture, the operation lever 6 is operated to the second lowered position D2 (second When the hand is released to return to the neutral position N by operating to the lowered position D2, the control valve 15a is operated to the pressure oil discharge position, the hydraulic cylinder 15 is extended, and the seedling planting device 2 is lowered. And if the center grounding float 22 contacts the field surface G2, automatic raising / lowering control will operate | move and it will be in the state which the seedling planting apparatus 2 grounded on the field surface G2, and stopped.
Further, after operating the operating lever 6 to the second lowered position D2 as described above, if the operating lever 6 is again operated to the second lowered position D2 (operating again to the second lowered position D2 and releasing the hand, the neutral position N). When the automatic lift control is activated, the work clutch 70 is simultaneously operated in the transmission state.

  When the operation lever 6 is operated to the first raising position U1 shown in FIG. 7, the control valve 15a is operated to the pressure oil supply position, the hydraulic cylinder 15 is contracted, and the seedling planting device 2 is raised. Thereafter, when the operation lever 6 is operated to the neutral position N, the control valve 15a is operated to the neutral position, and the raising of the seedling planting device 2 is stopped.

  For example, in the state where the automatic lifting control is stopped, the work clutch 70 is operated in the disconnected state, and the right and left markers 5 are operated in the retracted posture, the operation lever 6 is operated to the first lowered position D1 shown in FIG. Then, the control valve 15a is operated to the pressure oil discharge position, the hydraulic cylinder 15 is extended, and the seedling planting device 2 is lowered. Thereafter, when the operation lever 6 is operated to the neutral position N, the control valve 15a is operated to the neutral position, and the descent of the seedling planting device 2 is stopped.

  The seedling planting device 2 can be raised and lowered only while the operating lever 6 is operated to the first ascending and first descending positions U1 and D1 as described above. Then, it can be raised and lowered to stop.

[Control form by control device]

<Overall operation of control device>
As shown in FIGS. 9 to 16, in addition to the lift control of the lift cylinder 15 and the rolling control of the seedling planting device 2, the control device 100 includes information from the main switch 75, a lift command by the lift command means 6A, and a potentiometer. 18, the left and right marker operating mechanisms 50 are operated based on the detection result of the height of the seedling planting device 2 with respect to the machine body and the detection information by the sensors 22 a, 66, 67, 76, 77. The blower 33, the alarm device 74, etc. are operated.

  That is, as shown in steps # 1 to # 8 in the main routine of FIG. 9, it is determined whether or not the main switch 75 is on based on information from the main switch 75, and it is determined that the main switch 75 is on. In the lift cylinder lift control routine shown in step # 2, it is determined whether or not there is a lift command for the lift cylinder 15, the lift control is performed, and the process returns to the main routine. Subsequently, in the rolling control routine shown in step # 3, the rolling control is performed so that the right and left tilting of the seedling planting device 2 is returned to the allowable range.

  Subsequently, in steps # 4 to # 7, when the information about the current height position of the seedling planting device 2 and the elevation command by the elevation command means 6A are read and the seedling planting device 2 rises above a predetermined height. The fertilizer blower 33 and the alarm device 74 are operated depending on how the height position of the seedling planting device 2 is in relation to the predetermined height position H2. The timing is controlled.

<Operation related to lift cylinder lifting control>
The lift control of the lift cylinder 15 in the subroutine for performing lift cylinder lift control is performed as shown in FIG.
That is, in step # 10, information on the current height position of the seedling planting device 2 is read, and in steps # 11 to # 13, the operation state of the elevation command means 6A operated by the operation lever 6 as an artificial operation tool is displayed. Deciding.
If the operation by the elevating command means 6A is the first ascending position U1, as shown in steps # 14, # 15, # 22, the seedling planting device 2 is raised and stopped until the operation is completed, If it is not the first ascending position U1, it is determined whether or not it is the second ascending position U2, as shown in step # 12.
As a result of the determination, if it is the second raised position U2, as shown in steps # 16, # 17 and # 22, the seedling planting device 2 is lifted and stopped until the seedling planting device 2 reaches the lift limit position H3. If it is not the second raised position U2, it is determined whether or not it is the first lowered position D1 as shown in step # 13.
If the determination result is the first lowered position D1, as shown in steps # 18, # 19, and # 22, the seedling planting device 2 is lowered and stopped until the operation is completed, and the first lowered position D1. If not, it is inevitably the second lowered position D2, so as shown in steps # 20, # 21 and # 22, the seedling planting device 2 is lowered until the seedling planting device 2 reaches the lowered work position H1. Stop.

<Operations related to rolling control>
The operation of the rolling drive mechanism 40 in the subroutine for performing rolling control is performed as shown in FIG.
That is, the information of the predetermined height position H2 memorize | stored in the memory | storage means 107 is read by step # 23, the information of the current right-and-left inclination angle of the seedling planting apparatus 2 is read by step # 24, the inclination sensor 41, and the seedling planting apparatus. 2 based on the detection signal of the stroke sensor 42 for detecting the rotation angle around the rolling axis P, and in step # 25, information on the current height position of the seedling planting device 2 is Read from the detection signal of the potentiometer 18 for detecting the angle.

In step # 26, it is determined whether or not the current height position of the seedling planting device 2 is present during the operation stroke hH in a region higher than the predetermined height position H2, and the height is higher than the predetermined height position H2. If it exists during the operation stroke hH in the high region, the operation of the rolling motor 40 is stopped and the rolling lock state is set as shown in step # 27.
If the current height position of the seedling planting device 2 does not exist during the operation stroke hH in the region higher than the predetermined height position H2, that is, the operation stroke lH in the region lower than the predetermined height position H2. If the state exists, the rolling control is performed so that the rolling motor 40 is driven and the right and left inclination angle of the seedling planting device 2 reaches the rolling control target as shown in step # 28 and step # 29. To do.

<Operations related to minority clutch control>
The engagement control of the minority number clutch 27 in the subroutine for performing minority number clutch control is performed as shown in FIG.
That is, the information on the predetermined height position H2 stored in the storage means 107 in step # 90 and the information on the selection result of the minority number clutch 27 in the line selection operation tool 73 are read, and the seedling planting device 2 is read in step # 91. Is read from a detection signal of a potentiometer 18 that detects the vertical angle of the link mechanism 16 with respect to the traveling machine body 1.
In step # 92, it is determined whether or not the current height position of the seedling planting device 2 is present during the operation stroke hH in a region higher than the predetermined height position H2, and the current height position is higher than the predetermined height position H2. If it exists during the operation stroke hH in the high region, the engagement control of the minority clutch 27 is not performed, and the minority clutch 27 in the disengaged state is maintained in the disengaged state as it is.

When the current height position of the seedling planting device 2 does not exist during the operation stroke hH in the region higher than the predetermined height position H2, that is, the operation in the region lower than the predetermined height position H2. If it exists in the stroke lH, as shown in step # 93, it is determined whether or not the operation by the elevation command means 6A is the first ascending position U1 or the second ascending position U2.
If the operation by the elevating command means 6A is the first ascending position U1 or the second ascending position U2, as shown in step # 94 and step # 95, a small number until the seedling planting device 2 exceeds the predetermined height position H2. The on / off control of the streak clutch 27 is not performed, and the minority clutch 27 in the disengaged state is maintained in the disengaged state as it is, and when the seedling planting device 2 exceeds the predetermined height position H2, all the minority clutches 27 are brought into the on state. Control to switch.
If the operation by the elevation command means 6A is not the first ascending position U1 or the second ascending position U2, the engagement control of the minority clutch 27 is not performed, and the minority clutch 27 in the disengaged state is maintained as it is. .

<Operations related to marker insertion / removal control>
The raising / lowering of the seedling planting device 2 and the control of the insertion / removal of the marker 5 in the subroutine for the control of the insertion / removal of the marker are performed as shown in FIGS.
That is, the information on the predetermined height position H2 stored in the storage means 107 in step # 40, the lever position detection sensor 37 for detecting the operating position of the elevating lever 36, and the elevating position for detecting the operating state of the operating lever 6. The information stored in the storage means 107 for storing the final operation states of the right and left markers 5 based on the operation states of the command means 6A and the marker operation command means 6B is read, and seedling planting is performed in step # 41 Information on the current height position of the device 2 is read from a detection signal of a potentiometer 18 that detects the vertical angle of the link mechanism 16 with respect to the traveling machine body 1.

Next, in step # 42, it is determined whether or not the current height position of the seedling planting device 2 exists during the operation stroke hH in a region higher than the predetermined height position H2, and the predetermined height position is determined. If it exists during the operation stroke hH in a region higher than H2, as shown in step # 43, the marker operating mechanism 50 is operated to operate both the left and right markers 5 to the retracted posture.
If the current height position of the seedling planting device 2 does not exist during the operation stroke hH in the region higher than the predetermined height position H2, that is, the operation stroke lH in the region lower than the predetermined height position H2. If it is present, the marker operating mechanism 50 is driven as shown in step # 64, and the marker 5 on the side stored in the storage means 107 as having finally been in the action posture is stored. Controls the posture of the marker 5 so that the marker 5 on the opposite side becomes the acting posture.

After both the left and right markers 5 are operated to the retracted posture in step # 43, as shown in step # 44, it is determined whether or not the operation by the elevation command means 6A is the first ascending position U1. And if operation by the raising / lowering command means 6A is the 1st raising position U1, as shown to step # 48- # 50, the seedling planting apparatus 2 will be driven up until operation by the raising / lowering command means 6A is complete | finished, and operation will be carried out. After completion, the ascending drive of the seedling planting device 2 is stopped and the process returns to the upper routine.
If the operation by the lift command means 6A is not the first lift position U1, it is determined whether or not the operation by the lift command means 6A is the second lift position U2, as shown in step # 45.

In step # 45, if the operation by the elevation command means 6A is the second ascending position U2, as shown in steps # 51, # 52, and # 50, the seedling planting device 2 rises after the operation by the elevation command means 6A. Ascending drive is performed until reaching the position, and after reaching the ascending limit position, the ascending drive of the seedling planting device 2 is stopped and the process returns to the upper routine.
If the operation by the elevating command means 6A is not the second ascending position U2, it is determined whether or not the operation by the elevating command means 6A is the first lowered position D1, as shown in step # 46.

In step # 46, if the operation by the elevation command means 6A is the first lowered position D1, as shown in steps # 53 and # 54, the seedling planting device 2 is lowered, and the seedling planting device 2 pair is operated. It is determined whether or not the aircraft height has reached a predetermined height H2. If it is determined in step # 54 that the height of the seedling planting device 2 with respect to the machine body has reached the predetermined height position H2, the marker 5 on the side stored in the storage means 107 as the final action posture is The posture of the marker 5 is controlled so that the marker 5 on the opposite side becomes the acting posture (see step # 56).
When the operation by the elevation command means 6A is completed until the height of the machine body of the seedling planting device 2 reaches the predetermined height H2 in step # 54, as shown in steps # 55 and # 63, the seedling planting device 2 is stopped and the process returns to the upper routine.

Even after the marker 5 is placed in the action posture in step # 56, if the operation of the first descending position D1 by the ascending / descending command means 6A continues, the descending operation of the seedling planting device 2 continues, and the first descending position When the operation of D1 is completed, the lowering operation of the seedling planting device 2 is stopped as shown in steps # 57 and # 63, and the process returns to the upper routine.
Even when the seedling planting device 2 reaches the lowering work position H1 before the operation of the first lowered position D1 is completed, the lowering operation of the seedling planting device 2 is stopped as shown in steps # 58 and # 63. Return to the host routine.
If it is determined in step # 46 that the operation by the elevation command means 6A is not the first lowered position D1, is the operation by the elevation command means 6A at the second lowered position D2 as shown in step # 47? Determine whether or not.

If it is determined in step # 47 that the operation by the lift command means 6A is the second lowered position D2, as shown in steps # 59 to # 63, the seedling planting device 2 is lowered and the seedling planting is performed. It is determined whether or not the height of the device 2 with respect to the aircraft has reached a predetermined height H2. When it is determined in step # 60 that the height of the seedling planting device 2 with respect to the machine body has reached the predetermined height H2, it is opposite to the marker 5 on the side stored in the storage means 107 as the final action posture. The marker 5 posture is controlled so that the side marker 5 is in the working posture (see step # 61).
When the seedling planting device 2 reaches the lowering work position H1, the lowering operation of the seedling planting device 2 is stopped and the process returns to the upper routine.
If it is determined in step # 47 that the operation by the elevation command means 6A is not the second lowered position D2, the operation by the elevation command means 6A is the neutral position N, and the process returns to the upper routine as it is.

FIG. 15 shows the control in the case where the current height position of the seedling planting device 2 exists during the operation stroke lH in the region lower than the predetermined height position H2.
In this case, as shown in step # 64, the marker operating mechanism 50 is driven, and the marker 5 on the side opposite to the marker 5 on the side stored in the storage means 107 as the final action posture is stored. Then, the posture of the marker 5 is controlled so as to be the action posture, and then, as shown in step # 65, it is determined whether or not the operation by the elevation command means 6A is the first ascending position U1.

And if operation by the raising / lowering command means 6A is the 1st raising position U1, as shown to step # 69- # 74, the seedling planting apparatus 2 will be driven up until operation by the raising / lowering command means 6A is complete | finished, and operation will be carried out. After completion, the ascending drive of the seedling planting device 2 is stopped and the process returns to the upper routine.
In step # 70 until the operation by the elevation command means 6A is finished, it is determined whether or not the current height position of the seedling planting device 2 has reached the predetermined height position H2, and the predetermined height is reached. The marker 5 posture is controlled so that the marker 5 assumes the retracted posture in the ascending stroke after reaching the position H2. As shown in step # 71, when the operation by the raising / lowering command means 6A is completed before reaching the predetermined height position H2, the raising drive of the seedling planting device 2 is stopped at the end time and the process returns to the upper routine.

If the operation by the elevating command means 6A is not the first ascending position U1, it is determined whether or not the operation by the elevating command means 6A is the second ascending position U2, as shown in step # 66.
In step # 66, if the operation by the lift command means 6A is the second lift position U2, as shown in steps # 75 to # 79, the seedling planting device 2 is moved to the lift limit position H3 after the operation by the lift command means 6A. Ascending driving is performed until reaching the ascending limit position H3, and the ascending driving of the seedling planting device 2 is stopped and the process returns to the upper routine.
In step # 76 until the operation by the elevation command means 6A is completed, it is determined whether or not the current height position of the seedling planting device 2 has reached the predetermined height position H2, and the predetermined height is reached. The posture of the marker 5 is controlled so that the marker 5 is in the retracted posture in the ascending stroke after reaching the position H2.

If the operation by the elevating command means 6A is not the second ascending position U2, it is determined whether or not the operation by the elevating command means 6A is the first lowered position D1, as shown in step # 67.
In step # 67, if the operation by the elevation command means 6A is the first lowered position D1, the seedling is kept until the operation by the elevation command means 6A is completed as shown in steps # 80, # 81, # 82, and # 85. The planting device 2 is driven downward, and after the operation is completed, the downward driving of the seedling planting device 2 is stopped and the process returns to the upper routine.

If the operation by the elevation command means 6A is not the first ascending position D1, it is determined whether or not the operation by the elevation command means 6A is the second descending position D2, as shown in step # 68.
In step # 68, if the operation by the elevation command means 6A is the second lowered position D2, as shown in steps # 83 to # 85, the seedling planting device 2 is driven to descend by the operation by the elevation command means 6A. After the planting device 2 reaches the lowering work position H1, the lowering drive of the seedling planting device 2 is stopped and the process returns to the upper routine.
If it is determined in step # 68 that the operation by the elevation command means 6A is not the second lowered position D2, the operation by the elevation command means 6A is the neutral position N, and the process returns to the upper routine as it is.

<Operation related to fertilizer application blower control>
The drive stop control of the fertilizer blower 33 in the subroutine for performing fertilizer blower control is performed as shown in FIG.
That is, the information on the predetermined height position H2 stored in the storage means 107 is read in Step # 100, and the information on the current height position of the seedling planting device 2 is obtained in Step # 101. Read from the detection signal of the potentiometer 18 for detecting the angle.
In step # 102, it is determined whether or not the lift lever 36 has been operated to the “planting” position from the detection value of the lever position detection sensor 37, or has the clutch sensor 72 detected the clutch engagement state of the work clutch 70? Determine whether or not. When it is determined that the elevating lever 36 has been operated to the “planting” position or the clutch sensor 72 has been operated, the fertilizer blower 33 is operated as shown in step # 3. When neither is discriminated, it waits without operating the fertilizer blower 33.
The detection of the clutch sensor 72 is for detecting that the clutch sensor 72 is engaged by operating the operation lever 6 again to the second lowered position D2 side in the “automatic” position of the elevating lever 36. Further, the fact that the elevating lever 36 is operated to the “planting” position is detected in order to obtain a signal for operating the fertilizer blower 33 before the operation clutch 70 is engaged and operated. The fertilizer blower 33 is configured to operate based on the signal detected earlier.

In step # 104, it is determined whether or not the current height position of the seedling planting device 2 is present during the operation stroke hH in a region higher than the predetermined height position H2, and is greater than the predetermined height position H2. If it exists in the operation stroke hH in a high region, the driving stop of the fertilizer blower 33 is not performed only by that, and the fertilizer blower 33 in the drive state is maintained in the drive state as it is.
When the current height position of the seedling planting device 2 does not exist during the operation stroke hH in the region higher than the predetermined height position H2, that is, the operation in the region lower than the predetermined height position H2. If it exists in the stroke lH, as shown in step # 105, it is determined whether or not the operation by the elevation command means 6A is the first ascending position U1 or the second ascending position U2.

If the operation by the elevating command means 6A is the first ascending position U1 or the second ascending position U2, as shown in step # 106 and step # 107, fertilizer is applied until the seedling planting device 2 exceeds the predetermined height position H2. Stop control of the blower 33 is not performed, the fertilizer blower 33 in the drive state is maintained in the drive state as it is, and when the seedling planting device 2 exceeds the predetermined height position H2, the drive of the fertilizer blower 33 is switched to the stop state. Control.
If the operation by the elevation command means 6A is not the first ascent position U1 or the second ascent position U2, the fertilizer blower 33 is not stopped and the fertilizer blower 33 in the driving state is maintained in the driving state as it is.

<Operations related to alarm control>
The operation control of the alarm device 74 in the subroutine for performing the alarm control is performed as shown in FIG.
That is, the information on the predetermined height position H2 stored in the storage means 107 is read in Step # 110, and the information on the current height position of the seedling planting device 2 is obtained in Step # 111. Read from the detection signal of the potentiometer 18 that detects the angle, read the detection signal from the seedling breakage detection sensor 76 that detects that the number of seedlings mounted on the seedling table is insufficient in step # 112, and apply fertilizer in step # 113 A clutch sensor 72 for reading the detection signal from the fertilizer shortage detection sensor 77 for detecting the fertilizer shortage state of the device 3 and detecting that the work clutch 70 for transmitting power to the seedling planting device 2 is not in the engaged state in step # 114. Read the detection signal.

In Step # 115, it is determined whether or not the current height position of the seedling planting device 2 is present during the operation stroke hH in a region higher than the predetermined height position H2, and the height is higher than the predetermined height position H2. If it exists during the operation stroke hH in the high region, the alarm device 74 is not operated as shown in # 116, and the alarm device 74 in the operation stop state is maintained in the operation stop state as it is.
When the current height position of the seedling planting device 2 does not exist during the operation stroke hH in the region higher than the predetermined height position H2, that is, the operation in the region lower than the predetermined height position H2. If the state exists during the stroke lH, as shown in step # 117, it is determined whether or not it is a seedling out condition by the seedling out detection sensor 76, and if it is a seedling out condition, it is shown in step # 118. The alarm device 74 is operated as follows.

If it is not in a seedling out condition, a detection signal from the fertilizer out detection sensor 77 is read next, and as shown in step # 119, it is determined by the fertilizer out detection sensor 77 whether or not it is in a fertilizer out condition. If there is, the alarm device 74 is activated as shown in step # 120.
If the fertilizer is not out, the detection signal of the clutch sensor 72 for detecting that the work clutch 70 that transmits power to the seedling planting device 2 is not in the engaged state is read in step # 121.
When it is detected in step # 121 that the work clutch 70 that transmits power to the seedling planting device 2 is not engaged, the alarm device 74 is moved as shown in step # 122, and it is detected that the work clutch 70 is engaged. In such a case, the alarm device 74 in the operation stop state is maintained in the operation stop state as it is.

[Other Embodiment 1]
The grounding float 22 is attached to the seedling planting device 2 so that the tip side swings up and down around the swing fulcrum P1 on the rear side in the traveling direction. Then, based on the detection value of the float sensor 22a, the posture at the time of sliding with respect to the surface G2 is set to a predetermined reference predetermined angle θ around the swing fulcrum p1, as shown in FIG. The seedling planting apparatus 2 is controlled by raising and lowering the whole seedling planting apparatus 2, and seedling planting is performed by adjusting the height position of the rocking fulcrum p1 so that the predetermined angle θ is maintained within a preset range. The depth is controlled to be kept at a predetermined value.
However, in paddy field machines, when the vehicle speed increases, the resistance of the mud surface acting on the grounding float 22 increases and the grounding float 22 tends to be pushed up. For this reason, if the raising / lowering adjustment of the seedling planting apparatus 2 is performed on the basis of the rocking angle of the pushed-up grounding float 22, the planting depth may be too shallow.
For this reason, conventionally, the predetermined angle θ at the reference sliding posture with respect to the surface G2 of the grounding float 22 can be set and changed by an artificial setting operation tool such as a sensing dial (not shown). It was difficult to respond to changes in
In this embodiment, based on a detection signal from an engine speed detection device (not shown), the predetermined angle θ at the time of the reference sliding posture with respect to the surface G2 of the ground float 22 is automatically changed according to the vehicle speed. The float angle changing means (not shown) is provided in the control device 100.
As shown in FIG. 20, the float angle changing means is configured to adjust the vehicle speed between the first reference predetermined angle θ1 when the vehicle speed is medium and low and the second reference predetermined angle θ2 when the vehicle speed is high. The value of the predetermined angle θ is set so as to gradually change.

In this example, the engine speed is used as a means for detecting the vehicle speed. However, the present invention is not limited to this. For example, the actual vehicle speed may be detected by detecting the axle speed, for example. .
Further, the change in the value of the predetermined angle θ with respect to the vehicle speed between the first reference predetermined angle θ1 and the second reference predetermined angle θ2 is not a linear change as shown in FIG. You may set so that it may become a smooth change.

[Other Embodiment 2]
FIG. 21 shows a state in which the shift lever 78 is gripped near the grip 78a of the shift lever 78 for shifting the traveling speed in addition to the operation lever 6 provided near the lower side of the steering handle 13 as described above. The auxiliary operation lever 68 is provided so that an operation with a finger is possible.
As described above, when the auxiliary lever 68 is provided in the speed change lever 78, the steering operation is performed with one hand, and the operation is performed while the speed change operation is performed with the other hand. Thus, an operation such as changing the predetermined height position H2 becomes easy, and the operability is increased.
The auxiliary operation lever 68 has a function of performing the same operation as the operation lever 6. However, when the auxiliary operation lever 68 and the operation lever 6 are operated simultaneously, the operation lever 6 is operated. The control device 100 is configured so that is given priority.

[Other Embodiment 3]
FIG. 22 shows another embodiment at the time of performing automatic lifting control by changing the height position of the grounding float 22.
In this example, the grounding float 22 is usually provided so as to swing within a predetermined swing angle α around the rear fulcrum P1. That is, the attitude of the grounding float 22 that swings and operates within the range between the front rising limit position αu where the tip end side of the grounding float 22 is located above and the front lowering limit position αd where the tip end side of the grounding float 22 hangs down by its own weight is float sensor. It is detected at 22a, and the height of the seedling planting device 2 with respect to the rice field G2 is determined from the detected value, and the raising / lowering control of the seedling planting device 2 is performed.
However, when the seedling planting device 2 is extremely close to the pod at the end of the field and the planting operation is to be started from the middle of the pod, the rear end of the grounding float 22 that is in the descending operation is on the cocoon. It may become. In such a case, since the grounding float 22 is in a forward-lowering posture, the seedling planting device 2 receives a drive command to the lowering side in normal lifting control, but is in a state of riding on a heel. There is a risk that the grounding float 22 or the attachment portion of the link mechanism 16 that drives the seedling planting device 2 to be moved up and down is damaged.

For this reason, in this embodiment, the grounding float 22 further acts against the spring force of the compression spring 80 and acts as a stopper for setting the front lowering limit position αd where the grounding float 22 hangs down by its own weight. A front-fall detection switch 81 is provided for detecting that the front-fall position has been reached.
Then, when the front lowering detection switch 81 detects that the front lowering position is further exceeded beyond the front lowering limit position αd, such as when the rear end side of the grounding float 22 rides on a ridge, the seedling planting device 2 is The control device 100 is provided with a control means (not shown) for avoiding saddle riding for outputting a signal for controlling to drive to a predetermined amount upward side to the control valve 15a of the lift cylinder 15.
As a result, when the grounding float 22 is simply suspended by its own weight, the rear end of the grounding float 22 is prevented from further drooping by the compression spring 80 acting as a stopper, and is maintained at the front lowering limit position αd. The seedling planting device 2 continues the lowering operation.
When the rear end of the grounding float 22 rides on the heel and the grounding float 22 is further in the forward downward posture beyond the forward downward limit position αd, the forward downward detection switch 81 detects this, Control is performed so that the lowering operation of the seedling planting device 2 is stopped and driven to the predetermined amount upward side.

[4 of other embodiment]
As the raising / lowering operation control of the seedling planting device 2 by the operation lever 6 for operating the elevation command means 6A and the auxiliary operation lever 68, as shown in the above-described embodiment, the operation lever 6 or the auxiliary operation lever 68 is used. The operation at the 1 ascending position U1 or the first descending position D1 is not limited to the operation of raising and lowering the seedling planting device 2 only while operating the operation lever 6 or the auxiliary operation lever 68, but the operation lever 6 or the auxiliary Each time the operating lever 68 is operated, it may be set to move up and down by a predetermined amount.
In this case, if the raising / lowering operation amount in one operation is set to a small value, the seedling planting device 2 can be raised or lowered little by little by inching operation, and the seedling planting device 2 has a low ceiling. It can be conveniently used when moving to a storage location.

[5 of other embodiments]
As shown in the above-described embodiment, the predetermined height setter 38 is configured to change only the predetermined height position H2 set as an intermediate height between the rising limit position H3 and the lowering work position H1. However, the present invention is not limited to this, and it may be configured such that both the rising limit position H3 and the predetermined height position H2 can be set and changed.
In this case, if any one of the rising limit position H3 and the predetermined height position H2 is changed, the other is also changed in conjunction, that is, the interval width between the rising limit position H3 and the predetermined height position H2 is set. If one of them is changed while keeping it constant, the other may be changed in conjunction with it, or the rising limit position H3 and the predetermined height position H2 can be set and changed to arbitrary values individually. In this way, a structure having a plurality of setting operation tools may be used. However, in this case, even though it is allowed for the ascent limit position H3 to be the same height position as the predetermined height position H2, the predetermined height position H2 may be lower, or the predetermined height position H2 may be higher than the upper limit position H3. It is necessary to restrict so that it does not do.

[Sixth Embodiment]
The means for changing the setting of the predetermined height position H2 set as an intermediate height between the ascent limit position H3 and the lowering work position H1 is not limited to a configuration that is set by human operation, and the setting is automatically changed. It may be one that can be made.
That is, for example, a tilt sensor (not shown) for detecting the front / rear tilt is mounted on the traveling machine body 1 so that the predetermined height position H2 is automatically changed when the front / rear tilt of the traveling machine body 1 is greater than or equal to a predetermined value. It may be. That is, the predetermined height position H2 is slightly lowered when the forward and backward inclination of the traveling machine body 1 is greater than or equal to a predetermined angle, and conversely, when the forward and backward inclination of the traveling machine body 1 is greater than or equal to the predetermined angle, It may be configured to make a change such as slightly raising the position H2.

  As a paddy field work machine, a direct sowing apparatus or the like may be provided as a planting work apparatus, and as a lifting-related work apparatus, a fertilizer application apparatus, a chemical spraying apparatus, and a rice bran spraying apparatus for supplying paste-like fertilizer to the rice field Etc. may be provided.

DESCRIPTION OF SYMBOLS 2 Seedling planting device 3 Fertilizer 4 Rolling drive mechanism 5 Marker 6 Operation lever 6A Lifting command means 6B Marker operation command means 15 Lift cylinder 16 Link mechanism 18 Potentiometer 22 Leveling float 27 Minority number clutch 33 Fertilizer blower 36 Lift lever 50 Marker operating mechanism 100 Control device H1 Lowering work position H2 Predetermined height position H3 Ascent limit position

Claims (9)

Equipped with a planting work device for sowing or seedling planting so that it can be moved up and down with respect to the traveling machine body, and a lowering work position for lowering the machine height position of this planting system work device to work And the height can be changed over the rise limit position raised to the upper limit,
A lifting-related work device configured to operate in association with lifting of the planting work device,
Set a predetermined height position in the middle of the lifting and lowering operation stroke of the planting work device between the lowering work position and the upper limit position,
Based on the lifting operation direction of the planting work device and the determination result of whether the planting work device is located above or below the predetermined height position, The operating state is different between the upper side and the lower side of the predetermined height position during the up-and-down operation stroke, and the operating state below the predetermined height position is also the up stroke of the up-and-down operation stroke. A paddy field machine configured to be maintained in the same operating state even in a descending stroke, and further configured to be capable of setting and changing the predetermined height position. The lifting-related work device is a marker that forms an index on the rice field, and the marker is configured to change the posture from the working posture to the retracted posture when the planting work device is lifted,
The posture change of the marker stops the posture change operation to the storage posture side of the marker until the planting work device in the lowered work position reaches a predetermined height position, and the planting work device is The paddy field work machine according to claim 1, wherein a posture changing operation of the marker toward the retracted posture side is performed after a predetermined height position. The lifting-related work device is a rolling drive mechanism that controls the horizontal posture of the planting work device, and when the planting work device is lifted, the rolling drive mechanism operates from the rolling control operation state to the rolling control operation. Is configured to change to a rolling lock state that stops
The rolling lock state maintains the rolling operation state of the rolling drive mechanism until the planting work device in the lowered work position reaches a predetermined height position, and the planting work device is moved to the predetermined height position. The paddy field work machine according to claim 1, wherein the paddy field work machine is configured so as to be in a rolling lock state after passing. The lifting-related work device is an alarm device, and the alarm device is configured to operate when the planting work device is lowered in a non-plantable state, and
The operation of the alarm device in the non-planting state maintains the operation stop state of the alarm device until the planting work device at the rising limit position reaches a predetermined height position, and the planting work device 2. The paddy field work machine according to claim 1, wherein the paddy field work machine is configured such that an alarm is activated when it is lowered after a predetermined height position. The lifting-related work device is a fertilizer supply blower for supplying fertilizer to the rice field, and the fertilizer blower is configured to be changed from an operating state to an operation stopped state when the planting work device is lifted,
The operation stop of the fertilizer blower maintains the operating state of the fertilizer blower until the planting work device in the lowered work position reaches a predetermined height position, and the planting work device is moved to a predetermined height position. The paddy field work machine according to claim 1, wherein the operation of the fertilizer application blower is stopped after passing. The planting system working device is a seedling planting device, and the lifting-related work device is a minority clutch that intermittently drives the planting claw drive mechanism for planting a minority number of the planting strips, and raising the seedling planting device The small number of clutches that are in the disengaged state during operation are configured so that the operation mode is changed to the engaged state,
The operation of the small number of clutches is changed by maintaining the disengaged state of the small number of clutches until the seedling planting device at the lowering operation position reaches a predetermined height position. The paddy field work machine according to claim 1, wherein the small number of clutches are changed to an engaged state after passing.   2. The configuration is such that the setting can be changed between the ascending limit position and the predetermined height position, and when one of these positions is changed, the other is also set and changed in conjunction. Paddy field work machine given in any 1 paragraph of -6.   The paddy field work machine according to any one of claims 1 to 6, wherein the rising limit position can be independently set and changed with respect to a predetermined height position.   The paddy field according to claim 7 or 8, wherein a traveling form in the traveling machine body is determined, and when the predetermined traveling form is set, the rising limit position or the predetermined height position of the planting system working device is set and changed. Work machine.

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