JP2014042528A - Sulky type seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem of a sulky type seedling transplanter in respect of turning operability that in turning, an operator has to perform an on-off operation for the drive of a working device and an operation for the ascent/descent of the working device in addition to the turning and steering operation of a machine body so that the operator cannot concentrate on the steering operation in turning.SOLUTION: A sulky type seedling transplanter includes a controller (170) for lifting a seedling transplanting work device, causing a travel distance calculating means to start the calculation of a travel distance, outputting a command for first lowering the seedling transplanting work device according to the travel distance, and then outputting a command for lowering a drawing marker (195) according to the travel distance.

Description

  The present invention relates to a riding seedling transplanting machine in which a seedling transplanting device is mounted on a traveling vehicle via a lifting link device.

  As this type of prior art, there is a riding type rice transplanter provided with a turning linkage mechanism that brakes by breaking the side clutch of the inside of the turning of the left and right rear wheels by a steering operation of a predetermined angle or more from a straight traveling state of the steering front wheel. is there. In this riding type rice transplanter, it is possible to perform turning with good operability by braking the rear wheel inside the turning only by performing a steering operation on the front wheels (see Patent Document 1).

Japanese Patent Laid-Open No. 11-94051

  However, at the time of turning, in addition to the turning operation of the aircraft, the operator has to perform turning on / off operation of the work device and raising / lowering the working device, and cannot concentrate on the turning operation at the time of turning, There was still a problem in terms of turning operability.

According to the first aspect of the present invention, a seedling transplanting device (3) is mounted on a traveling vehicle (1) provided with left and right front wheels (6) for steering so that the seedling transplanting device (3) can be moved up and down . ) In the riding type seedling transplanting machine equipped with automatic turning control for automatically turning the seedling transplanting device (3) on and off , the seedling transplanting device (3) is raised and the travel distance calculating means is used. The calculation of the travel distance is started, and a command for lowering the seedling transplanting device (3) is first output according to the travel distance, and then the command for lowering the drawing marker (195) according to the travel distance. This is a riding seedling transplanter characterized in that a control device (170) for outputting is provided.

  The invention according to claim 2 outputs a command for the drawing marker (195) to descend according to the travel distance, starts driving the seedling transplanting device (3), and drives the seedling transplanting device (3). 2. The riding seedling transplanter according to claim 1, further comprising a control device (170) that performs a notification for the start at the time of starting.

According to a third aspect of the invention, depending on the travel distance, outputs a command to draw a marker (195) is lowered, subsequently, depending on the travel distance, the control to start driving the seedling transplantation working device (3) 3. The riding seedling transplanter according to claim 1 or 2, further comprising a device (170).

The invention according to claim 4 is provided with a fertilizer application device (4) for applying fertilization to a farm field, operates a speed change actuator (MO-H) at the start of turning of the vehicle body, decelerates the vehicle speed, and according to the travel distance, seedling transplanting work Before starting the drive of the device (3), the control for increasing the vehicle speed by operating the speed change actuator (MO-H) is executed, and the vehicle speed when the fertilizer application (4) is performed simultaneously. The control device (170) is provided, wherein the speed change at the time of the speed increase is set more gently than the speed change at the time of the vehicle speed increase when the fertilizer application (4) is not performed. The riding seedling transplanter according to any one of claims 1 to 3 is used.

According to the fifth aspect of the present invention, when the operating lever (110) is operated twice or more in the reverse speed or the left and right front wheels (6) are operated in the direction opposite to the turning direction while moving backward, the seedling transplanting device ( 5. The structure according to claim 1, wherein the driving start timing of the seedling transplanting device (3) is set earlier by setting the travel distance for starting the driving of (3) short. It is a riding type seedling transplanter described in 1.

  According to the first aspect of the invention, first, a command to lower the seedling transplanting device (3) is output according to the travel distance, and then a command to lower the drawing marker (195) is output according to the travel distance. Therefore, the turning operation at the shore can be easily performed, and an appropriate automatic turning can be performed. Therefore, it is possible to concentrate on the steering operation at the time of turning, and the aircraft can be turned safely and easily and appropriately.

  According to the invention of claim 2, in addition to the effect of the invention of claim 1, since the notification for the start time is executed at the start of driving of the seedling transplanting device (3), the seedling transplanting device (3) The operator can recognize that the driving has started, and can properly perform the turning operation even in the event of an abnormality.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or claim 2, it outputs a command to draw a marker (195) is lowered, subsequently, depending on the travel distance, seedling porting device ( Since the driving of 3) is started, the turning operation at the shore can be easily performed, and an appropriate automatic turning can be performed. Therefore, it is possible to concentrate on the steering operation at the time of turning, and the aircraft can be turned safely and easily and appropriately.

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, when performing fertilization work simultaneously with the fertilizer application device (4), traveling until fertilization is applied to the field. The distance (non-fertilizer section) is shortened and the growth of seedlings can be improved. On the other hand, when the fertilizer application (4) is not performed, the vehicle speed can be increased immediately and the work efficiency is improved.

According to the invention of claim 5, in addition to the effects of the invention of any one of claims 1 to 4, the operating lever (110) is operated twice or more in the reverse speed or the left and right front wheels ( When 6) is steered in the direction opposite to the turning direction, the travel distance for starting the driving of the seedling transplanting device (3) is set short, and the driving start timing of the seedling transplanting device (3) is advanced. So you can prevent a stock shortage.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view showing an eight-row planting type rice transplanter that is an embodiment of the present invention. It is a whole top view of the riding type rice transplanter shown in FIG. It is a schematic plan view which shows the transmission structure of the traveling vehicle of the riding type rice transplanter shown in FIG. It is an expanded sectional view of the mission case of the riding type rice transplanter shown in FIG. It is a top view which shows the operation structure of the main clutch and rear-wheel brake of the riding type rice transplanter shown in FIG. It is a control block diagram of the riding type rice transplanter shown in FIG. It is a figure which shows the view of the turning control of the riding type rice transplanter shown in FIG. It is a flowchart figure of the turning control of FIG. It is a front view of a rice transplanter. It is a graph which shows the relationship between tilling depth and an upper limit vehicle speed.

  An 8-row planted rice transplanter as an embodiment of the present invention will be described in detail with reference to the drawings. As shown in the side view of FIG. 1, the riding type rice transplanter is equipped with a rice planting device 3 which is a kind of seedling transplanting device with a lifting link device 2 on a traveling vehicle 1 and a fertilizer application device 4. It is configured to function as a rice transplanter. The traveling vehicle 1 is a four-wheel drive vehicle having a pair of left and right front wheels 6 and 6 and rear wheels 7 and 7 which are drive trains.

  A mission case 11 and an engine 12 are disposed on the main frame 10 in the front-rear direction, a hydraulic pump 13 is provided at the rear of the mission case 11, and a steering post 14 projects upward from the front of the mission case 11. It is installed.

  A steering handle 16 and an operation panel 17 are provided at the upper end of the steering post 14. A step 19 serving as a control floor is attached to the upper part of the fuselage, and a cockpit 20 is installed above the engine 12. The front wheels 6, 6 are pivotally supported by front wheel support cases 22, 22 provided on the left and right sides of the mission case 11 so that the direction can be changed. The rear wheels 7 and 7 are pivotally supported by rear wheel support cases 24 and 24 that are integrally attached to the left and right ends of the rear wheel lateral frame 23. The rear wheel lateral frame 23 is rotatably supported by a rolling shaft 25 protruding in the front-rear direction at the rear end portion of the main frame 10.

  The rotational power of the engine 12 is transmitted to the counter shaft 32 that is the drive shaft of the hydraulic pump 13 via the belt 31, and further transmitted from the counter shaft 32 to the input shaft 35 of the hydraulic transmission HST via the belt 33. The transmission is transmitted from the output shaft 36 of the hydraulic transmission HST to the mission input shaft 34 via a belt.

  A main clutch 43 is provided on the mission input shaft 34, and the driving force of the hydraulic transmission HST is transmitted to the mission input shaft 34 via the main clutch 43. The main clutch 43 is a well-known multi-plate clutch. As shown in FIG. 4, the main clutch shaft side friction plate 44, the mission input shaft side friction plate 45, the spring 46 pressing both friction plates, and a switching operation fixing member. 47 and a sliding member 48 and the like.

  The mission input shaft 34, the counter shaft 50, the traveling primary shaft 51, the traveling secondary shaft 52, the planting primary shaft 53, and the planting secondary shaft 54 are supported in parallel on the front portion of the casing 40 of the mission case 11. ing. The gear G1 of the mission input shaft 34 and the gear G2 of the counter shaft 50, and the gear G2 and the gear G3 of the traveling primary shaft 51 are engaged with each other, and the rotation of the mission input shaft 34 is transmitted to the traveling primary shaft 51 in the forward direction. It is done.

  As the main transmission K, the gears G3 and G4 are dedicated to fixed positions on the traveling primary shaft 51, and the gears G5 and G6 formed integrally with the traveling secondary shaft 52 are slidable in the axial direction. It is mated. When the gears G5 and G6 are moved by the shifter 56 and the gears G4 and G5 are engaged, the planting speed is low, and when the gears G3 and G4 are engaged, the road traveling speed is high. The position where the gears G5 and G6 do not mesh with any gear is neutral. A main transmission lever 90 operated by the main transmission K is provided on the operation panel 17.

  As the inter-strain transmission C, gears G9 and GLO formed integrally with the planting primary shaft 53 are slidably fitted in the axial direction, and gears G11 and G12 are mounted on the planting secondary shaft 54. Are attached to each. By appropriately moving the gears G9 and GL0 with the shifter 57, three combinations of the gear G9 and the gear G11, the gear G10 and the gear 11, and the gear G11 and the gear G12 can be obtained, and the three-stage stock switching can be performed. It is transmitted from the planting secondary shaft 54 to the planting part transmission shaft 58 via the bevel gears G13 and G14.

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

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

  The front differential device E has the same configuration as the rear differential device D, and is attached to the container 65, the vertical axis 66, the rear differential device side gear G19, the front differential device side gear G20, the bevel gear G21 attached to the vertical axis 66, and the front axle 61. A bevel gear G22 is provided. The rear differential device D and the front differential device E are provided with differential lock devices F and H that stop the differential function and transmit the driving force equally to the left and right axles. The differential lock device F (H) includes a claw 69 (70) formed on the container 63 (65), a claw 73 (74) of a differential lock member 71 (72) fitted to a square rod portion of the axle, and an axle 60 (61). ) Are fixed to each other. A differential lock lever 91 for operating the rear wheel differential lock device F is provided on the operation panel 17.

  The front wheel differential lock device H is configured such that the differential function is stopped when the differential lock pedal 91 'provided in step 19 is depressed. The diff lock lever 91 and the diff lock pedal 91 'are both arranged at the front part of the aircraft. For example, when the vehicle is overtaken from the field and the aircraft is taken out of the field, the operator gets off the vehicle and is in front of the aircraft. Stand up (on the front edge of the aircraft to replace your body as a weight) and move the aircraft forward or backward to safely cross this heel.

  At this time, if any of the left and right front wheels 6, 6 or either of the left and right rear wheels 7, 7 is idle, the operator immediately operates the diff lock lever 91 and the diff lock pedal 91 'at the front of the aircraft in an easy posture. It can be done in the diff lock state and can be safely crossed.

  The rear axles 60, 60 are connected to the side clutch shafts 76, 76 by bevel gears G23, G24,..., And are further transmitted from the side clutch shafts 76, 76 to the rear output shafts 77, 77 via the side clutches I, I. . The side clutch I is a multi-plate clutch and includes a friction plate 80 on the side clutch shaft side and a friction plate 81 on the rear output shaft side. The operating cylinder 82 slidably fitted to the rear output shaft 77 is urged in a direction to press both friction plates 80 and 81 by a leaf spring 83, and is always in a state in which the side clutch I is engaged. . When the operating cylinder 82 is moved in the direction opposite to the urging direction by the shifter 85I, the side clutch I is disengaged.

  Further, rear wheel brake devices J and J are provided on the rear output shafts 77 and 77. The rear wheel brake device J applies pressure to the discs 87,... Attached to the rear output shaft 77 for braking, and the pressure plates 88,. That is, the side clutch I is normally engaged and the rear wheel brake device J is not engaged, and the side clutch I is disengaged by operating the shifter 85I to move the operating cylinder 82 in the direction opposite to the urging direction. When the shifter 85J is operated, the rear wheel brake device J is applied.

  The operation of the rear wheel brake devices J, J (the operation of the left and right shifters 85J and 85J) is performed by the pedal 140 provided on the step 19. That is, the left and right brake operation arms 86J and 86J are fixed to the left and right shifters 85J and 85J, respectively, and the left and right brake operation arms 86J and 86J are linked to the pedal 140 by the linkage mechanism 141. Further, the pedal 140 is linked to a fixing member 47 for switching operation of the main clutch 43, and when the pedal 140 is depressed, the left and right shifters 85J and 85J are rotated to operate the left and right rear wheel brake devices J and J. At the same time, the main clutch 43 is turned off, and the airframe stops.

  On the other hand, the bases of the left and right clutch operating arms 86I and 86I are fixed to the left and right shifters 85I and 85I of the side clutches I and I, and the left and right connecting rods 142 and 142 are respectively attached to the upper ends of the left and right clutch operating arms 86I and 86I. The rear end of the is linked. And the front-end | tip part of the right-and-left connection rod 142 * 142 is connected with the right-and-left both ends of the rocking | swiveling arm 144 rotatably supported by the spindle 143 with which the base was fixed to the body.

  An operating body 145 is fixed to a portion of the swing arm 144 through which the support shaft 143 passes. And the front part of the action body 145 is comprised by the gear 145a by planar view, and the rear part is comprised by the cam 145b in which the center was dented. Further, the front gear 145a of the operating body 145 is engaged with a drive gear 146a of an electric motor 146 provided in the machine body. Accordingly, the electric motor 146 swings the swing arm 144 around the support shaft 143, and the left and right connecting rods 142 and 142 rotate the side clutches I and I and the left and right shifters 85I and 85I. It is configured to allow I to be turned on and off.

  Further, a follower roller 149 provided at the tip of a swing arm 148 rotatably supported by a support shaft 147 is contacted with the rear cam 145b of the operating body 145 by a tension spring 150. ing. One end of the linkage wire 151 is connected to the other end of the swing arm 148, and the other end of the linkage wire 151 is connected to an operation arm for operating the differential lock member 71 of the differential lock device F of the rear differential device D. Therefore, when the swing arm 144 is swung around the support shaft 143 by the electric motor 146, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, and operates the differential lock member 71 to operate the rear differential device. When the differential lock device F of D is operated, the rear differential device D is differentially locked.

The electric motor 181 is configured to operate in cooperation with the operation of the steering handle 16 as will be described later.
The rear end portions of the rear output shafts 77 and 77 protrude out of the casing 40, and left and right rear wheel transmission shafts 89 and 89 that are transmitted to the rear wheel support cases 24 and 24 are connected to the protruding end portions. The left and right rear wheels 7 and 7 are driven and rotated by the left and right rear wheel transmission shafts 89 and 89, respectively.

  The operation position of the main transmission lever 90 is a planting work speed, a neutral position, and a road traveling speed in the order of operation from the rear to the front. When the diff lock lever 91 is operated forward, the diff lock is operated, and when operated backward, the diff lock lever 91 is operated.

  Reference numeral 110 denotes an HST operation lever, which is provided with an HST potentiometer PM-H at its rotation fulcrum, so that the operation position of the HST operation lever 110 can be detected. On the other hand, a shift electric motor MO-H is connected to the arm of the trunnion shaft for shifting the hydraulic transmission HST, and the shift electric motor actuating means of the controller 170 receives the input of the HST potentiometer PM-H. The electric motor MO-H is operated to shift the hydraulic transmission HST. That is, when the HST operation lever 110 is set to the middle of its operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor MO-H is operated by the variable speed electric motor operation means. Thus, the hydraulic transmission HST is set to neutral. As the HST operation lever 110 is operated forward from the intermediate position of the operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor MO is operated by the variable speed electric motor operating means. -H is actuated to speed up the hydraulic transmission HST forward. Conversely, as the HST operation lever 110 is operated backward from the intermediate position of the operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor is operated by the variable speed electric motor operating means. The MO-H is operated to increase the speed of the hydraulic transmission HST to the reverse side.

  The operation position of the main transmission lever 90 indicates the state in which the transmission electric motor MO-H operates the trunnion shaft arm for shifting the hydraulic transmission HST by operating the HST operation lever 110 to shift the hydraulic transmission HST. If the control is changed as follows according to (planting work speed, road traveling speed), the operability is good and safer rice transplanting work can be performed.

  That is, when the main transmission lever 90 is operated to the road traveling speed position, even if the HST operation lever 110 is operated to increase the speed from the intermediate position to the front and rear, conversely, the intermediate from the front or rear position. Even if the deceleration operation is performed toward the position, a continuous constant current flows through the variable speed electric motor MO-H, the variable speed electric motor MO-H operates quickly and the hydraulic transmission HST is quickly shifted. , Driving on the road can be done comfortably.

  In addition, when the main transmission lever 90 is operated to the planting work speed position, if the HST operation lever 110 is operated to increase speed from the intermediate position to the front and rear, a pulse current is supplied to the transmission electric motor MO-H. , The transmission electric motor MO-H is operated with pulse control, and the hydraulic transmission HST is gently shifted to prevent a sudden start at the time of planting and is safe and is gradually increased. Therefore, seedling planting performance is also improved. Conversely, when a deceleration operation is performed from the front or rear position toward the intermediate position, a continuous constant current flows through the variable speed electric motor MO-H, and the variable speed electric motor MO-H operates quickly and continuously. The HST shifts quickly and decelerates quickly, so it is safe. When turning the aircraft, the HST can be operated quickly and with good operability.

  Note that, regardless of whether the main transmission lever 90 is operated at the road traveling speed position or the planting work speed position, the HST operation lever 110 is decelerated even if it is operated to the speed increasing side near the intermediate position (neutral). Even if it is operated to the side, a pulse current flows through the variable speed electric motor MO-H, the variable speed electric motor MO-H is operated under pulse control, and the hydraulic transmission HST is shifted gently. It is easy to operate the hydraulic transmission HST neutrally.

  Therefore, when performing the rice transplanting work in the field, the diff lock lever 91 is set to the diff lock, the change lever is shifted to the working speed, the seedling is placed on the seedling stage of the rice transplanting device 3, and the fertilizer tank of the fertilizer application device 4 is granular. When the fertilizer is put in and each part is driven to move forward, the differential lock device F of the left and right rear wheels 7 and 7 is in the state of differential lock and the differential function is stopped. Can be done at the same time. In the case of traveling on the road, if both the rear differential device D and the front differential device E are operated in a state in which the differential function works, the vehicle can travel safely.

  Reference numerals 195 and 195 denote left and right line drawing markers provided on the left and right sides of the rice transplanting apparatus 3, which are respectively driven by left and right electric motors MO-M and MO-M that are driven and controlled by the marker vertical movement control means of the control device 170. It is configured to be movable up and down, and when it is moved down by the electric motor MO-M, it is in a state of drawing a line on the mud surface which becomes the center of the left and right of the next process, and is moved up by the electric motor MO-M. The rice planting apparatus 3 is stored in the front side of the seedling stage 163.

Reference numeral 200 denotes a spare seedling stage provided at the front of the machine body, and 201 denotes a center mascot that is used as an indicator of straight running.
Next, the rice transplanter 3 is mounted on the traveling vehicle 1 so as to be movable up and down by the link device 2 for raising and lowering. The configuration for raising and lowering and the configuration of the rice transplanter 3 will be described.

  First, an upper end of a piston of a general hydraulic cylinder 160 whose base is rotatably provided on the traveling vehicle 1 is connected to the lifting / lowering link device 2, and an electromagnetic wave that is PWM-controlled by a hydraulic pump 13 provided on the traveling vehicle 1. The structure is such that the rice transplanter 3 connected to the lifting and lowering link device 2 is moved up and down by supplying and discharging pressure oil to and from the hydraulic cylinder 160 via the hydraulic valve 161 and extending and retracting the piston of the hydraulic cylinder 160. Has been.

  The rice transplanting device 3 is supported by a planting transmission case 162 that also serves as a frame that is freely mounted on the rear of the lifting link device 2 via a rolling shaft, and a support member provided in the planting transmission case 162. A seedling mounting base 163 that reciprocates in the left-right direction of the machine body, and a seedling planting tool that is attached to the rear end of the planting transmission case 162 and that splits seedlings for one stock from the lower end of the seedling mounting base 163 to be planted in the field. 164... And a center float 165, a side float 166, etc., which are leveling bodies whose rear part is pivotally supported at the lower part of the planting transmission case 162 and whose front part is mounted so as to freely swing up and down. . The center float 165 and the side float 166 are provided to level the field and level the front of the field where the seedlings are planted by the seedling planting tools 164.

  The PTO transmission shaft 167 has universal joints at both ends, and is provided to transmit the power of the fertilization drive case 168 to the planting transmission case 162 of the rice transplanter 3. The center float sensor 169 is composed of a potentiometer that detects the vertical position of the front portion of the center float 165, and is linked to the upper surface of the front portion of the center float 165 by a link. Then, based on the vertical position detection of the center float 165 front part of the center float sensor 169, the electromagnetic hydraulic valve 161 is controlled by the lifting control means of the control device 170, and the vertical position of the rice transplanter 3 is controlled by the hydraulic cylinder 160. Ascending / descending control is performed so that the swinging posture of the float 165 is within a permissible range of the reference posture with respect to the rice transplanter 3 set in advance (within the dead zone width).

  That is, when the front part of the center float 165 is lifted to an appropriate range or more (outside the allowable range of the standard posture) by external force, the hydraulic oil pumped out from the transmission case 11 by the hydraulic pump 13 is sent to the hydraulic cylinder 160. The piston is caused to protrude and the lifting link device 2 is moved up to raise the rice transplanting device 3 to a predetermined position, and when the front part of the center float 165 falls below the proper range (outside the allowable range of the standard posture), the hydraulic pressure is increased. When the pressure oil in the cylinder 160 is returned into the mission case 11, the lifting link device 2 is moved down to lower the rice transplanting device 3 to a predetermined position, and when the front part of the center float 165 is within an appropriate range (rice transplanting) When the device 3 is in a proper position), the pressure oil in the hydraulic cylinder 160 is stopped and the rice transplanter 3 is held in a fixed position. Rubeku are provided. As described above, the center float 165 is used as a ground sensor for automatic height control of the rice transplanter 3.

Next, a description will be given of rolling control in which the rice planting device 3 that is connected to the rear portion of the traveling vehicle 1 via the lifting link device 2 so as to be raised and lowered along the mud surface (horizontal surface) of the farm field during the rice planting operation.
The traveling vehicle 1 is provided with an inclination angular velocity sensor S1 that detects acceleration of a left-right inclination angle.

  The rice transplanter 3 is supported at the lower end of the rear vertical frame F1 of the lifting / lowering link device 2 so as to be rotatable (rolling) around a rolling axis R oriented in the front-rear direction. On the upper part of the vertical frame F1, a double rod type rolling hydraulic cylinder CY is provided in the left-right direction with the cylinder part fixed to the vertical frame F1. The left and right rods CYa and CYa of the cylinder and the left and right support columns F2a and F2a of the seedling stand frame F2 of the rice transplanter 3 are connected via links LI and LI. The rolling hydraulic cylinder CY operates with hydraulic fluid supplied by a hydraulic pump driven by a motor. When the rolling hydraulic cylinder CY is operated and the rods CYa and CYa slide left and right, the rice transplanter 3 rolls around the rolling axis R. The left / right tilt angle of the rice transplanter 3 is detected by the left / right tilt sensor S2. Further, the operation amount of the rolling hydraulic cylinder CY is detected by the stroke sensor S3.

  In the rice planting operation, the elevation control for controlling the height of the rice planting device 3 to the ground according to the unevenness of the topsoil surface, and the rolling control for controlling the posture of the rice planting device 3 around the rolling axis R according to the left-right inclination of the topsoil surface, To maintain a constant seedling planting depth.

  In the rolling control, the detected value of the tilt angular velocity sensor S1 and the detected value of the left / right tilt sensor S2 are input to the control device 170, and the output amount to the motor is determined by the rolling control means based on a predetermined rule. The rice transplanter 3 is rolled so that the left / right tilt sensor S2 is within a dead zone of a predetermined target value (usually horizontal). In this case, when the right-and-left inclination changes abruptly, it is performed by a well-known method of controlling based on the detection result of the inclination angular velocity sensor S1. A well-known method of control using the tilt angular velocity sensor S1 and the left / right tilt sensor S2 is described in, for example, Japanese Patent Laid-Open No. 6-133612.

  A finger lever 171 is disposed below the steering handle 16, and when the finger lever 171 is operated in the vertical direction, a finger lever switch 172 constituted by a potentiometer is actuated, and a PTO clutch actuating solenoid is actuated by the PTO clutch actuating means of the control device 170. 173 is operated to operate the PTO clutch for connecting / disconnecting the power provided in the fertilization drive case 168 so that the power to the fertilizer application device 4 and the rice transplanting device 3 can be turned on and off, and the control device 170 The rice-planting apparatus 3 can be manually moved up and down by operating the electromagnetic hydraulic valve 161 by the lifting control means.

  That is, when the finger lever 171 is operated to “up”, the PTO clutch is disengaged, the operations of the fertilizer application device 4 and the rice planting device 3 are stopped, and the electromagnetic hydraulic valve 161 is forcibly switched to the side where the rice planting device 3 is raised.

  When the finger lever 171 is operated “down” once after the finger lever 171 is operated “up”, the electromagnetic hydraulic valve 161 is automatically controlled by the vertical movement of the center float 165, and the rice transplanter 3 If the state is raised, the rice transplanter 3 is lowered until the center float 165 comes into contact with the ground and reaches an appropriate posture. When the finger lever 171 is operated to “down” once more, the PTO clutch is engaged and the fertilizer application device 4 and the rice transplanting device 3 are in an automatic control state in which the electromagnetic hydraulic valve 161 is switched by the vertical movement of the center float 165. Driven. Thereafter, each time the finger lever 171 is operated to “down”, the PTO clutch is alternately switched between on and off while the electromagnetic hydraulic valve 161 remains in the automatic control state in which it is switched by the vertical movement of the center float 165.

Next, the configuration of the portion where the steering wheel 16 steers the front wheels 6 will be described with reference to FIG.
The steering handle 16 is fixed to the upper portion of the steering shaft provided in the steering post 14, and the rotation of the steering shaft is decelerated via a steering transmission gear provided in the transmission case 11 and transmitted to the lower output shaft 174. The And the lower end of the output shaft 174 protrudes from the bottom face of the mission case 11, and the pitman arm 175 is fixed. The front left and right sides of the pitman arm 175 and the left and right front wheel support cases 22 and 22 are connected by left and right rods 176 and 176, respectively.

  Accordingly, when the steering handle 16 is turned, the steering wheel 16 is transmitted to the steering shaft, the steering speed change gear, the output shaft 174, the pitman arm 175, the left and right rods 176 and 176, and the left and right front wheel support cases 22 and 22, Is steered from side to side.

  Further, a potentiometer PM as a steering angle sensor is provided at the lower end portion of the output shaft 174, and the steering handle 16 is more than a predetermined amount (the amount that the operator turns to the right with the intention of turning the aircraft to the right, For example, if the steering handle 16 is configured to rotate 360 degrees to 400 degrees to the left and right, more than 250 degrees), when the steering handle 16 is turned to the right, the detected rotation angle of the potentiometer PM is input to the control device 170 and the turning control of the control device 170 is performed. The electric motor 146 is driven by the means, and the swing arm 144 is swung around the support shaft 143 in the arrow (A) direction. Then, first, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, operates the differential lock member 71 to operate the differential lock device F of the rear differential device D, and the rear differential device D is differentially locked. . Subsequently, the right shifter 85I of the right side clutch I is turned by the right connecting rod 142, and the right side clutch I is turned off. At this time, since the left connecting rod 142 has the play portion 142a, the left shifter 85I of the left side clutch I is not rotated.

  Therefore, at the beginning of the right turn, the left and right rear wheels 7 and 7 are differentially rotated by the rear differential device D, so that the aircraft can start turning smoothly, but the operation load on the steering handle 16 is light and the operability is high. good. As the turn progresses, the right side clutch I is disengaged and the right rear wheel 7 on the turn center side is in an idle state, so that the right rear wheel 7 does not damage the cultivator and lifts a large amount of mud. The muddy surface is not roughened, and the right turn can be smoothly and cleanly driven by the driving rotation of the left and right front wheels 6 and 6 and the left rear wheel 7.

  Conversely, when the steering handle 16 is turned to the left by a predetermined amount or more (250 degrees or more), the detected rotation angle of the potentiometer PM is input to the control device 170, and the electric motor 146 is driven by the turning control means of the control device 170. Then, the swing arm 144 is swung in the arrow (b) direction around the support shaft 143. Then, first, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, operates the differential lock member 71 to operate the differential lock device F of the rear differential device D, and the rear differential device D is differentially locked. . Subsequently, the left shifter 85I of the left side clutch I is turned by the left connecting rod 142, and the left side clutch I is turned off. At this time, since the right connecting rod 142 has the play portion 142a, the right shifter 85I of the right side clutch I is not rotated.

  Accordingly, at the initial stage of the left turn, the left and right rear wheels 7 and 7 are differentially rotated by the rear differential device D, so that the airframe can smoothly start turning, and the operation load on the steering handle 16 is light and the operability is good. . As the turn progresses, the left side clutch I is disengaged and the left rear wheel 7 on the turn center side is in an idle state, so that the left rear wheel 7 does not damage the cultivator and lifts a large amount of mud. Without turning the mud surface rough, the left and right front wheels 6 and 6 and the right rear wheel 7 can drive smoothly and cleanly turn left.

  On the other hand, the steering handle 16 is rotated by a predetermined amount (the amount that the operator turns to the right with the intention of turning the aircraft to the right, for example, 200 degrees if the steering handle 16 is rotated up to 390 degrees to the left and right). ) When turned, the detected rotation angle of the potentiometer PM is input to the control device 170, and the electric motor MO-H is operated by the shift electric motor operating means to decelerate the hydraulic transmission HST until the vehicle speed reaches a speed suitable for turning. To do. Further, the detected rotation angle of the potentiometer PM is input to the control device 170, and the PTO clutch operating solenoid 173 is operated by the PTO clutch operating means of the control device 170 to connect and disconnect the power provided in the fertilizer driving case 168. Is operated to turn off the power to the fertilizer application device 4 and the rice planting device 3, and then the electromagnetic hydraulic valve 161 is PWM controlled by the rice planting device raising means of the control device 170, and the rice planting device 3 is moved to the maximum position by the hydraulic cylinder 160. Raise.

  If the speed at which the rice transplanter 3 is raised is controlled to change depending on whether the steering handle 16 is turned quickly or slowly, or if it is controlled so as to change according to the vehicle speed, it is appropriate according to the turning situation. As a result, the rice planting apparatus 3 is lifted, and good turning control is achieved.

  That is, during turning, as described above, the hydraulic transmission HST is automatically decelerated until the vehicle speed reaches a speed suitable for turning by turning operation of the steering handle 16, but depending on the accelerator operation position of the engine 12 and the field conditions, The actual speed that is decelerated is different.

  Therefore, after the turning operation of the steering handle 16, the number of rotations of the rear wheel transmission shaft on the outside of the turning (drive wheel side) is counted, and the turning speed is determined by the vehicle speed determination means of the control device 170 (for example, the predetermined turning speed is , 0.4 m / s). When the forward speed of the machine is slower than a predetermined speed (0.4 m / s), the electromagnetic hydraulic valve 161 is PWM-controlled by the rice planting device raising means of the control device 170, and the rice planting device 3 is controlled by the hydraulic cylinder 160. Raise to the maximum position at normal climbing speed. On the contrary, when the forward speed of the aircraft is higher than the predetermined speed (0.4 m / s), the electromagnetic hydraulic valve 161 is controlled to be continuously increased by the rice transplanter ascending means of the control device 170 to control the hydraulic cylinder 160. The rice transplanting device 3 is raised to the maximum position at a faster rising speed than usual.

  This is because, when the forward speed at the time of turning is slow, even if the ascent speed of the rice transplanter 3 is slowed so that the seedlings placed on the seedling platform 163 are not disturbed, the rice transplanter 3 touches the ridge. There is nothing wrong. However, when the forward speed at the time of turning is high, if the ascent speed of the rice transplanter 3 is slow, the rice transplanter 3 may come into contact with the ridge before it sufficiently rises at the time of turning.

  In the above control example, when the steering handle 16 is turned during turning, the ascending speed of the rice transplanter 3 is automatically changed according to the forward speed of the aircraft, and the rice transplanter 3 moves at a timing according to the forward speed of the aircraft. Ascending, avoiding the situation where the rice transplanter 3 touches the paddle, it is possible to perform an appropriate automatic turning.

  Further, the speed at which the rice transplanter 3 is raised to the maximum position is automatically changed depending on whether the operator turns the steering handle 16 early or turns slowly when turning.

  That is, the steering operation of the control device 170 is performed based on the fluctuation speed of the detected rotation angle of the potentiometer PM that detects the rotation angle of the steering handle 16 (for example, the rotation speed can be recognized by the change in angle per 0.1 second). It is determined by the speed determination means whether the steering operation speed is faster than a predetermined speed. When the steering operation speed is lower than the predetermined speed, the electromagnetic hydraulic valve 161 is PWM-controlled by the rice planting device raising means of the control device 170, and the rice cylinder 3 is moved up to the maximum position by the hydraulic cylinder 160. Raise with. On the contrary, when the steering operation speed is higher than the predetermined speed, the electromagnetic hydraulic valve 161 is controlled to be continuously raised by the rice transplanter ascending means of the controller 170, and the rice transplanter 3 is moved to the maximum position by the hydraulic cylinder 160. To rise at a faster rate than usual.

  This is because there are cases where the turning operation speed of the steering handle 16 is different depending on the operator, and the turning operation speed is changed depending on the conditions of the field. This is to prevent a situation where the rice transplanter 3 comes into contact with the ridge before it sufficiently rises during turning because it turns quickly.

  In the above control example, when the steering handle 16 is turned faster than a predetermined speed during turning, the ascent speed of the rice transplanter 3 is automatically changed to an ascending speed that is faster than normal, and according to the turning speed of the aircraft. The rice transplanter 3 rises at the timing, and an appropriate automatic turning can be performed while avoiding the situation where the rice transplanter 3 contacts the ridge.

  Further, the traveling vehicle 1 is provided with a maximum rising position detection switch that is brought into contact with the lifting link device 2 when the lifting link device 2 is raised to the maximum position. When it is “entered” by contact with the lifting / lowering link device 2, the operation of the hydraulic cylinder 160 is stopped by controlling the electromagnetic hydraulic valve 161 by the rice planting device raising means of the control device 170. However, for example, the mounting position of the maximum ascending position detection switch is not adjusted so that it does not come into contact with the elevating link device 2, or the maximum elevating position detection switch fails and the elevating link device 2 contacts. Even when the hydraulic cylinder 160 is not fully extended, the electromagnetic hydraulic valve 161 continues to send pressure oil to the hydraulic cylinder 160 even when the hydraulic cylinder 160 is fully extended. Oil is returned to the oil tank. In this case, if the relief valve continues to operate to return the pressure oil to the oil tank, the oil temperature rises and the hydraulic circuit fails. Therefore, a command to raise the rice transplanter 3 to the maximum position by the hydraulic cylinder 160 by controlling the electromagnetic hydraulic valve 161 by the rice transplanter raising means of the controller 170 is issued, and after 10 seconds (the rice transplanter 3 is maximum from the working position). If it is controlled to stop this ascending command after a sufficient time to ascend to the ascending position), it is assumed that the mounting position adjustment switch of the maximum ascending position detection switch is defective or has failed, and the rice transplanter 3 is at the maximum position. Even if the relief valve is actuated after rising up, the operation time of the relief valve is short, it is possible to avoid failure of the hydraulic circuit, and good work can be performed properly.

  Then, at the end of turning from the middle of turning, the control device 170 lowers the rice transplanter 3 at the time when the vehicle body turns 90 degrees (n1 ≧ N1 + n0) based on the detection of the rotation speed of the rear wheel 7 inside the turning. At that time, the center float sensor 169 detects that the rice transplanter 3 is lowered and the center float 165 is grounded (the center float sensor 165 detects that the center float 165 is grounded and moves upward from the lowest position to return to the reference position). 169), only the descending control of the rice transplanter 3 is restricted by the elevation control means of the controller 170. That is, if the center float 165 is the reference position, the electromagnetic hydraulic valve 161 is in the neutral position, the hydraulic cylinder 160 does not operate, and the rice transplanter 3 does not move up and down. When the center float 165 moves up from the reference position, the electromagnetic hydraulic valve 161 is switched, the hydraulic cylinder 160 is extended, and the rice transplanter 3 is moved up until the center float 165 reaches the reference position. However, even if the center float 165 moves downward from the reference position, the electromagnetic hydraulic valve 161 remains in the neutral position, the hydraulic cylinder 160 does not operate, and the rice transplanter 3 does not move up and down.

  Next, when the airframe turns 180 degrees (n2 ≧ N2 + n0), the electric motor MO-H is actuated by the speed change electric motor actuating means of the control device 170 to increase the speed of the hydraulic transmission HST to the speed before the turn. Further, the drawing marker 195 on the next process side is automatically moved downward to the drawing action state.

  In addition, when the PTO clutch is engaged after turning, the seedling planting work by the seedling planting tool 164 is immediately performed to start seedling planting, but even if the fertilizer 4 is activated, it is fed out from the fertilizer tank. There is a slight time delay until the fertilizer reaches the field, and it is sent from the seedling planting start position and applied to the field. Therefore, when granular fertilizer is put in the fertilizer tank of the fertilizer application machine 4 and fertilization work is performed simultaneously with the rice transplanting work (the fertilizer tank has a fertilizer detection sensor, and when this fertilizer detection sensor detects fertilizer, The control device 170 determines that the fertilization work is being performed), and when the airframe turns 180 degrees, the electric motor MO-H is operated by the transmission electric motor operating means of the control device 170 to change the hydraulic transmission HST. If the speed up to the speed before turning is gradually increased, the distance (non-fertilizer section) from the planting start position of the seedling to the position where fertilization is applied to the field becomes shorter, and the seedling after transplanting in the field The growth of rice becomes uniform, good growth work can be performed, and the yield of rice increases. However, if the fertilization work is not performed at the same time as the rice transplanting work, the electric motor MO-H is actuated by the speed change electric motor actuating means of the control device 170 when the body turns 180 degrees, and the hydraulic speed change device HST is turned on before turning. If the speed up to the speed is increased immediately, the work efficiency is improved.

  Then, when the aircraft has reached the planting start position (n2 ≧ N2 + n + n0), the control in which only the lowering control of the rice transplanter 3 is restricted is released, and the normal lifting control based on the detection of the center float sensor 169 is performed. . In addition, the PTO clutch is automatically engaged.

  Depending on some field conditions and the traveling conditions of the aircraft, there is a case where the center float 165, the side float 166, etc. of the rice transplanter 3 are not lowered until the plant comes to the planting start position (n2 ≧ N2 + n + n0). It is assumed that there is. In this case, if the PTO clutch is automatically engaged even though the center float 165 and the side floats 166 are not grounded, the seedling planting tool 164 operates to plant the seedlings in the air. Therefore, a potentiometer PM-K for angle detection is mounted between the traveling vehicle 1 and the lifting link device 2 so that the angle of the lifting link device 2 can be detected. Then, the angle of the lifting link device 2 is detected by the potentiometer PM-K, and the angles at which the center float 165, the side float 166,... Then, at the time when the aircraft has reached the planting start position after turning (n2 ≧ N2 + n + n0), the rice transplanter 3 descends to the angle at which the center float 165, side float 166, etc. of the rice transplanter 3 immediately before turning are grounded. If not, control is performed so as to restrict the automatic engagement of the PTO clutch, and the center float 165 and side float of the rice transplanter 3 immediately before turning after the time when the aircraft has reached the planting start position after turning (n2 ≧ N2 + n + n0) When the rice planting device 3 is lowered to the angle at which 166... Is grounded, if the PTO clutch is controlled to be automatically engaged, the seedling planting tool 164 may operate to plant seedlings in the air. It is possible to prevent unforeseen circumstances and perform proper rice transplanting work.

  On the other hand, the steering wheel 16 is set while the automatic turning setting switch 192 described below is set to any one of the positions “1” to “3” (in the automatic turning mode), that is, during the turning of the vehicle body. 180 degrees from the time when the steering wheel 16 is rotated by a predetermined amount (the amount that the operator turns to the right with the intention to turn the aircraft to the right, for example, 200 degrees if the steering handle 16 is rotated up to 390 degrees left and right). Until the PTO clutch is automatically engaged, the notification buzzer B of the control device 170 is notified at a predetermined interval by the notification buzzer control means in order to notify the operator that it is in the automatic rotation mode. , The operator can recognize that the aircraft is turning in the automatic turning mode, and workability and safety are improved.

  Further, when the PTO clutch is automatically engaged after the turning, the notification buzzer B is sounded to inform the operator that the PTO clutch has been engaged. If the turning work such as alignment after turning is not completed, manually turn off the PTO clutch and then perform the turning work manually. Can also turn properly.

  In addition, when the number of seedlings on the aircraft has decreased, the aircraft is stopped by putting the front or side of the aircraft on the heel in order to supply seedlings from the heel to the aircraft when turning at the shore. When the alarm buzzer B that informs you that the vehicle is in the turning mode is sounding, it is noisy and annoying, so when the aircraft is stopped (it is detected that the rotation of the driven rear wheel 7 on the outside of the vehicle is stopped). If it is controlled so that the notification buzzer B does not sound by the notification buzzer control means of the control device 170, the workability is good.

FIG. 8 shows a flow of the automatic turning control.
First, the correction setting dial 206 provided on the operation panel 17 is operated to set a correction value n0 suitable for the field in order to cope with differences in the field conditions such as the hardness of the field, water depth, and new board depth. Further, the following automatic turning setting switch 192 is set to the position “1” which is the automatic turning mode.

  When the steering handle 16 is rotated 200 degrees or more counterclockwise to turn left (θ ≧ θ1 = 200 degrees left rotation), the notification buzzer control means of the control device 170 is used to notify the operator that the automatic turning mode is in effect. As a result, the buzzer B starts to beep at a predetermined interval (for example, a short beep), the rotation speed of the left rear wheel transmission shaft 89 starts to be detected by the transmission shaft rotation speed sensor 205, and the detected rotation angle of the potentiometer PM Is input to the control device 170, and the electric motor MO-H is operated by the transmission electric motor operating means to decelerate the hydraulic transmission HST until the vehicle speed reaches a speed suitable for turning.

  At this time, the rotation speed of the rear wheel transmission shaft on the outside of the turn (drive wheel side) is counted, and the turning speed is set to a predetermined speed by the vehicle speed determining means of the control device 170 (for example, the predetermined speed of turning is 0.4 m / s). Judge whether it is faster than When the forward speed of the machine is slower than a predetermined speed (0.4 m / s), the electromagnetic hydraulic valve 161 is PWM-controlled by the rice planting device raising means of the control device 170, and the rice planting device 3 is controlled by the hydraulic cylinder 160. Sends a command to ascend to the maximum position at normal ascent speed On the contrary, when the forward speed of the aircraft is higher than the predetermined speed (0.4 m / s), the electromagnetic hydraulic valve 161 is controlled to be continuously increased by the rice transplanter ascending means of the control device 170 to control the hydraulic cylinder 160. A command is sent to raise the rice transplanter 3 to the maximum position at a faster speed than usual. Then, the ascent speed of the rice transplanter 3 is automatically changed according to the forward speed of the aircraft, the rice transplanter 3 rises at the timing according to the forward speed of the aircraft, and the rice transplanter 3 touches the ridge. The situation can be avoided and appropriate automatic turning can be performed.

  Alternatively, the steering operation of the control device 170 is performed based on the fluctuation speed of the detected rotation angle of the potentiometer PM that detects the rotation angle of the steering handle 16 (for example, the rotation speed can be recognized by the change in angle per 0.1 second). It is determined whether or not the steering operation speed is faster than a predetermined speed by the speed determination means, and when the steering operation speed is slower than the predetermined speed, the electromagnetic hydraulic valve 161 is PWM controlled by the rice planting device raising means of the control device 170. Then, the hydraulic cylinder 160 sends a command to raise the rice transplanter 3 to the maximum position at a normal rising speed. On the contrary, when the steering operation speed is higher than the predetermined speed, the electromagnetic hydraulic valve 161 is controlled to be continuously raised by the rice transplanter ascending means of the controller 170, and the rice transplanter 3 is moved to the maximum position by the hydraulic cylinder 160. A command to raise at a faster climbing speed than usual is sent. Then, when the steering handle 16 is turned faster than a predetermined speed during turning, the ascent speed of the rice transplanter 3 is automatically changed to an ascending speed faster than normal, and the rice transplanter is at a timing according to the turning speed of the aircraft. 3 rises, and a proper automatic turning can be performed while avoiding a situation where the rice transplanter 3 touches the ridge.

  At the same time, the PTO clutch actuating solenoid 173 is operated by the PTO clutch actuating means of the control device 170 to operate the PTO clutch for connecting / disconnecting the power provided in the fertilization drive case 168 to power the fertilizer 4 and the rice transplanter 3. To turn off. After that, based on the rice planting device ascent command of the control device 170, the electromagnetic hydraulic valve 161 is controlled by the rice planting device raising means, and the rice planting device 3 is raised to the maximum position by the hydraulic cylinder 160. The left and right line drawing markers 195 and 195 to be lowered to the state are determined by the marker vertical movement control means of the control device 170 (if the previous process has lowered the left line drawing marker 195, the right line drawing marker 195 is decided to be lowered. If the previous process has lowered the right line drawing marker 195, it is determined to lower the left line drawing marker 195. That is, it is determined that the opposite line drawing marker 195 of the previous process is lowered.

  In order to mount the seedling on the machine body, the next process is performed even if the rice planting apparatus 3 is lowered manually by putting the machine body in the middle of turning and manually raising the rice transplanting apparatus 3 again after loading the seedling. The determination of the left and right line drawing markers 195 and 195 to be lowered to the line drawing action state is not changed. In addition, the drawing marker 195 is programmed so as not to be lowered even if the rice transplanter 3 is lowered manually during the automatic turning control. Therefore, even if the seedling is replenished with the body mounted on the heel during the automatic turning control, after the replenishing of the seedling, an appropriate automatic turning is continued and good rice transplanting work can be performed with good workability.

  Then, when the rotational speed of the left rear wheel transmission shaft 89 is detected by the transmission shaft rotational speed sensor 205 and the rotational speed n1 becomes n1 ≧ N1 + n0, the machine has turned 90 degrees or more from the start of turning, so the rice transplanter 3 Lower. The headland is leveled as the rice transplanter 3 descends. Then, the center float sensor 169 detects that the rice transplanter 3 is lowered and the center float 165 is grounded (the center float sensor 165 detects that the center float 165 is grounded and moves up from the lowest movement position and returns to the reference position). 169), the vertical position control of the rice transplanter 3 in a state in which only the lowering control of the rice transplanter 3 is restricted is started by the lifting control means of the controller 170.

  Subsequently, when the rotational speed of the left rear wheel transmission shaft 89 is detected and the rotational speed n2 becomes n2 ≧ N2 + n0, the aircraft has turned 180 degrees from the start of turning. The electric motor MO-H is operated to increase the speed of the hydraulic transmission HST to the speed before turning. Further, the marker vertical movement control means of the control device 170 issues a lowering command to the electric motor MO-M of the determined drawing marker 195 to lower the drawing marker 195 on the next process side.

  Subsequently, when the number of rotations of the left rear wheel transmission shaft 89 is detected and the number of rotations n2 is n2 ≧ N2 + n + n0, the turning is finished and the aircraft has reached the planting start position. The control in which only the lowering control is controlled is released, and the normal raising / lowering control of the rice planting device 3 is started, the seedling planting tool 164 is operated with the PTO clutch engaged, and the planting of the seedling is started. Operate and start fertilization. Note that n is the number of rotations of the left rear wheel transmission shaft 89 in which the airframe advances a distance from the end of turning to the planting start position (a distance twice the distance from the axle of the rear wheel 7 to the seedling planting tool 164). . When the PTO clutch is automatically engaged, the notification buzzer B is sounded with a long sound (for example, it beeps for a long time) to notify the operator that the PTO clutch has been engaged, and the notification buzzer B Stop.

  Thus, since the rotational speed of the rear wheel transmission shaft 89 of the rear wheel 7 with the side clutch I disengaged is detected, it is less susceptible to slip and the like than the rotational speed detection of the rear wheel 7 to which power is transmitted. There are features. Further, since the rotational speed of the rear wheel transmission shaft 89 that rotates faster than the rear wheel 7 is detected, the measurement accuracy can be easily increased. As a result, there is an effect that the start of planting of the seedlings in each process in which the aircraft is turned and the seedlings are planted in the reciprocating process automatically becomes substantially constant.

  Further, when the center float sensor 169 detects that the center float sensor 165 is grounded by lowering the rice transplanter 3 when the aircraft turns 90 degrees or more from the start of turning, the rice transplanter in a state where only the descending control of the rice transplanter 3 is restricted. When the position control of the apparatus 3 in the vertical direction is started and the turning is completed and the machine body reaches the planting start position, the control in which only the lowering control of the rice planting apparatus 3 is restricted is released, and the normal rice transplanting apparatus 3 is released. Since the left and right front wheels 6 and 6 and the rear wheels 7 and 7 disturb the field when turning, there are many irregularities on the field surface, but the center of the rice transplanter 3 lowered by the irregularities Although the float 165 moves up and down, the detection of the lowering control of the center float sensor 169 due to the downward movement of the center float 165 is regulated by the control device 170, and the rice transplanter 3 is moved downward. Since uncontrolled, will be the planting device 3 is controlled only up direction, there is no phenomenon that the planting device 3 with respect to the unevenness of the field surface repeated frequently rise and fall, enabling stable turning. Then, when the seedling planting tool 164 is operated with the PTO clutch engaged and seedling planting starts and the fertilizer application device 4 also operates to start fertilization, normal lifting control is performed. Position control in the vertical direction can be properly performed during turning and planting work, so that good rice transplanting work can be performed.

  In addition, the vehicle speed is reduced at the start of turning so that the turning can be performed smoothly. On the other hand, when the aircraft turns 180 degrees from the start of turning (before the aircraft reaches the planting position), the vehicle speed is increased to the speed before the turning. So, when the aircraft arrives at the planting position and the planting work starts, the speed of the aircraft is in the state of being accelerated or increased to the speed before turning. Shortened and efficient work can be done.

  During the turning control, it is desirable that the hydraulic sensitivity of the hydraulic cylinder 160 of the rice transplanter 3 is insensitive (it is difficult to switch to the rice transplanter 3 ascending side) between the rice transplanter 3 “down” and the PTO clutch “engaged”. In this insensitive state, the turning trace can be leveled, and the headland treatment can be performed easily and accurately. Also, immediately after the turn, the mud surface on the shore is rough and uneven, so that for a while after the PTO clutch “engaged”, the hydraulic sensitivity remains insensitive (it is difficult to switch to the rice transplanter 3 ascending side). Can be planted properly.

  On the other hand, when the aircraft turns 180 degrees from the start of turning, it starts to increase to the speed before turning. At this time of acceleration, the aircraft is lifted forward by the driving reaction force, and planting occurs during acceleration. Once started, there is a problem that the planting posture is disturbed. Therefore, the left and right rear wheels 7 and 7 are configured to be movable up and down by a hydraulic device, and while the speed is increased after turning, the left and right rear wheels 7 and 7 are controlled by the left and right rear wheel lower motion control means provided in the control device 170. When the vehicle is moved downward by a hydraulic device, the fact that the airframe rises forward due to the driving reaction force at the time of acceleration is corrected by the left and right rear wheels 7 and 7 moving downward, the airframe becomes horizontal, and the seedling The planting posture is stable and appropriate seedlings can be planted.

  Further, a pitching device is provided in the lifting link device 2 so that the rice transplanting device 3 is lowered forward, and while the speed is increased after the turning, the rice transplanting device 3 is moved forward by the pitching control means provided in the control device 170. Even if it is lowered, it is corrected by the rice planting device 3 being lowered forward by the driving reaction force at the time of acceleration, the rice planting device 3 becomes horizontal, the planting posture of the seedling Can stably plant appropriate seedlings.

  Further, based on the detection of the vertical position of the front part of the center float 165 of the center float sensor 169, the electromagnetic hydraulic valve 161 is controlled by the lift control means of the control device 170, and the vertical position of the rice transplanter 3 is controlled by the hydraulic cylinder 160. In the configuration in which the swinging posture of the float 165 is controlled to move up and down so that it is within the allowable range of the reference posture with respect to the rice transplanter 3 set in advance (within the dead zone width), the softness of the field is detected and the dead zone width is within If control is provided to correct the sensitivity of the lift control by changing the speed control after the turn, the lift control will be adversely affected by the speed increase if the sensitivity correction is stopped. Since there are no seedlings, the planting depth of the seedling is stable and good rice transplanting work can be performed.

Next, a control configuration for automatically raising the rice transplanter 3 during reverse travel will be described.
First, when the HST operation lever 110 is operated to the reverse side, a backlift switch 191 is provided which is turned on when a contact piece provided at its base comes into contact. The valve 161 is controlled so that the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160.

  In this way, when the HST operation lever 110 is operated to the reverse side, the rice transplanter 3 is automatically raised to the basic position, so that the aircraft can be turned to turn the aircraft at the edge of the field. Since the rice transplanter 3 is automatically raised to the maximum position when the vehicle is moved backward toward the ridge, it is possible to prevent the rice transplanter 3 from colliding with the ridge and being damaged, thereby improving workability.

  Further, the operation panel 17 is provided with an automatic turning setting switch 192. When the automatic turning setting switch 192 is set to the “OFF” position, the automatic turning control and the automatic lifting of the rice transplanter 3 at the time of reverse movement are not performed. When the automatic turning setting switch 192 is set to any one of the positions “1” to “3”, the automatic turning control and the automatic lifting of the rice transplanter 3 during reverse movement are performed. The operation positions “1” to “3” are for setting the rotation angle of the steering handle 16 for driving the electric motor 146 to differentially lock the rear differential device D and disengaging the side clutch I. When the operation position is set to “1”, when the steering handle 16 is turned to the left by 250 degrees or more as described above, the electric motor 146 is driven, the rear differential device D is differentially locked, and the side clutch I is turned off. When the operation position is “2”, when the steering handle 16 is turned to the left by 300 degrees or more, the electric motor 146 is driven, the rear differential device D is differentially locked, the side clutch I is turned off, and the operation position “3” is operated. When the steering handle 16 is turned to the left by 350 degrees or more, the electric motor 146 is driven, the rear differential device D is differentially locked, and the side clutch I is turned off.

If the field is a wet field, the left and right rear wheels 7 and 7 are differentially differential so that the turning radius is smaller and the turn can be performed smoothly. In the case of a wet field, the operation position is set to “2” or “3”. Do.
If the automatic turning setting switch 192 is turned OFF, the rice transplanter 3 is lowered because the rice transplanter 3 does not automatically rise even if the HST operation lever 110 is moved backward when the machine is moved backward to a barn or the like. Therefore, it is possible to avoid the situation where the rice transplanter 3 is hit against the upper part of the entrance of the barn or other members in the barn. In addition, when planting around a vine in a deformed field such as a fan shape or a gourd, a planting operation is performed while turning the steering handle 16 along a curved ridge. At this time, automatic turning control works. Therefore, even if the steering handle 16 is rotated 200 degrees or more to the left or right, the rice transplanter 3 does not rise, and even if it is rotated 250 degrees or more, automatic turning control is not performed, and seedling planting work can be performed properly even in a deformed field. .

For safety, the automatic turning setting switch 192 is turned off when the vehicle is not working, such as when traveling on the road or when loading and unloading the truck.
In addition, when it is forgotten to turn off the automatic turning setting switch 192 in the road running, the automatic turning control is activated against the intention of the operator, which is dangerous. ”Is detected and the automatic turning setting switch 192 is automatically turned off. If the driver forgets to turn off the automatic turning setting switch 192, the automatic turning control is performed. However, the left and right rear wheels 7 and 7 remain in the differential state regardless of how the steering handle 16 is operated at the road traveling speed (moving speed), so that the vehicle can travel safely.

  Furthermore, each seedling mounting part of each seedling mounting table 163 is provided with a seedling detection switch for detecting a decrease in seedlings. When traveling on the road, all seedlings are removed from the seedling mounting table 163 and empty. When all the seedling detection switches detect that there are no seedlings, the automatic turning setting switch 192 is automatically turned off so that the driver turns automatically when driving on the road. Even if the setting switch 192 is forgotten to be turned off, the automatic turning control does not operate and the vehicle can travel safely. Further, it may be configured such that the automatic turning setting switch 192 is automatically turned off by detecting that no fertilizer is present in the fertilizer tank of the fertilizer application device 4.

  If the automatic turning setting switch 192 is automatically turned off as described above, the workability can be further improved by notifying that the automatic turning has been canceled (turned off) by a voice message. Will improve.

  On the other hand, as shown in the schematic plan view of the rice transplanter in FIGS. 1 and 2, left and right side markers 210 are provided on both sides of the front part of the machine body, and a bar 210a parallel to the longitudinal direction of the machine body is arranged at the front end of the side marker. By doing so, it is possible to easily confirm that the aircraft is parallel to the adjacent strip when performing seedling planting alignment. A contact sensor is provided on the left and right side markers 210 so that it can detect that the left and right side markers 210 are in contact with the ridge etc. so that the side marker 210 If the contact sensor detects that it is touching the vehicle, the automatic turning control is stopped during turning and the operator is notified that automatic turning control is not performed. Thus, it is possible to avoid the situation where the rice transplanter 3 is lifted and touches the side wall of the machine that has been carrying out the rice transplanting work, the damage to the rice transplanter 3 can be prevented and the rice transplanting work can be performed safely. .

  The riding type rice transplanter of the above embodiment has a configuration in which a rice transplanter 3 is mounted on a traveling vehicle 1 via an elevating link device 2, and the front wheels 6 and 6 and the rear wheels 7 and 7 of the traveling vehicle 1 are Since the rice planting operation is performed in a state where the center float 165, the side float 166, etc. of the rice planting apparatus 3 are grounded on the mud surface, the depth of the cultivation pad is detected. I understand. That is, the larger the angle of the lifting link device 2, the deeper the cultivator.

  Therefore, the angle of the lifting link device 2 is detected by the potentiometer PM-K mounted so that the angle of the lifting link device 2 can be understood, and the angle of the lifting link device 2 is larger (the deeper the tillage is). The speed change electric motor actuating means of the control device 170 slows the upper limit of the forward speed as shown in FIG. That is, control is performed so that the maximum forward speed becomes slower as the farm field is deeper. In this way, planting work at a high forward speed in a farm field deep in the cultivator, pushing the mud with the front wheels 6, 6 and the rear wheels 7, 7 and defeating the seedlings planted in the front side process It is possible to avoid a situation where a large amount of mud is lifted by the front wheels 6, 6 and the rear wheels 7, 7 and dropped to the side, and the seedlings planted in the front side process are crushed with mud. Work can be done. In addition, it is possible to avoid a situation where planting work is carried out at a high forward speed in a deep field of the cultivator, and the slip ratio of the front wheels 6 and 6 and the rear wheels 7 and 7 greatly fluctuates, resulting in a change between stocks. Can perform rice transplanting work between appropriate stocks.

  Also, during the above-mentioned automatic turning control, the steering handle 16 is operated in a special turning state (when the farm's cultivator is deep and cannot turn properly and turns backwards many times, or when turning in the opposite direction to the turning direction) For example, when the operator operates the operation lever (HST operation lever) 110 to detect that the aircraft has been operated twice or more in the reverse speed, for example, when turning backward after moving diagonally backward, If it is detected that the operator has operated the operation lever (HST operation lever) 110 to move the vehicle in the reverse speed and further operated the steering handle 16 in the direction opposite to the turning direction to move backward in the oblique direction, the turning is performed. Since the determination of the travel distance by detecting the rotational speed of the inner rear wheel transmission shaft 89 becomes inaccurate, the PTO clutch is inserted slightly before the rotational speed n2 of the rear wheel transmission shaft 89 inside the turn becomes n2 ≧ N2 + n + n0. Fertilizing device 4 with actuates the seedling planting device 164 to start planting seedlings also actuated controls so as to start the fertilization Te. This is because even if the judgment of the mileage becomes inaccurate, planting starts earlier than the planting position in the previous process even if the planting start position is made earlier, even if it shifts from the planting position in the previous process. Can be prevented. Therefore, the harvest amount in the whole field is ensured. It should be noted that during the automatic turning control as described above, a special turning state (when the farm cultivator is deep and cannot turn properly and turns backwards many times, or when the steering handle 16 is turned on the opposite side of the turning direction). When the operator operates the operation lever (HST operation lever) 110 and detects that the aircraft has been operated twice or more in the reverse speed for the purpose of Or when the operator operates the operation lever (HST operation lever) 110 to move the aircraft backward and further operates the steering handle 16 in the direction opposite to the turning direction to detect that the vehicle moves backward obliquely. The turning control may be stopped, the automatic turning control stop may be notified to the worker by a buzzer or voice notification, and the worker may turn manually.

  Finally, in the above-described automatic turning control, the vehicle speed at the time of turning operation during the turning of the airframe, the steering operation speed of the steering handle 16, and the change in the rotation angle of the steering handle 16 are set as one turning pattern. When the vehicle is deviating from the set turning pattern during turning, the operator is notified with the buzzer B, and the steering handle 16 is automatically turned to the torque converter or the like so as to return to the set turning pattern. If the vehicle is controlled so as to automatically steer, proper turning can be performed automatically. If several types of the above-mentioned turning patterns are prepared and the operator can select an appropriate turning pattern according to the field conditions or the like, further appropriate automatic turning can be performed. Further, when the steering handle 16 is automatically steered by a torque converter or the like so as to return to the set turning pattern, if the operator steers the steering handle 16, the automatic steering is stopped. It is safe if the operator can arbitrarily perform the steering operation of the steering handle 16 with manual priority.

  The present invention can be applied to various riding-type seedling transplanting machines such as a riding-type vegetable transplanting machine and a riding-type grass transplanting machine in addition to the riding-type rice transplanting machine of the above embodiment.

1: traveling vehicle, 3: seedling transplanting device (rice transplanting device), 6: left and right front wheels, 170: control device, 110: operation lever (HST operation lever), 165: center float, 195: drawing marker

Claims (5)

A seedling transplanting device (3) is mounted on a traveling vehicle (1) provided with left and right front wheels (6) for steering so that the seedling transplanting device (3) can be raised and lowered. In the riding type seedling transplanting machine equipped with the automatic turning control for automatically turning on and off the driving of (3) , the seedling transplanting device (3) is raised and the calculation of the traveling distance is started by the traveling distance calculating means. The control device (170) which first outputs a command to lower the seedling transplanting device (3) according to the travel distance, and then outputs a command to lower the drawing marker (195) according to the travel distance. Riding type seedling transplanting machine, characterized in that it is provided.   In response to the travel distance, a command for lowering the drawing marker (195) is output and the driving of the seedling transplanting device (3) is started. The riding seedling transplanter according to claim 1, further comprising a control device (170) for performing notification. Depending on the travel distance that outputs a command to draw a marker (195) is lowered, subsequently, depending on the travel distance, the control device starts driving the seedling transplantation working device (3) to (170) provided The riding seedling transplanter according to claim 1 or 2, characterized in that. A fertilizer application device (4) for fertilizing in the field is provided, and the speed change actuator (MO-H) is operated at the start of turning of the vehicle body to reduce the vehicle speed, and the seedling transplanting device (3) starts to be driven according to the travel distance. Before performing the control to increase the vehicle speed by operating the speed change actuator (MO-H), the change in speed when the vehicle speed is increased when the fertilizer application (4) is performed simultaneously, 4. The control device according to claim 1, further comprising a control device configured to set more gently than a change in speed when the vehicle speed is increased when the fertilizer application is not performed by the fertilizer applicator. The riding seedling transplanter according to item 1 . When the operation lever (110) is operated twice or more at the reverse speed or the left and right front wheels (6) are steered in the direction opposite to the turning direction while moving backward, the driving of the seedling transplanting device (3) is started. The riding seedling transplanting machine according to any one of claims 1 to 4, wherein the traveling distance is set short and the start timing of driving of the seedling transplanting device (3) is advanced. .

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