JP2015208298A5 - - Google Patents

Description

Seedling transplanter

  The present invention relates to a seedling transplanter such as a riding rice transplanter.

  2. Description of the Related Art A rice transplanter including a seedling platform that is reciprocated in the left-right direction using a driving force transmitted through an HST (Hydro Static Transmission) is known (see, for example, Patent Document 1).

  Now, the end approach for stopping the seedling stage by moving it to the left or right end is typically before planting work is performed in which the consumption of seedlings is required to be as uniform as possible in the left-right direction. Alternatively, it is performed after planting work in which large rice transplanters in which folding structures are adopted at the left and right ends of the seedling platform are loaded on a light truck bed or the like.

  When the operator wants to move the edge, perform the HST lever operation and the planting clutch on / off operation so that the seedling stage can be moved, and visually check the timing when the seedling stage is moved to the end. Thus, the reverse HST lever operation or planting clutch on / off operation must be performed so that the seedling platform is stopped.

Such a relatively troublesome operation is necessary.
This is an operation that is likely to waste working time and fuel.

  Of course, a rice transplanter equipped with an automatic end alignment mechanism is also known (see, for example, Patent Document 2).

JP 2013-202011 A JP 2012-196155 A

  However, in the rice transplanter provided with the above-described conventional automatic end-alignment mechanism, there is a possibility that end-alignment is performed against the operator's intention.

  In view of the above-described conventional problems, an object of the present invention is to provide a seedling transplanting machine that can reduce the risk of end-adjustment against the operator's intention.

According to the first aspect of the present invention , a seedling planting part (4) is provided in the traveling vehicle body (2), a transmission (23) for transmitting a driving force is provided in the seedling planting part (4), and the transmission (23 ) And a seedling placement member (51) that moves in the left-right direction by the driving force transmitted from the transmission (23) is provided in the seedling planting part (4). , moving said at seedling planting unit (4) switched on and off through the transmission to be planting clutch mechanism (120) is provided with seedling transplanter, until SL Naeno mounting member left or right one side edge portion (51) controller provided (160) to perform the end pulling control to stop by, the end jogger turn on and off operation section for turning on and off the end pulling control (150) is provided, said control device (160), said end pulling on-off operation part (150) from the input operation, as well as connecting the planting clutch mechanism (120), wherein the gearshift operating part (111) by operating the a seedling transplantation machine which is characterized in that the ends pulling control when a predetermined value or more the output of the transmission (23).

According to a second aspect of the present invention, when the transmission (23) is not in the output state, the control device (160) turns on / off the end justification control each time the end justification on / off operation unit (150) is operated. At the same time, when the end shift on / off operation unit (150) is operated when the transmission (23) is in the output state, the control unit (160) performs the end shift control if the end shift control is in progress. 2. The seedling transplanter according to claim 1, wherein the seedling transplanter does not accept the operation of the end-alignment on / off operation unit (150) unless it is interrupted and the end-alignment control is in progress .

According to a third aspect of the present invention, the control device (160) is configured such that the planting clutch mechanism (120) is disengaged during the end-alignment control, or the speed change operation member (111) is operated to operate the speed change device (23). output is seedling transplanter according to 請 Motomeko 2 you characterized by interrupting the end pulling control goes below a predetermined value.

According to a fourth aspect of the present invention, when the planting clutch mechanism (120) is in a disengaged state and the end alignment control is interrupted , the planting clutch mechanism (120) is brought into an on state, so that the control device (160) If the end closing on / off operation portion (150) is operated and the speed change operating member (111) is operated to a position where the output of the transmission (23) is equal to or higher than a predetermined value, the end The seedling transplanter according to claim 3, wherein the shifting control is resumed .

According to a fifth aspect of the present invention, when the output of the speed change device (23) becomes less than a predetermined value due to the operation of the speed change operation member (111) and the end alignment control is interrupted, the operation of the speed change operation member (111) is performed. When the output of the transmission (23) becomes a predetermined value or more, the control device (160) is operated to turn on and off the end-close on / off operation portion (150) and the planting clutch mechanism (120) is connected. If it is made, the end alignment control is restarted , The seedling transplanter according to claim 3 characterized by things.

The present invention of a 6, when interrupting the end pulling control to the end jogger turn on and off the operation unit (150) to the switching state, the control device (160) is cut before Symbol planting clutch mechanism (120) with a seedling transplantation machine as set forth in 請 Motomeko 3 you, characterized in that said transmission (23) and the non-output state.

The present invention seventh, when the end shifting control is being performed, the control device (160) keeps the output of said regardless the operation of the shift operating member (111) transmission (23) constant it is seedling transplantation machine according to any one of 請 Motomeko 1 you characterized 6 of the.

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According to the first aspect of the present invention, after the end-close on / off operation portion (150) is turned on, the planting clutch mechanism (120) is connected, and the speed change operation member (111) is operated to operate the transmission (23). Since the end-alignment control is performed when the output is set to a predetermined value or more, it is possible to prevent the end-alignment from being performed against the operator's intention.

According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, when the transmission (23) is in the output state and is not in the end alignment control, the operation of the end alignment on / off operation section (150) is accepted. the absence can prevent the end pulling controlled during planting work seedlings is started, thereby preventing the end shifting contrary to the intention of the operator is performed.

According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, when the planting clutch mechanism (120) is disengaged or the output of the transmission (23) becomes less than a predetermined value, the end alignment control is interrupted. Therefore, the edge alignment control can be interrupted by a device other than the edge alignment on / off operation unit (150) .

According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, even if the end- alignment control is interrupted by the cutting of the planting clutch mechanism (120) , the end-alignment on / off operation section (150) is operated to be engaged. If the planting clutch mechanism (120) is connected, the end-matching control can be resumed if the transmission (23) output is equal to or greater than a predetermined value. However, it is not necessary to perform the edge adjustment control from the beginning, and the work efficiency is improved .

According to the fifth aspect of the present invention, in addition to the effect of the third aspect of the present invention, even if the end-alignment control is interrupted due to the output of the transmission (23) becoming less than a predetermined value , the end-alignment on / off operation unit (150 ) Has been operated and the planting clutch mechanism (120) is in the connected state, the end adjustment control can be resumed by setting the output of the transmission (23) to a predetermined value or higher. Even if 111) is operated, it is not necessary to restart the edge adjustment control from the beginning, and the work efficiency is improved .

The sixth aspect of the present invention, in addition to the effects of the third invention, when the end pulling control the switching state by operating the end shifting operation member (150), along with cutting the planting clutch mechanism (120) by changing the transmission (23) in a non-output state, it is possible to end shifting contrary to the intention of the operator to further reduce the possibility that taking place.

According to the seventh aspect of the present invention, in addition to the effects of any one of the first to sixth aspects of the present invention, the opening degree of the speed change device (23) can be controlled during the end shift control regardless of the operation of the speed change operation member (111). Since the opening degree is kept constant, it is possible to continue the execution of the edge adjustment control with improved accuracy of the stop position of the seedling platform.

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Left side view of a rice transplanter according to an embodiment of the present invention The top view of the rice transplanter of embodiment in this invention The block diagram of the power transmission system of the rice transplanter of embodiment in this invention Block diagram of control system of rice transplanter of embodiment in the present invention The flowchart explaining the control routine of the rice transplanter of embodiment in this invention The flowchart explaining the end alignment mode on-off operation routine of the rice transplanter of embodiment in this invention Schematic rear view of a rice transplanter according to an embodiment of the present invention (part 1) Schematic rear view of a rice transplanter according to an embodiment of the present invention (part 2) (A) Hydraulic circuit diagram of electromagnetic proportional flow control valve of rice transplanter of embodiment of the present invention, (b) Plan view of electromagnetic proportional flow control valve of rice transplanter of embodiment of the present invention

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  In the present specification, the front / rear / left / right direction reference defines the front / rear, left / right reference based on the traveling direction of the vehicle body as viewed from the driver's seat.

  First, the configuration of the rice transplanter 8 of the present embodiment will be specifically described with reference mainly to FIGS. 1 and 2.

  FIG. 1 is a left side view of the rice transplanter 8 according to the embodiment of the present invention, and FIG. 2 is a top view of the rice transplanter 8 according to the embodiment of the present invention.

  In FIG. 1, a state in a side view of a riding type 8-row rice transplanter 8 including a traveling vehicle body 2 is illustrated, and a state in a plan view is illustrated in FIG. 2.

  The rice transplanter 8 is an example of a seedling transplanter of the present invention.

  In the rice transplanter 8, a seedling planting portion 4 is mounted on the rear side of the traveling vehicle body 2 via the lifting link mechanism 3 so as to be movable up and down, and a main body portion of the fertilizer device 5 is provided on the rear upper side of the traveling vehicle body 2.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 as drive wheels, and a mission case 12 is disposed in the front part of the fuselage. A front wheel final case 13 is provided on the side, and left and right front wheels 10 are respectively attached to left and right front wheel axles that project outward from respective front wheel support portions that can change the steering direction of the left and right front wheel final case 13.

  Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and a rear wheel gear case 18 is supported by a rear wheel rolling shaft provided horizontally in the front and rear at the center of the rear end of the main frame 15. The rear wheel 11 is attached to a rear wheel axle that is supported so as to be able to roll and projects outward from the rear wheel gear case 18.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via the belt transmission device 21 and the HST 23.

  The rotational power transmitted to the mission case 12 is shifted by the transmission in the mission case 12, and then separated into traveling power and external power to be extracted. A part of the traveling power is transmitted to the front wheel final case 13 to drive the front wheel 10, and the rest is transmitted to the rear wheel gear case 18 to drive the rear wheel 11.

  Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear part of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26 and to the fertilizer application device 5 by the fertilization transmission mechanism. Be transmitted.

  The upper part of the engine 20 is covered with an engine cover 30, and a driver's seat 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the driver seat 31, and a steering handle 34 for steering the front wheels 10 is provided above the front cover 32.

  The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The floor step 35 is partly grid-shaped (see FIG. 2), and mud on the shoe of the worker walking on the floor step 35 falls into the field.

  The elevating link device 3 has a parallel link configuration and includes one upper link 40 and a pair of left and right lower links 41. The upper link 40 and the lower link 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected at the rear end of the main frame 15, and the vertical link 43 is connected to the front end side thereof. Has been. And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44.

  An elevating hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and a tip of a swing arm (not shown) integrally formed with the upper link 40, and the elevating hydraulic cylinder 46 is expanded and contracted hydraulically. As a result, the upper link 40 rotates up and down, and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting unit 4 has an eight-row planting structure, and includes a planting transmission case 50 that also serves as a frame, a mat seedling, and reciprocates left and right to supply seedlings one by one to the seedling outlet 51a of each row. When all the seedlings for one row are supplied to the seedling outlet 51a, the seedling stand 51 for transferring the seedlings downward by the seedling feeding belt 51b, and the seedling planting for planting the seedling supplied to the seedling outlet 51a in the field by the seedling planting tool 54 Attaching device 52 and the like are provided.

  The rear portion of the planting transmission case 50 is branched into four, and the planting drive shaft is rotatably supported at each branched rear end portion. The center part of 16 is fixedly attached by the structure which rotates integrally.

  Further, a planting rotation shaft is rotatably supported at both ends of the rotary case 16, and a seedling planting tool 54 is attached to each of these two planting rotation shafts.

  In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and middle floats 57 and side floats 56 are provided on the left and right sides thereof. When the aircraft is advanced with these floats 55, 57, 56 in contact with the mud surface of the farm field, the floats 55, 57, 56 slide while leveling the mud surface, and the seedling planting device 52 is attached to the leveling trace. Seedlings are planted.

  Each of the floats 55, 57, and 56 is rotatably attached so that the front end side moves up and down corresponding to the unevenness of the soil surface of the field, and the vertical movement of the front part of the center float 55 controls the angle of attack during planting work. The planting depth of the seedling is always kept constant by switching the hydraulic valve that controls the lifting hydraulic cylinder 46 in accordance with the detection result and raising and lowering the seedling planting unit 4 according to the detection result. maintain.

  The fertilizer application device 5 feeds the granular fertilizer stored in the fertilizer tank 60 by a certain amount by the feeding unit 61, and applies the fertilizer to the left and right sides of the center float 55 and the side float 56 with the fertilizer hose 62 (see FIG. (Not shown) is guided to a fertilization structure formed in the vicinity of the side portion of the seedling planting line by a grooved body (not shown) provided on the front side of the fertilization guide. A configuration in which air generated by the blower 58 driven by the blower electric motor 53 is blown into the fertilizer hose 62 via the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hose 62 is forcibly conveyed by wind pressure. It has become.

  A first leveling rotor 27a and a second leveling rotor 27b (the combination of the first leveling rotor 27a and the second leveling rotor 27b may be simply referred to as a leveling rotor) are attached to the seedling planting portion 4.

  The seedling mount 51 is configured to slide in the left-right direction on the rail using the support roller 65a of the rectangular support frame 65 that is full in the left-right direction and the up-down direction that supports the entire seedling planting unit 4. It is.

  In addition, a pair of spare seedling frames 38 on which replenishment seedlings are placed are provided on the left and right sides of the front portion of the traveling vehicle body 2.

  Next, the configuration and operation of the power transmission system of the rice transplanter 8 of the present embodiment will be specifically described with reference mainly to FIG.

  FIG. 3 is a block diagram of the power transmission system of the rice transplanter 8 according to the embodiment of the present invention.

  As described above, the rotational power transmitted to the mission case 12 is separated into traveling power and external extraction power.

  Then, the external take-out power is transmitted to the feed case 180 and then to the seedling planting tool 54 and also to the fertilizer application device 5 and is transmitted to a lateral feed screw shaft (not shown) for seedling placement. It is used to reciprocate the table 51 in the left-right direction, and is also used to drive the seedling feeding belt 51b by being transmitted to a seedling feeding drive shaft (not shown).

  The end alignment, which will be described in detail later and stops the seedling stage 51 toward the left or right end, is typically a planting operation in which the consumption of seedlings is required to be as uniform as possible in the left-right direction. Or after the planting operation in which the large rice transplanter 8 in which the folding structure is adopted at the left and right ends of the seedling platform 51 is loaded on the platform of a light truck or the like is performed.

  In such a case, normally, the seedling is not loaded on the seedling platform 51, and the sub-transmission lever 100 is operated in advance and the traveling power is not transmitted to the rear wheel 11.

  Therefore, a typical procedure in the case where the operator wants to perform end alignment is that the engine 20 generates power, but the amount of operation of the sub-shift lever of the sub-shift lever 100 is zero and the driving power is the rear wheel. After confirming that the signal has not been transmitted to 11, the end-aligning mode on / off operation, the HST lever operation, and the planting clutch on / off operation as described in detail below are sequentially performed.

  When the edge alignment is performed, the small number of clutches 181 for switching on and off the transmission of the driving force to the left and right seedling planting tools 54 of each of the seedling planting devices 52 is cut off by the operator. It is desirable that the seedling planting part 4 is raised while being performed in advance based on the clutch lever operation.

  When the minority clutch 181 is disconnected, seedling feeding by the seedling feeding belt 51b and fertilization by the fertilizer application device 5 are also suspended in the corresponding planting suspension strip.

  Next, the configuration and operation of the control system of the rice transplanter 8 of the present embodiment will be specifically described with reference mainly to FIG.

  FIG. 4 is a block diagram of a control system of the rice transplanter 8 according to the embodiment of the present invention.

  In the following, as described above, the edge adjustment control by the controller 160 will be described in detail.

  The seedling platform 51 is reciprocated in the left-right direction using the driving force transmitted through the HST 23, and the planting clutch mechanism 120 turns on and off the transmission of the driving force.

  More specifically, the seedling platform 51 is reciprocated in the left-right direction by a sliding mechanism such as a lead cam mechanism in which a lead metal is brought into contact with the lead cam shaft. Switching between connection and disconnection of the planting clutch mechanism 120 using a planting clutch on / off actuator such as a planting clutch servomotor is performed by a command from the planting clutch switch 121 based on the planting clutch on / off operation by the operator. Or in response to a command from the controller 160. Further, the planting clutch sensor 122 detects whether the planting clutch mechanism 120 is connected or disconnected.

  The HST lever 111 is a lever for the operator to change the opening degree of the HST trunnion shaft 112 of the HST 23.

  More specifically, the change of the opening degree of the HST trunnion shaft 112 using an HST output variable actuator such as an HST servo motor is changed by a command from the HST lever 111 based on the operator's operation of the HST lever, or from the controller 160. This is done according to the command. The HST lever operation amount is detected by the HST sensor 113 using a potentiometer or the like, and the opening degree of the HST trunnion shaft 112 is also detected by the HST sensor 113.

  The end alignment mode switch 150 is a switch for turning on and off the end alignment mode in which the operator performs end alignment that brings the seedling stand 51 to the left or right end and stops it.

  The edge alignment mode flag 171 is a flag stored in the memory 170. If no error or the like has occurred, the edge alignment mode flag 171 is on when the edge alignment mode is on, and is off when the edge alignment mode is off.

  Whether or not the seedling stage 51 has been brought close to the end is detected by an end approach sensor 131 using a limit switch or the like.

  A set stock based on the operator's set stock switch lever operation is detected by a set stock sensor 141.

  Next, with reference mainly to FIG. 5, the end alignment control of the rice transplanter 8 according to the present embodiment will be specifically described.

  FIG. 5 is a flowchart illustrating a control routine of the rice transplanter 8 according to the embodiment of the present invention.

  Such a control routine having steps S101 to S109 is always executed. As will be described later, when the end-alignment control execution start condition is satisfied, the controller 160 starts execution of end-alignment control for performing end alignment.

  (Step S101) The controller 160 starts a control routine, and determines whether or not the end-alignment control execution flag 172 is on.

  The edge adjustment control execution flag 172 is a flag stored in the memory 170. If no error or the like has occurred, the edge alignment control execution flag 172 is in an on state when the edge alignment control is being executed, and is in an off state when the edge alignment control is not being executed.

  (Step S102) When the controller 160 determines that the edge-alignment control execution flag 172 is in the off state (step S101), the controller 160 determines whether or not the edge-alignment control execution start condition is satisfied.

  The end alignment control execution start conditions are (1) the planting clutch mechanism 120 is connected, (2a) the opening degree of the HST trunnion shaft 112 of the HST 23 exceeds the first reference value, and (3) the end alignment mode. Is in the ON state.

  The first reference value is, for example, 80% on the forward side.

Whether or not the seedling stage 51 has been brought close to the end can be detected by the end approach sensor 131, but when the rotational speed of the PTO (Power Take Off) shaft is small, the PTO
The rotation of the shaft tends to be unstable, the influence of the inertia of the seedling platform 51 becomes large, and the stop position of the seedling platform 51 that should be stopped near the end may be shifted. Therefore, it is desirable that the first reference value is large to some extent. The HST lever 111 is mechanically coupled to an accelerator pedal for operating the throttle mechanism of the engine 20. Therefore, if the first reference value is large, the operation amount of the throttle mechanism of the engine 20 becomes large, a sufficient number of revolutions of the engine 20 is obtained, and the rotation of the PTO shaft is stabilized. Improves.

  Since the end-alignment control execution start condition is so strict, the risk of end-adjustment contrary to the operator's intention is reduced.

  (Step S103) If the controller 160 determines that the start-alignment control execution start condition is not satisfied (step S102), after performing the end-alignment control execution stop process, the controller 160 performs a return process in the control routine.

  The edge-alignment control execution stop process is a process for confirming that at least the edge-alignment control execution flag 172 is off and stopping the execution of the edge-alignment control for performing edge alignment.

  (Step S104) When the controller 160 determines that the end-alignment control execution start condition is satisfied (step S102), the controller 160 starts executing the end-alignment control for performing the end alignment.

  In other words, if the controller 160 determines that the edge alignment control execution start condition is satisfied (step S102), the controller 160 performs an edge alignment control execution start process and then performs a return process in the control routine.

  The edge-alignment control execution start process is a process for starting at least the edge-alignment control execution flag 172 and starting execution of the edge-alignment control for performing edge alignment.

  (Step S105) When the controller 160 determines that the edge-alignment control execution flag 172 is on (step S101), the controller 160 determines whether the edge-alignment control execution continuation condition is satisfied.

  Ending control execution continuation conditions are as follows: (1) the planting clutch mechanism 120 is connected; (2b) the opening of the HST trunnion shaft 112 exceeds a second reference value equal to or less than the first reference value; ) The condition that the edge alignment mode is on.

  The second reference value is, for example, 75% on the forward side.

  Since the first reference value is larger by about 5 (= 80−75)% than the second reference value, it is possible to prevent the end alignment control execution continuation condition from being easily satisfied, and to execute the end alignment control. Chattering that starts and stops repeatedly is unlikely to occur.

  (Step S106) If the controller 160 determines that the condition for continuing the edge alignment control is not satisfied (Step S105), the controller 160 interrupts the execution of the edge alignment control that has been started.

  That is, if the controller 160 determines that the condition for continuing the edge alignment control is not satisfied (step S105), the controller 160 performs a return process in the control routine after performing the edge alignment control execution interruption process.

  The edge-alignment control execution interruption process is a process that at least turns off the edge-alignment control execution flag 172 and interrupts execution of the started edge-alignment control.

  Since the movement of the seedling stage 51 is promptly interrupted, the possibility of damaging the seedling planting unit 4 is reduced, and when planting is being performed, empty planting or the like is unlikely to occur.

  If the planting clutch mechanism 120 is disengaged and therefore the end-alignment control execution continuation condition is not satisfied, the controller 160 interrupts the start of the end-alignment control and starts the HST trunnion shaft. The opening degree of 112 may be changed to zero, and the ON state of the edge alignment mode may be maintained.

  In addition, since the opening degree of the HST trunnion shaft 112 does not exceed the second reference value, the controller 160 interrupts the execution of the started edge alignment control when the condition for continuing the edge alignment control is not satisfied. In addition, the planting clutch mechanism 120 may be disconnected, the opening degree of the HST trunnion shaft 112 may be changed to zero, and the ON state of the end alignment mode may be maintained.

  Even if the opening degree of the HST trunnion shaft 112 is changed to zero, the operation position of the HST lever 111 is not changed. Therefore, when the operator wants to resume the execution of the interrupted end-alignment control, the operator An explicit HST lever operation for changing the operation position to the position corresponding to the first reference value after returning the operation position to the neutral position must be performed intentionally.

  In such a case, the operator must further perform the planting clutch on / off operation, but does not have to bother to perform the end-to-end mode on / off operation.

  Therefore, the risk of end-adjusting against the operator's intention is reduced, and the operator can easily resume execution of the end-adjusting control. Even if the traveling power can be transmitted to the rear wheel 11 because the vehicle speed is not zero, the risk that the rice transplanter 8 will start traveling is reduced.

  In addition, when the edge alignment control execution continuation condition is not satisfied because the edge alignment mode is in the off state, the controller 160 interrupts the execution of the edge alignment control that has been started and the planting clutch mechanism 120. And the opening degree of the HST trunnion shaft 112 may be changed to zero.

  When the operator wants to resume execution of the interrupted edge adjustment control, the operator moves the HST lever 111 back to the neutral position and then changes the position to the position corresponding to the first reference value. Must still be done intentionally.

  In such a case, the worker must further perform a planting clutch on / off operation and an end-to-end mode on / off operation.

  Therefore, the possibility of end-adjustment contrary to the operator's intention is reduced, and the traveling power can be transmitted to the rear wheel 11 because the amount of operation of the auxiliary transmission lever of the auxiliary transmission lever 100 is not zero. In addition, the risk of the rice transplanter 8 starting to travel is reduced.

  (Step S107) If the controller 160 determines that the edge-alignment control execution continuation condition is satisfied (step S105), the controller 160 performs an edge-alignment control execution continuation process.

  The edge-alignment control execution continuation process is a process that at least confirms that the edge-alignment control execution flag 172 is on, and continues the execution of the started edge-alignment control.

  In addition, when execution of the started edge adjustment control is continued, the controller 160 changes the opening degree of the HST trunnion shaft 112 and invalidates the operator's HST lever operation using the HST lever 111. The opening degree of the HST trunnion shaft 112 may be kept constant.

  Although it can be detected by the edge adjustment sensor 131 whether or not the seedling stage 51 has been moved to the end, when the rotational speed of the PTO shaft is unstable, the influence of the inertia of the seedling stage 51 is large. In other words, the stop position of the seedling platform 51 that should be stopped near the end may be shifted. When the opening degree of the HST trunnion shaft 112 is maintained at a constant opening degree, the rotational speed of the PTO shaft is stabilized, so that the accuracy of the stop position of the seedling platform 51 is improved.

  When the started edge adjustment control is continued, the controller 160 may use DFI (Direct Fuel Injection) electric control or the like to keep the rotation speed of the engine 20 at a constant rotation speed. . When the rotation speed of the engine 20 is maintained at a constant rotation speed, the rotation speed of the PTO shaft is stabilized, so that the accuracy of the stop position of the seedling platform 51 is improved.

  Moreover, a fixed opening degree may be changed according to the setting stock of the planting currently performed.

  When the set strain is large as in the case where sparse planting is performed, the number of rotations of the PTO shaft tends to be small, and the moving speed of the seedling platform 51 tends to be small, so that the seedling platform 51 to be stopped near the end. May be shifted to the center of the vehicle body. When sparse planting is performed, if the constant opening is changed so as to be larger than the standard set inter-plant opening, the number of rotations of the PTO shaft increases and the moving speed of the seedling platform 51 increases. The accuracy of the stop position of the platform 51 is improved.

  (Step S108) The controller 160 determines whether or not the seedling stage 51 has been moved to the end after performing the edge adjustment control execution continuation process (step S107).

  (Step S109) When the controller 160 determines that the seedling platform 51 is not moved to the end (Step S108), the controller 160 immediately performs return processing as it is in the control routine, and the seedling platform 51 is moved to the end. If it is determined (step S108), after end-alignment control execution end processing is performed, return processing is performed in the control routine.

  The end-alignment control execution end process is a process that ends at least the above-described end-alignment control execution start condition, turns off the end-alignment control execution flag 172, and ends the start of the end-alignment control execution. .

  The controller 160 ends the execution of the started edge adjustment control, disconnects the planting clutch mechanism 120, changes the opening degree of the HST trunnion shaft 112 to zero, and sets the edge adjustment mode to the off state. Good.

  Of course, the controller 160 does not need to end the execution of the started edge adjustment control and turn off the edge alignment mode. Then, when the operator wants to start the execution of the edge alignment control for aligning the other edge, the operator does not have to bother to perform the edge alignment mode on / off operation for turning on the edge alignment mode that is in the off state. Also good.

  In the above, the control routine which has steps S101 to S109 and should always be executed has been described in detail.

  When the opening degree of the HST trunnion shaft 112 is not zero, the controller 160 turns on the end alignment mode that is in the off state, and turns on / off the end alignment mode of the worker using the end alignment mode switch 150. The operation may be invalidated.

  More specifically, when the operator performs the edge alignment mode on / off operation, the controller 160 stops the control routine described above, starts execution of the edge alignment mode on / off operation routine by interruption, and performs edge alignment. The control routine may be started after the execution of the mode on / off operation routine is completed.

  Therefore, an end-to-end mode on / off operation routine of the rice transplanter 8 according to the present embodiment will be specifically described with reference mainly to FIG.

  FIG. 6 is a flowchart for explaining the end-to-end mode on / off operation routine of the rice transplanter 8 according to the embodiment of the present invention.

  When the opening degree of the HST trunnion shaft 112 cannot be zero, for example, when planting is being performed, the edge alignment mode that turns the edge alignment mode, which is an off state, on by the operator is turned on / off Even if the operation is performed, the execution of the edge adjustment control is not started, so that it is difficult to cause empty planting or the like. However, when the worker performs an edge alignment mode on / off operation for turning off the edge alignment mode that is on, the edge alignment mode on / off operation using the edge alignment mode switch 150 is validated and started. The shift control execution is interrupted.

  (Step S201) When the edge alignment mode on / off operation is performed, the controller 160 starts the edge alignment mode on / off operation routine.

  (Step S202) The controller 160 determines whether or not the opening degree of the HST trunnion shaft 112 is zero and the amount of HST lever operation is also zero after the end alignment mode on / off operation is performed (step S201).

  (Step S203) When the opening of the HST trunnion shaft 112 is zero and the controller 160 does not determine that the HST lever operation amount is also zero (Step S202), the controller 160 is in the off state mode flag 171. Judge whether there is.

  (Step S204) When the controller 160 determines that the opening of the HST trunnion shaft 112 is zero and the HST lever operation amount is also zero (step S202), the controller 160 switches the end-to-end mode flag 171 between on and off. If the opening degree of the HST trunnion shaft 112 is zero and the HST lever operation amount is not determined to be zero (step S202), it is determined that the end alignment mode flag 171 is on. After (step S203), the on / off state of the edge alignment mode flag 171 is switched.

  (Step S205) When the controller 160 determines that the opening of the HST trunnion shaft 112 is zero and the HST lever operation amount is also zero (step S202), the controller 160 switches the end-to-end mode flag 171 between on and off. Immediately after that (step S204), it is determined whether or not the edge adjustment control execution flag 172 is in the ON state, and it is determined that the opening of the HST trunnion shaft 112 is zero and the HST lever operation amount is also zero. Without determining (step S202) that the alignment mode flag 171 is off (step S203), it is immediately determined whether the alignment control execution flag 172 is on or not, and the HST trunnion is determined. The degree of opening of the shaft 112 is zero, and the HST lever operation amount is not judged to be zero (step S 02) When it is determined that the edge alignment mode flag 171 is in the ON state (step S203), the edge alignment control execution flag 172 is changed to the ON / OFF state switching of the edge alignment mode flag 171 (step S204). It is determined whether or not it is on.

  (Step S206) When the controller 160 determines that the edge-alignment control execution flag 172 is in the off state (step S205), the controller 160 immediately performs end processing as it is in the edge-alignment mode on / off operation routine, and the edge-alignment control execution flag 172 Is determined to be in the ON state (step S205), end processing is performed in the end alignment mode on / off operation routine after end alignment mode on / off operation accompanying processing is performed.

  The edge alignment mode on / off operation accompanying process is a process that at least sets the edge alignment control execution flag 172 in an off state and interrupts execution of the started edge alignment control.

  The controller 160 may interrupt the execution of the started edge adjustment control, disconnect the planting clutch mechanism 120, and change the opening degree of the HST trunnion shaft 112 to zero.

  Of course, the controller 160 may interrupt the execution of the started edge adjustment control and maintain the opening degree of the HST trunnion shaft 112 as it is. Then, even when the worker performs an end-to-end mode on / off operation for turning off the end-to-end mode that is on when the rice transplanter 8 is traveling, there is a problem that the vehicle traveling speed is restricted. Hateful.

  Below, the rice transplanter of this Embodiment regarding the application of the back pressure in the electromagnetic proportional flow control valve 200 for controlling (A) inclination correction of the seedling mounting stand 51 and (B) raising / lowering of the seedling planting part 4 below. The configuration and operation of No. 8 will be specifically described.

  (A) The configuration and operation of the rice transplanter 8 of the present embodiment relating to the inclination correction of the seedling platform 51 will be described with reference mainly to FIGS.

  FIG. 7 is a schematic rear view (part 1) of the rice transplanter 8 according to the embodiment of the present invention. FIG. 8 is a schematic rear view of the rice transplanter 8 according to the embodiment of the present invention. (Part 2).

  As described above, the seedling platform 51 is reciprocated in the left-right direction using the driving force transmitted through the HST 23.

  However, if the influence of the inertia of the seedling table 51 becomes large, the seedling table 51 that is reciprocated in the left-right direction rolls, and therefore the seedling table 51 is easily tilted in the vertical direction.

  Therefore, an electric motor that supplies a driving force for tilting the seedling stage 51 in the direction Y opposite to the rolling direction X so that the horizontal frame direction of the seedling stage 51 coincides with the horizontal reference line H ( It is desirable to correct the vertical tilt of the seedling stage 51 using a not-shown).

  In FIG. 7, the seedling platform 51 has moved to the left end, and the seedling platform 51 is rolling in the upward left direction, so that the seedling platform 51 is pushed back in the downward left direction. The vertical tilt of the seedling platform 51 is corrected.

  In FIG. 8, the seedling platform 51 has moved to the right end, and the seedling platform 51 is rolling in the upward direction so that the seedling platform 51 is pushed back in the downward direction. The vertical tilt of the seedling platform 51 is corrected.

  By the way, if the moving speed of the seedling stage 51 is high, the vertical inclination of the seedling stage 51 tends to increase.

  Therefore, it is desirable to change the reference line H according to the moving speed of the seedling platform 51.

  The moving speed of the seedling stage 51 is determined by the lateral position within a predetermined time detected by a seedling stage lateral position detection potentiometer (not shown) that detects the lateral position of the seedling stage 51 that is reciprocated in the left-right direction. Based on the deviation, the vehicle travel speed detection pulse or the like is used for determination.

  Of course, the moving speed of the seedling platform 51 may be calculated using the HST lever operation amount and the opening degree of the HST trunnion shaft 112 detected by the HST sensor 113 using a potentiometer or the like.

  As shown in FIG. 7, when the seedling platform 51 has moved to the left end at a relatively high moving speed, the seedling platform 51 is greatly rolled in the upward left direction. The reference line H is changed to the lower left direction to become the reference line H1 so that the seedling stage 51 is surely pushed back in the lower left direction.

  As shown in FIG. 8, when the seedling platform 51 has moved to the right end at a relatively high moving speed, the seedling platform 51 is greatly rolled in the upward direction. The reference line H is changed to the lower right direction to become the reference line H2 so that the seedling stage 51 is surely pushed back in the lower right direction.

  It should be noted that the reference line H is not changed according to the moving speed of the seedling table 51, but the driving speed of an electric motor (not shown) or the like is changed according to the moving speed of the seedling table 51. Good.

  Further, the reciprocation of the seedling stage 51 may be controlled so that the moving speed of the seedling stage 51 does not become too high.

  When the set strain is small as in the case where dense planting is performed, the number of times the seedling table 51 is reciprocated in the left-right direction tends to increase, and the moving speed of the seedling table 51 tends to increase. Therefore, the moving speed of the seedling platform 51, the vehicle traveling speed, and the like may be controlled using detection results such as a switch that detects the number of times the seedling platform is reciprocated.

  Of course, such a detection result of a switch for detecting the number of reciprocating movements of the seedling table may be used for correcting a detection error of a seedling table horizontal position detection potentiometer (not shown).

  (B) Rice transplanter of the present embodiment relating to the application of back pressure in the electromagnetic proportional flow control valve 200 for controlling the raising and lowering of the seedling planting unit 4 while mainly referring to FIGS. 9 (a) and (b) 8 will be described.

  9A is a hydraulic circuit diagram of the electromagnetic proportional flow control valve 200 of the rice transplanter 8 according to the embodiment of the present invention, and FIG. 9B is a rice transplanter according to the embodiment of the present invention. 8 is a plan view of an electromagnetic proportional flow control valve 200 of FIG.

  The electromagnetic proportional flow control valve 200 includes an electromagnetic proportional valve 201, a pressure compensation valve 202, L / C filters 211 and 212, a relief valve 213, and the like.

  The hydraulic pulsation related to the current drive frequency of the electromagnetic proportional flow control valve 200 causes resonance of the pressure compensation valve 202 provided upstream of the lower electromagnetic proportional valve 201 when the seedling planting unit 4 is lowered. The machine vibration of the rice transplanter 8 is likely to occur.

  Therefore, it is desirable to apply a constant back pressure in the T-port circuit 203 of the lower-side electromagnetic proportional valve 201 by using a fixed or variable throttle valve 204 provided in the T-port circuit 203.

  When such back pressure is applied in the T port circuit 203, the hydraulic pulsation of the electromagnetic proportional flow control valve 200, which is an electromagnetic proportional pressure reducing valve, is suppressed, so that the body vibration of the rice transplanter 8 hardly occurs. .

  The seedling transplanting machine in the present invention can reduce the risk of end-of-work that is contrary to the operator's intention, and is useful, for example, for the purpose of use in a seedling transplanting machine such as a riding rice transplanter. is there.

5 Fertilizer 8 Rice transplanter 11 Rear wheel 20 Engine 23 HST
DESCRIPTION OF SYMBOLS 51 Seedling stand 51b Seedling feeding belt 52 Seedling planting device 54 Seedling planting tool 100 Sub shift lever 111 HST lever 112 HST trunnion shaft 113 HST sensor 120 Planting clutch mechanism 121 Planting clutch switch 122 Planting clutch sensor 131 Sensor 141 Set stock-to-stock sensor 150 End-alignment mode switch 160 Controller 170 Memory 171 End-alignment mode flag 172 End-alignment control execution flag 180 Feed case 181 Minority clutch 200 Electromagnetic proportional flow control valve 201 Electromagnetic proportional valve 202 Pressure compensation valve 203 T port circuit 204 Throttle valves 211, 212 L / C filter 213 Relief valve

Claims (7)

The traveling vehicle body (2) is provided with a seedling planting part (4), the seedling planting part (4) is provided with a transmission (23) for transmitting a driving force, and a shift for operating the output of the transmission (23) An operation member (111) is provided, a seedling placement member (51) that moves in the left-right direction by a driving force transmitted from the transmission (23) is provided in the seedling planting portion (4), and the seedling planting portion ( 4) In the seedling transplanting machine provided with the planting clutch mechanism (120) for turning on and off the transmission to
Before SL Naeno mounting member (51) is moved up to the left or right one side end portion, the control unit provided (160) to perform the end pulling control to stop, the end jogger turn on and off operation section for turning on and off the end pulling control ( 150) ,
Control device (160) is 該制, said end jogger turn on and off the operation unit (150) from the input operation, the with connecting planting clutch mechanism (120), the transmission by the shift operating member (111) Operation A seedling transplanting machine that performs end-to-end control when the output of (23) exceeds a predetermined value . When the transmission (23) is not in the output state, the control device (160) switches on / off of the end justification control each time the end justification on / off operation unit (150) is operated,
When the end-just-in / off operation unit (150) is operated when the transmission (23) is in the output state, the control unit (160) interrupts the end-alignment control if the end-alignment control is being performed,
2. The seedling transplanter according to claim 1, wherein an operation of the end-alignment on / off operation unit is not accepted unless the end-alignment control is in progress . The control device (160) is configured such that the planting clutch mechanism (120) is disconnected during the end-alignment control, or the output of the transmission (23) is less than a predetermined value by the operation of the transmission operation member (111). comprising the seedling transplantation machine as set forth in 請 Motomeko 2 you characterized by interrupting the end pulling control. When the planting clutch mechanism (120) is in a disengaged state and the end-alignment control is interrupted, when the planting clutch mechanism (120) is in an on state,
The control device (160) is operated to a position where the end shift on / off operation section (150) is operated and the speed change operation member (111) makes the output of the speed change device (23) equal to or greater than a predetermined value. The seedling transplanter according to claim 3, wherein if it is done, the end-to-end control is resumed . When the output of the transmission device (23) becomes less than a predetermined value due to the operation of the transmission operation member (111) and the end- alignment control is interrupted, the output of the transmission device (23) is operated by the operation of the transmission operation member (111). When exceeds the specified value,
The control device (160) restarts the end-alignment control when the end-alignment on / off operation unit (150) is operated and the planting clutch mechanism (120) is connected. The seedling transplanter according to claim 3. To interrupt the edge pulling control to the end jogger turn on and off the operation unit (150) to the switching state, the control device (160) is configured to cut before Symbol planting clutch mechanism (120), said transmission (23 seedling transplantation machine as set forth in 請 Motomeko 3 you, characterized in that the) a non-output state. When the end shifting control is being performed, the control device (160) shall be the feature to keep the output of said regardless the operation of the shift operating member (111) transmission (23) constant 請 The seedling transplanter according to any one of claims 1 to 6 .