JP2020068728A - Sulky rice transplanter - Google Patents

Abstract

To provide a sulky rice transplanter capable of preventing a lowered planting implement from being lifted again by a turning automatic lifting control function.SOLUTION: A sulky rice transplanter P comprises: implement operation control means for lifting/lowering a planting implement 3 according to operation on implement operation switches 17, 18; and turning automatic lifting control means for automatically lifting the planting implement 3 when turning operation is performed on a steering wheel 14 in a state in which a turning automatic lifting switch 26 is on. The turning automatic lifting control means automatically lifts the planting implement 3 when the steering wheel 14's steering angular speed is equal to or higher than specified angular speed ω0 and the steering wheel 14's steering angle is equal to or larger than a specified angle θ2 after the planting implement 3 has been in a lowering state and the steering wheel 14's steering angle has been equal to or smaller than a specified angle θ1 for a specified time T1 or more.SELECTED DRAWING: Figure 8

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riding rice transplanter having a turning automatic raising control function for automatically raising a work machine with planting according to a turning operation of a steering wheel.

  In recent years, in order to reduce the operation load on the operator when turning the headland, a riding rice transplanter that automates various operations of the operator when turning the headland has been proposed. For example, in Patent Document 1, a turning automatic raising control function that automatically raises the work implement with planting according to a turning operation of a steering handle, and a work implement that automatically measures a headland traveling distance after the automatic raising is used. There is disclosed a riding rice transplanter having a headland measurement planting control function of lowering the plant to a planting state.

JP, 2016-54648, A

  By the way, a riding rice transplanter that does not have a headland measurement planting control function but has a turning automatic raising control function is also proposed. In such a riding rice transplanter, the planting work machine automatically rises in response to the turning operation of the steering handle, and then the operator performs the descending operation of the planting work machine at the same timing as the end of the headland turning. It will be. However, when the headland turning is not completed, that is, when the operator performs the descending operation of the planting work machine while the steering angle of the steering handle is equal to or greater than the specified angle, the planting work machine that has descended automatically turns up. There was a possibility that it would rise again due to the control function.

The present invention has been made in view of the above circumstances in order to solve these problems, and the invention of claim 1 is a travel having a steering handle, a work implement operating tool, and a turning automatic raising switch. A riding rice transplanter equipped with a machine body, a planting work machine connected to a rear portion of the traveling machine body so as to be able to move up and down, and a work machine lifting mechanism for lifting the planting work machine, the work machine operating tool comprising: Work implement operation control means for raising and lowering the work implement with planting according to an operation, and a swing for automatically raising the work implement with planting when the steering handle is turned while the turning automatic raising switch is on. Automatic raising control means, wherein the turning automatic raising control means is configured such that the planting work machine is in a lowered state and a steering angle of the steering handle is equal to or longer than a predetermined time T1. After it was less fixed angle .theta.1, when said steering angle becomes specified angle θ2 above, characterized in that for automatically increasing the planting work machine.
The invention according to claim 2 is a traveling machine body having a steering handle, a work implement operating tool, and a turning automatic raising switch, a planting work machine connected to a rear portion of the traveling machine body so as to be vertically movable, and the planting work machine. And a working machine lifting mechanism for moving the working machine up and down, a working machine operation control means for moving the planted working machine up and down according to an operation of the working machine operation tool, and turning on the turning automatic raising switch. And a turning automatic raising control means for automatically raising the planting work machine when the steering handle is turned in a state, the turning automatic raising control means is provided when the planting work machine is in a lowered state. Further, after the steering angle of the steering handle is equal to or less than the specified angle θ1 for a specified time T1 or more, the steering angular velocity of the steering handle is equal to or greater than the specified angular velocity ω0. It is characterized in that the working machine with planting is automatically lifted when the above condition occurs.
Further, the invention according to claim 3 is a traveling machine body having a steering handle, a work machine operation tool, and a turning automatic raising switch, a planting work machine connected to a rear portion of the traveling machine body so as to be vertically movable, and the planting work machine. And a working machine lifting mechanism for moving the working machine up and down, a working machine operation control means for moving the planted working machine up and down according to an operation of the working machine operation tool, and turning on the turning automatic raising switch. And a turning automatic raising control means for automatically raising the planting work machine when the steering handle is turned in a state, the turning automatic raising control means is provided when the planting work machine is in a lowered state. And, after the steering angle of the steering wheel is below the specified angle θ1 for a specified time T1 or more, the steering angular speed of the steering wheel is above the specified angular speed ω0, In addition, when the steering angle of the steering handle becomes equal to or greater than a specified angle θ2, the planting work machine is automatically raised.

According to the invention of claim 1, the turning automatic raising control means controls the steering after the planted work machine is in the lowered state and the steering angle of the steering handle is equal to or less than the specified angle θ1 for a specified time T1 or more. When the steering angle of the steering wheel becomes equal to or greater than the specified angle θ2, the work machine with planting is automatically raised, so that the headland turning is not completed, that is, when the steering angle of the steering wheel is equal to or greater than the specified angle. Even when the operator lowers the planting work machine, it is possible to prevent the lowered planting work machine from rising again by the turning automatic raising control function.
Further, according to the invention of claim 2, in the turning automatic raising control means, after the work implement with planting is in a lowered state, and the steering angle of the steering handle is equal to or less than the specified angle θ1 for a specified time T1 or more. When the steering angular velocity of the steering wheel becomes equal to or greater than the specified angular velocity ω0, the work machine with planting is automatically raised, so that the headland turning is not completed, that is, the steering angle of the steering handle is equal to or greater than the specified angle. Even when the operator lowers the planting work machine in the state, it is possible to prevent the lowered planting work machine from rising again due to the turning automatic raising control function. Moreover, the turning automatic raising control means according to claim 2 determines headland turning based on the steering angular velocity, not the steering angle of the steering handle, so that the planting work machine is operated in response to a gentle steering handle operation in the planting process. It is also possible to prevent the phenomenon of automatic rising.
Further, according to the invention of claim 3, the turning automatic raising control means is configured such that after the work implement with planting is in the lowered state, and the steering angle of the steering handle is equal to or less than the specified angle θ1 for a specified time T1 or more. , When the steering angular velocity of the steering wheel is equal to or greater than the specified angular velocity ω0 and the steering angle of the steering handle is equal to or greater than the specified angle θ2, the planted work machine is automatically raised. Can be further improved.

It is a side view of the riding rice transplanter concerning one embodiment of the present invention. It is a top view of a riding rice transplanter. It is a front view which shows a working machine operation cam. It is a perspective view showing the circumference of a steering wheel. It is a top view showing the circumference of a steering wheel. It is a block diagram which shows the input / output of a control part. It is a flow chart which shows the control procedure of work implement operation control. It is a flow chart which shows the control procedure of turning up control. It is a top view of the field showing headland turning. It is a top view of the field which shows the whole process of planting work. It is a flowchart which shows 2nd Embodiment of turning up control. It is a flowchart which shows 3rd Embodiment of turning up control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2, reference numeral 1 denotes a traveling machine body of the passenger rice transplanter P, and a rear part of the traveling machine body 1 is connected with a planting work machine 3 via an elevating link mechanism 2. A lift cylinder 4 (working machine lifting mechanism) is provided between the traveling machine body 1 and the lifting link 2, and the work unit 3 with a plant is moved up and down based on its expansion and contraction.

  The planting work machine 3 includes a seedling placing table 5 on which mat-like seedlings are placed, a planting mechanism 6 for scraping off the seedlings from the seedling placing table 5 and planting them in a field, and a height above ground of the planting working machine 3. A sensing float 7 that moves up and down accordingly, markers 8 arranged on both left and right sides of the planting work machine 3 and drawing a travel reference line in the next stroke, and the like are provided.

  As shown in FIG. 3, the traveling machine body 1 is provided with a working machine operation cam 10 that is connected to a lift cylinder hydraulic valve 9 and a planting clutch mechanism (not shown). The work machine operation cam 10 has four positions of “up”, “fixed”, “automatic (down)”, and “planted”, and the position is switched by the work machine operation cam motor 11. In the "up" position, the lift cylinder hydraulic valve 9 is in the raised position and the planting clutch mechanism is in the disengaged state, and in the "fixed" position, the lift cylinder hydraulic valve 9 is in the stopped state and the planting clutch mechanism is in the disengaged state. In the “automatic (down)” position, the lift cylinder hydraulic valve 9 automatically moves up and down (the position for automatically moving up and down according to the vertical movement of the sensing float 7. However, when the working machine rises, the sensing float 7 lowers). Therefore, the planting clutch mechanism is in the disengaged state, and in the “planting” position, the lift cylinder hydraulic valve 9 is in the automatic position and the planting clutch mechanism is in the engaged state.

  As shown in FIGS. 1 and 2, a seat 12 on which an operator sits and a steering handle 14 for steering front wheels 13 are provided on the upper portion of the traveling machine body 1. As shown in FIGS. 4 and 5, operation tools such as the main transmission lever 15 and display portions such as the control state display portion 16 are arranged around the steering handle 14.

  The main shift lever 15 of the present embodiment includes two work implement operating switches 17 and 18 (work implement operating tools) on the grip portion 15a. The upper working machine operating switch 17 is an operating switch which is also used for raising the planting working machine 3, raising and lowering the planting working machine 3, and disengaging the planting clutch mechanism, and the lower working machine operating switch 18 is The operation switch is also used for lowering operation of the planting work machine 3, raising and stopping operation of the planting work machine 3, and turning on the planting clutch mechanism.

  As shown in FIG. 5, the control state display unit 16 includes a seedling supply display unit 20 that displays the timing of seedling supply, a planting display unit 19 that displays the planting state, and a fertilizer supply that displays the timing of fertilizer supply. A display unit 21, a fertilizer clogging display unit 22 that displays clogging of fertilizer, a fertilizer application line stop display unit 23 that displays the state of fertilization application, and a left and right marker display unit 29 that displays the direction in which the marker 8 is fed out. Equipped with. Further, in a region adjacent to the control state display unit 16, a work preparation switch 24 that is turned on at the start of planting work, and a marker automatic control that alternately shakes out the left and right markers 8 each time the headland is turned on and off. Marker automatic switch 25, turning automatic raising switch 26 for turning on / off the turning up control for automatically raising the planting work machine 3 in response to turning operation of the steering handle 14, and headlights for turning on / off the headlight. Operation tools such as a light switch 27 and an alarm stop switch 28 for stopping an alarm are arranged.

  As shown in FIG. 6, the traveling machine body 1 is provided with a control unit 30 for performing various controls, and the input side of the control unit 30 has the above-described upper working machine operation switch 17 and lower working machine. In addition to the operation switch 18, the work preparation switch 24, the marker automatic switch 25, and the turning automatic raising switch 26, a right marker switch 31 that swings out the right marker 8 and a left marker switch 32 that swings out the left marker 8, A work machine operation cam potentiometer 33 for detecting the position of the work machine operation cam 10, a lift angle potentiometer 34 for detecting the ascending / descending position of the planted work machine 3, a rotation sensor 35 for detecting the traveling speed, and a reverse operation of the machine body are detected. The back switch 36 and the steering angle detection sensor 37 for detecting the steering angle of the steering handle 14 are connected, while the control unit 30 is connected. The output side, the working machine operating cam motor 11 described above, in addition to the control state display unit 16, a Makamota 38 to operate the marker 8, a notification buzzer 39 for outputting an alarm sound, is connected.

  The control unit 30 has, as a functional configuration realized by the cooperation of hardware and software, at least a working machine operation control unit that raises and lowers the planted working machine 3 in accordance with the operation of the working machine operation switches 17 and 18, When the steering handle 14 is turned while the turning automatic raising switch 26 is turned on, the turning automatic raising control means for automatically raising the planted work machine 3 is provided. The work machine operation control means is realized by the control procedure of the work machine operation control shown in FIG. 7, and the automatic swing raising control means is realized by the control procedure of the swing up control shown in FIG. Hereinafter, the control procedure of the working machine operation control and the turning-up control will be described with reference to FIGS. 7 to 10.

  As shown in FIG. 7, in the work equipment operation control, first, the operation of the lower work equipment operation switch 18 is determined (S101), and if there is the determination result, it is determined whether the work preparation switch 24 is ON / OFF. Yes (S102). If the result of this determination is OFF, the current work implement state (work implement operation cam position) is determined (S103, S104), and if the current work implement state is "up", the work implement operation cam position is set to " If the current working machine state is "fixed", the working machine operation cam position is set to "automatic (down)" (S106).

  On the other hand, even when the work preparation switch 24 is ON, the current working machine state is determined (S107 to S109), and if the current working machine state is “up”, the working machine operation cam position is set to “fixed” ( S105), if the current work implement state is "fixed", the work implement operation cam position is set to "automatic (lower)" (S110). If the current work implement state is “automatic (down)”, it is determined whether the work implement lowering operation is stopped (S111). If the result of this determination is YES, the work implement operation cam position is set to “ "Planting" (S112). If NO, the planting clutch is on standby (S113).

  In step S101, when it is determined that the lower work implement operation switch 18 has not been operated, the operation of the upper work implement operation switch 17 is determined (S114). It is determined whether or not it is in the state (S115). If the determination result is YES, it is determined whether or not the working machine lowering operation is stopped (S116), and when the determination result is YES, the working machine operation cam position is set to "planting" (S117). .. If the determination result in step S115 is NO, the current work implement state is determined (S118), and if the current work implement state is “elevated” and the work implement height is equal to or higher than the predetermined height ( S119), the working machine operation cam position is set to "automatic (lower)" (S120).

  On the other hand, in step S114, when it is determined that the upper work implement operation switch 17 is operated, the current work implement state is determined (S121, S122), and the current work implement state is other than “up”, and In cases other than "automatic (down)", the working machine operation cam position is set to "up" (S123). If the current work implement state is “automatic (down)”, it is determined whether or not the work implement lowering operation is stopped (S124). If the determination result is YES, the work implement operation cam position is set to “ Ascending "(S123), and if NO, the working machine operation cam position is" fixed "(S125).

  The turning-up control shown in FIG. 8 automatically raises the work implement 3 with planting according to the turning operation of the steering handle 14 in order to save the operator's raising operation of the work implement 3 with planting at the time of headland turning. This is a control function, and for example, as shown in FIG. 9, it is performed at the headland turning of 180 ° which is normally performed at the end of the planting stroke, or as shown in FIG. 10, at the corner of the headland planting stroke. The planting work machine 3 is automatically raised when the headland is turned by 90 °. After the planting work machine 3 automatically rises in response to the turning operation of the steering handle 14, the operator may perform the lowering operation of the planting work machine 3 at the same timing as the end of the headland turning. I'm assuming. However, when the operator performs the descending operation of the planting work machine 3 at a stage where the headland turning has not been completed, that is, when the steering angle of the steering handle 14 is equal to or more than the specified angle, the planting work machine 3 that descends There is a possibility that the turning up control function will cause it to rise again.

  In the turning-up control of the present embodiment, in order to solve the above problem, the work implement 3 with the plant is in the lowered state, and the steering angle of the steering handle 14 is equal to or more than the specified angle θ1 ( Based on the automatic rising determination condition that the steering angle of the steering handle 14 is equal to or greater than the specified angle θ2 (turning determination angle: θ2> θ1) after being equal to or less than the straight traveling determination angle). The working machine 3 is automatically raised. That is, when the operator does not lower the turning operation, that is, when the operator lowers the planting work implement 3 while the steering angle of the steering handle 14 is equal to or greater than the specified angle, the above automatic raising determination condition is not satisfied. It is possible to prevent the phenomenon that the planted work machine 3 that has descended rises again due to the turning-up control function.

  In addition, the automatic raising determination condition of the present embodiment is that after the planting work machine 3 is in the descending state and the steering angle of the steering handle 14 is equal to or less than the prescribed angle θ1 for a prescribed time T1 or more (implantation). In addition, a condition that the steering angular velocity of the steering wheel 14 is equal to or higher than the specified angular velocity ω0 is added. That is, since the headland turning is determined not only based on the steering angle of the steering wheel 14 but also based on the steering angular velocity, it is possible to prevent a phenomenon in which the planting work implement 3 is automatically raised in response to a gentle steering wheel operation in the planting process. .. Hereinafter, a specific control procedure of the turning-up control will be described with reference to FIG.

  As shown in FIG. 8, in the turning-up control, after confirming that the work preparation switch 24 and the turning automatic raising switch 26 are ON (S201, S202), the state of the turning-up flag (planting stroke determination flag) is changed. It is determined (S203). Here, when it is determined that the turning-up flag is in the reset state, it is determined whether or not the planting work machine 3 is in the descending state or the planting state (S204: Judgment based on the work machine operation cam position), and the determination is made. If the result is YES, it is determined whether the steering angle of the steering wheel 14 is equal to or less than the specified angle θ1 (S205). Then, if the determination result is YES, the traveling time counter T is added (S206), and it is determined whether the traveling time counter T is equal to or more than the specified time T1 (S207), and the determination result is YES. Then, the turning up flag is set (S208).

  On the other hand, when it is determined in step S203 that the turning up flag is in the set state, it is determined whether the steering angular velocity ω of the steering wheel 14 is equal to or greater than the specified angular velocity ω0 (S209), and the determination result is YES. Determines whether or not the steering angle θ of the steering wheel 14 is equal to or greater than the specified angle θ2 (S210). If the result of this determination is also YES, the planted work machine 3 is automatically raised to the highest position, a notification sound is activated, and the traveling time counter T and the turning-up flag are reset (S211).

  According to the present embodiment configured as described above, the traveling machine body 1 having the steering handle 14, the work machine operating switches 17 and 18, and the turning automatic raising switch 26, and the plant body connected to the rear portion of the traveling machine body 1 so as to be vertically movable. A riding rice transplanter P including a work machine 3 with a plant and a lift cylinder 4 for raising and lowering the work machine 3 with a plant, which is a work for raising and lowering the work machine 3 with a plant in response to an operation of work machine operation switches 17 and 18. A turning automatic raising control is provided which includes a machine operation control means and a turning automatic raising control means for automatically raising the work implement 3 with a plant when the steering handle 14 is turned while the turning automatic raising switch 26 is turned on. Means are for steering after the planted work machine 3 is in the lowered state and the steering angle of the steering handle 14 is equal to or less than the specified angle θ1 for a specified time T1 or more. When the steering angular velocity of the handle 14 is equal to or greater than the specified angular velocity ω0 and the steering angle of the steering handle 14 is equal to or greater than the specified angle θ2, the planting work implement 3 is automatically raised, and thus the headland turning is completed. Even when there is no step, that is, when the operator lowers the planting work machine while the steering angle of the steering handle 14 is equal to or larger than the specified angle θ2, the lowered planting work machine 3 is controlled by the turning automatic raising control function. The phenomenon of rising again can be prevented. Moreover, the turning automatic raising control means determines the headland turning based not only on the steering angle of the steering handle 14 but also on the steering angular velocity, so that the planting work machine 3 operates according to the gentle steering handle operation in the planting process. The phenomenon of automatic rising can also be prevented.

[Other Embodiments]
Next, another embodiment of the present invention will be described with reference to FIGS. 11 and 12. However, the description of the above-mentioned embodiment is cited by using the same reference numeral as that of the above-mentioned embodiment for the common part with the above-mentioned embodiment.

  The turning-up control according to the second embodiment shown in FIG. 11 is different from the turning-up control of the above-described embodiment in that step S209 of FIG. 8 is omitted. Even with such turning-up control, the steering angle of the steering handle 14 is reduced after the planting work implement 3 is in the lowered state and the steering angle of the steering handle 14 is equal to or less than the specified angle θ1 for a specified time T1 or more. When the angle becomes equal to or more than the specified angle θ2, the planted work machine 3 is automatically lifted. Therefore, the worker does not have to turn the headland, that is, the operator does not operate the steering wheel 14 at the specified angle or more. Even when the planting work machine 3 is lowered, it is possible to prevent the lowered planting work machine 3 from rising again due to the turning-up control function.

  The turning-up control according to the third embodiment shown in FIG. 12 is different from the turning-up control of the above-described embodiment in that step S210 of FIG. 8 is omitted. Even in such a turning-up control, the steering angular velocity of the steering handle 14 is reduced after the planting work implement 3 is in the lowered state and the steering angle of the steering handle 14 is equal to or less than the prescribed angle θ1 for a prescribed time T1 or more. When the specified angular velocity ω0 or higher, the planted work machine 3 is automatically raised, so that the worker does not turn the headland, that is, when the steering angle of the steering handle 14 is equal to or greater than the specified angle. Even when the planting work machine 3 is lowered, it is possible to prevent the lowered planting work machine 3 from rising again due to the turning-up control function. Moreover, since the turning-up control of the third embodiment determines the headland turning based on the steering angular velocity, not the steering angle of the steering handle 14, the planting work machine is operated according to the gentle steering handle operation in the planting process. It is possible to prevent the phenomenon that 3 automatically rises.

DESCRIPTION OF SYMBOLS 1 Traveling machine 3 Working machine with planting 4 Lift cylinder 10 Working machine operating cam 11 Working machine operating cam motor 14 Steering handle 17 Upper working machine operating switch 18 Lower working machine operating switch 24 Work preparation switch 26 Turning automatic raising switch 30 Control section 33 Work machine operation cam Potentiometer 34 Lift angle potentiometer 37 Steering angle detection sensor

Claims (3)

A traveling body having a steering handle, a work implement operating tool, and a turning automatic raising switch;
A planting work machine connected to the rear part of the traveling machine body so as to be vertically movable,
A working rice planting machine comprising a working machine lifting mechanism for lifting the planting working machine,
Working machine operation control means for moving up and down the planted working machine according to the operation of the working machine operation tool,
When the steering handle is turned while the turning automatic raising switch is turned on, a turning automatic raising control means for automatically raising the planted work machine is provided,
The turning automatic raising control means controls the steering angle of the steering handle after the planted work machine is in the lowered state and the steering angle of the steering handle is equal to or less than a prescribed angle θ1 for a prescribed time T1 or more. A riding rice transplanter, which automatically raises the work machine with planting when the angle becomes equal to or more than a specified angle θ2. A traveling body having a steering handle, a work implement operating tool, and a turning automatic raising switch;
A planting work machine connected to the rear part of the traveling machine body so as to be vertically movable,
A working rice planting machine comprising a working machine lifting mechanism for lifting the planting working machine,
Working machine operation control means for moving up and down the planted working machine according to the operation of the working machine operation tool,
When the steering handle is turned while the turning automatic raising switch is turned on, a turning automatic raising control means for automatically raising the planted work machine is provided,
The turning automatic raising control means controls the steering angular velocity of the steering handle after the planted work machine is in the lowered state and the steering angle of the steering handle is equal to or less than a prescribed angle θ1 for a prescribed time T1 or more. A riding rice transplanter, which automatically raises the working machine with planting when the angular velocity exceeds a prescribed angular velocity ω0. A traveling body having a steering handle, a work implement operating tool, and a turning automatic raising switch;
A planting work machine connected to the rear part of the traveling machine body so as to be vertically movable,
A working rice planting machine comprising a working machine lifting mechanism for lifting the planting working machine,
Working machine operation control means for moving up and down the planted working machine according to the operation of the working machine operation tool,
When the steering handle is turned while the turning automatic raising switch is turned on, a turning automatic raising control means for automatically raising the planted work machine is provided,
The turning automatic raising control means controls the steering angular velocity of the steering handle after the planted work machine is in the lowered state and the steering angle of the steering handle is equal to or less than a prescribed angle θ1 for a prescribed time T1 or more. A riding rice transplanter characterized by automatically raising the planting work machine when the steering angle of the steering wheel becomes a prescribed angle θ2 or more at a prescribed angular velocity ω0 or higher.

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