JP3113629B2 - Transplant machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground working device which is connected to a rear portion of a traveling body by a driving mechanism so as to be able to drive up and down.
The present invention relates to a transplanter including a control device for raising and lowering the ground work device so as to maintain a ground float provided in the ground work device at a target posture corresponding to a set control sensitivity.

[0002]

2. Description of the Related Art Taking a rice transplanter as an example of a transplanter configured as described above, the present applicant swings one of a plurality of ground floats provided in a seedling planting device around an axis in a lateral posture. A seedling planting device comprising: a spring that movably supports and biases a front portion of the ground float downward, and a potentiometer-type sensor that detects a swinging posture of the ground float around the axis. (Japanese Patent Application Nos. 4-222264 and 4-2570).
No. 55, Japanese Patent Application No. 4-281249). In this rice transplanter, for example, when the mud in a field scene is hard, the sensitivity adjuster is set to the insensitive side, whereby the attitude of the grounding float is set to the front upward side, and the spring of the spring is simultaneously The biasing force is increased and the change in the attitude of the ground float is suppressed. Conversely, if the mud in the field scene is soft, the sensitivity adjuster is set to the sensitive side, and the attitude of the ground float is adjusted. Is set to the front lower side, and the biasing force of the spring is reduced at the same time as the contact area increases, so that the posture of the contact float can be easily changed. Thus, the sensitivity corresponding to the hardness of the mud in the field scene Is set, the raising / lowering control corresponding to the level change of the field scene can be performed, and the transplanting depth of the seedling to the field scene can be maintained with high accuracy.

[0003]

Here, considering the hardness of the mud in the field scene, the hardness of the mud is not affected only by the amount of water in the field scene, but the soil characteristic of the field, that is, the clay soil. It is also greatly affected by whether or not, for example, in a clay-based and low-moisture field scene, the mud hardness of the field scene becomes extremely hard, and conversely, in a non-clay material called "kuroboku" In a wet scene, the field scene is very soft. For this reason, in order to cope with various fields, it is necessary to widen the adjustment range that can be set by the sensitivity adjuster.

[0004] However, assuming that the sensitivity adjuster has a wide adjustment range, the sensitivity adjuster with respect to the unit operation amount of the sensitivity adjuster becomes too small, so that it is difficult to perform fine adjustment. Instead, for example, when working in a clay field, the sensitivity adjuster is adjusted in a region biased toward the insensitive side, so the adjustment range up to the insensitive side operation end of the sensitivity adjuster is adjusted. Is too small, and sensitivity adjustment to the insensitive side is possible, but in reality, the sensitivity adjuster reaches the insensitive side operating end with only slight operation, and the sensitivity adjustment range There is room for improvement in giving the feeling that there is almost no room. SUMMARY OF THE INVENTION It is an object of the present invention to rationally configure a transplanter capable of finely adjusting the sensitivity of the elevation control of a ground working apparatus with a sufficient operation stroke in an adjustment range having a margin.

[0005]

A first feature of the present invention (claim 1) is that a ground working device is connected to a rear portion of a traveling body so as to be driven up and down by a driving mechanism, and a grounding device provided in the ground working device. In a transplanter equipped with a controller that raises and lowers the ground working device so as to maintain the float in a target posture corresponding to the set control sensitivity, the control is performed by changing a set value of the target posture of the ground float. A plurality of artificially operated sensitivity adjusters capable of changing the sensitivity set value are provided, and one of the plurality of sensitivity adjusters has a control sensitivity with a predetermined control characteristic based on an operation in a predetermined region. Is changed to the sensitive side or the insensitive side, another one sensitivity adjuster is configured to move the area adjustable by the one sensitivity adjuster to the sensitive side or the insensitive side, and respectively. The configuration is such that one target control sensitivity is set by a combination of operations, and the respective sensitivity adjusters are arranged at different distances from the driver's seat of the traveling machine body. Is as follows.

A second feature of the present invention (claim 2) is that a ground working device is connected to a rear portion of the traveling body so as to be able to be driven up and down by a driving mechanism, and a ground float provided in the ground working device is set. In the transplanter equipped with a control device that raises and lowers the ground working device so as to maintain the target attitude corresponding to the control sensitivity, the control sensitivity is changed by changing the set value of the target attitude of the ground float. A plurality of artificially-operated sensitivity adjusters capable of adjusting the control sensitivity with a predetermined control characteristic based on an operation in a predetermined region. And another one of the sensitivity adjusters is configured to move the area adjustable by the one sensitivity adjuster to the sensitive side or the insensitive side, and the combination of the respective operations is performed. One of the plurality of sensitivity adjusters is configured to set a target control sensitivity, and one of the plurality of sensitivity adjusters is arranged at a position sandwiching the driving seat of the traveling body. The operation and effect are as follows.

According to a third feature of the present invention (claim 3), in claim 2, the one sensitivity adjuster is disposed on the left side of the driver's seat, and the other sensitivity adjuster is connected to the driver's seat. The operation and effect are as follows.

A fourth feature of the present invention (claim 4) is that a ground working device is connected to a rear portion of the traveling body so as to be able to drive up and down by a driving mechanism, and a ground float provided in the ground working device is set. In the transplanter equipped with a control device that raises and lowers the ground working device so as to maintain the target attitude corresponding to the control sensitivity, the control sensitivity is changed by changing the set value of the target attitude of the ground float. A plurality of artificially-operated sensitivity adjusters capable of adjusting the control sensitivity with a predetermined control characteristic based on an operation in a predetermined region. And another one of the sensitivity adjusters is configured to move the area adjustable by the one sensitivity adjuster to the sensitive side or the insensitive side, and the combination of the respective operations is performed. One of the plurality of sensitivity adjusters is arranged at a position parallel to another operation tool, and the other sensitivity adjuster is set at a position separated from this position. The operation and effect are as follows.

A fifth feature of the present invention (claim 5) is that a ground work device is connected to a rear portion of the traveling body by a drive mechanism so as to be able to be driven up and down freely, and a ground float provided in the ground work device is set. In the transplanter equipped with a control device that raises and lowers the ground working device so as to maintain the target attitude corresponding to the control sensitivity, the control sensitivity is changed by changing the set value of the target attitude of the ground float. A plurality of artificially-operated sensitivity adjusters capable of adjusting the control sensitivity with a predetermined control characteristic based on an operation in a predetermined region. And another one of the sensitivity adjusters is configured to move the area adjustable by the one sensitivity adjuster to the sensitive side or the insensitive side, and the combination of the respective operations is performed. One of the plurality of sensitivity adjusters is configured to set a control sensitivity that is a target, and the arrangement height of one of the plurality of sensitivity adjusters is different from that of the other one. Is as follows.

[Action]

According to the first feature, the operation of one sensitivity adjuster in a predetermined area and the predetermined control characteristic can be performed.
The control sensitivity can be changed to the sensitive side or the insensitive side, and the control sensitivity adjustment region itself can be moved by a predetermined control characteristic by operating another sensitivity adjuster.
The operation can be facilitated by arranging the frequently-adjusted sensitivity adjuster near the driver's seat. Specifically, for example, the control sensitivity set in response to various field conditions in a wide area ranging from the northernmost point to the southernmost point in Japan becomes extremely wide, and an unfamiliar from its wide adjustment range. It is very difficult to adjust the user to select the optimum sensitivity accurately.However, according to the present invention, a range that seems to be optimal is first selected by roughly corresponding to conditions such as hard and soft mud in the field. Then, since the control sensitivity is set within a predetermined adjustment region by operating the other sensitivity adjuster, the fine adjustment can be performed using the entire operation range of the sensitivity adjuster while following the same change characteristic. The control sensitivity can be adjusted with high precision, and the control sensitivity can be quickly and easily adjusted by operating a frequently operated one of the plurality of sensitivity adjusters from a position near the driver's seat. In other words, by providing a plurality of sensitivity adjusters, it is possible to adjust the control sensitivity in a wider and more flexible adjustment range than with a single sensitivity adjuster, while controlling the operator with the same operational feeling. Sensitivity is set delicately, and even though a plurality of sensitivity adjusters are provided, it is easy to operate the sensitivity adjusters when adjusting the control sensitivity.

According to the second feature, the operation of one sensitivity adjuster within a predetermined area and the predetermined control characteristic can be performed by:
The control sensitivity can be changed to the sensitive side or the insensitive side, and the control sensitivity adjustment region itself can be moved by a predetermined control characteristic by operating another sensitivity adjuster.
By arranging one of these sensitivity adjusters, which is frequently operated, on one side with respect to the driver's seat, the selection of the sensitivity adjuster can be made without error. Specifically, for example, the control sensitivity set in response to various field conditions in a wide area ranging from the northernmost point to the southernmost point in Japan becomes extremely wide, and an unfamiliar from its wide adjustment range. It is very difficult to adjust the user to select the optimum sensitivity accurately.However, according to the present invention, a range that seems to be optimal is first selected by roughly corresponding to conditions such as hard and soft mud in the field. Then, since the control sensitivity is set within a predetermined adjustment region by operating the other sensitivity adjuster, the fine adjustment can be performed using the entire operation range of the sensitivity adjuster while following the same change characteristic. The control sensitivity can be adjusted with high accuracy, and among the plurality of sensitivity adjusters, the one whose operation frequency is high can be operated from one side with reference to the driver's seat to adjust the control sensitivity without fail. In other words, by providing a plurality of sensitivity adjusters, it is possible to adjust the control sensitivity in a wider and more flexible adjustment range than with a single sensitivity adjuster, while controlling the operator with the same operational feeling. The sensitivity can be set delicately, and the selection of the sensitivity adjuster at the time of adjusting the control sensitivity is easy without being provided with a plurality of sensitivity adjusters.

According to the third feature, one of the two sensitivity adjusters can be operated at the left side position of the driver's seat, and the other can be operated at the right side position of the driver's seat. There is no erroneous operation just by doing.

According to the fourth feature, the operation of one sensitivity adjuster within a predetermined area and the predetermined control characteristics can be performed.
The control sensitivity can be changed to the sensitive side or the insensitive side, and the control sensitivity adjustment region itself can be moved by a predetermined control characteristic by operating another sensitivity adjuster.
By arranging a sensitivity adjuster with a high operation frequency at a position parallel to another operation implement, the control sensitivity can be adjusted from a fixed position where the other operation implement can be operated. Specifically, for example, the control sensitivity set in response to various field conditions in a wide area ranging from the northernmost point to the southernmost point in Japan becomes extremely wide, and an unfamiliar from its wide adjustment range. It is very difficult to adjust the user to select the optimum sensitivity accurately.However, according to the present invention, a range that seems to be optimal is first selected by roughly corresponding to conditions such as hard and soft mud in the field. Then, since the control sensitivity is set within a predetermined adjustment region by operating the other sensitivity adjuster, the fine adjustment can be performed using the entire operation range of the sensitivity adjuster while following the same change characteristic. The control sensitivity can be adjusted with high precision, and the control sensitivity can be adjusted by operating the frequently operated one of the plurality of sensitivity adjusters from the position at which other operating tools are used. In other words, by providing a plurality of sensitivity adjusters, it is possible to adjust the control sensitivity in a wider and more flexible adjustment range than with a single sensitivity adjuster, while controlling the operator with the same operational feeling. The sensitivity can be set delicately, and even though there are multiple sensitivity adjusters, when adjusting the control sensitivity, it is easy to select the sensitivity adjuster and it is impossible to operate other operating tools. There is no.

According to the fifth feature, the operation of one sensitivity adjuster within a predetermined area and the predetermined control characteristics can be performed.
The control sensitivity can be changed to the sensitive side or the insensitive side, and the control sensitivity adjustment region itself can be moved by a predetermined control characteristic by operating another sensitivity adjuster.
The operation can be made easier by arranging the sensitivity adjuster, which is frequently operated, at a height that is easy to operate. Specifically, for example, the control sensitivity set in response to various field conditions in a wide area ranging from the northernmost point to the southernmost point in Japan becomes extremely wide, and an unfamiliar from its wide adjustment range. It is very difficult to adjust the user to select the optimum sensitivity accurately.However, according to the present invention, a range that seems to be optimal is first selected by roughly corresponding to conditions such as hard and soft mud in the field. Then, since the control sensitivity is set within a predetermined adjustment region by operating the other sensitivity adjuster, the fine adjustment can be performed using the entire operation range of the sensitivity adjuster while following the same change characteristic. Control sensitivity can be adjusted with high precision, and among the multiple sensitivity adjusters, those with high operation frequency can be operated from a position close to the driver's seat so that the operator can adjust the control sensitivity in a comfortable posture. It made. In other words, by providing a plurality of sensitivity adjusters, it is possible to adjust the control sensitivity in a wider and more flexible adjustment range than with a single sensitivity adjuster, while controlling the operator with the same operational feeling. The sensitivity can be set delicately, and the frequent operation of the sensitivity adjuster can be performed in a comfortable posture.

[Effects of the Invention] Accordingly, the control sensitivity for raising and lowering the ground working device can be finely adjusted in an adjustable range having a margin on both the sensitive side and the insensitive side.
At the time of the sensitivity adjustment, the control sensitivity can be adjusted without changing the operation feeling by maintaining the change amount of the control sensitivity with respect to the operation amount of the sensitivity setting device (claims 1 to 5).
The sensitivity can be easily and quickly adjusted by setting the disposition distance of the sensitivity adjuster to the driver's seat (claim 1), and the sensitivity can be easily and quickly adjusted by setting the relative position of the sensitivity adjuster to the driver's seat (claim 1). 2) By arranging the sensitivity adjusters on the left and right sides of the driver's seat, there is no erroneous operation in the sensitivity adjustment (Claim 3), and the sensitivity is operated by operating the sensitivity adjusters with a familiar operation feeling from a position parallel to other operation tools. The adjustment can be performed reasonably (claim 4), and the frequent sensitivity adjustment can be performed in a comfortable posture (claim 5).

[0017]

Embodiments will be described below with reference to the drawings. FIG.
FIG. 5 shows a riding type rice transplanter which is an example of the transplanter. In this rice transplanter, a seedling planting device 3 [an example of a ground working device] is driven by a lift cylinder 4 [an example of a driving mechanism] at a rear portion of the riding type traveling body 1 via a parallel quadruple link mechanism 2 so as to be able to move up and down and to be electrically driven. The rolling motor 5 is connected so as to be capable of driving rolling freely around the longitudinal axis.

In the traveling body 1, the power of an engine 6 mounted on the front of the body is transmitted to front and rear wheels 10, 11 via a belt-type continuously variable transmission 7 and a gear-shift type main transmission 9 in a transmission case 8. The transmission system is configured to drive the machine body to travel and transmit the power after shifting to the seedling planting apparatus 3 via the planting clutch 12 so as to be able to be intermittently operated. The continuously variable transmission 7 is a split pulley type continuously variable transmission, and has a potentiometer type speed setting device 1 provided with an interval between split pulleys on a body operation panel 13.
The driving operation is performed by the electric cylinder 15 so as to achieve the set speed according to the fourth embodiment. In addition, the main transmission 9 is driven by the main transmission lever 16 to operate the first forward speed F1 for planting work, the second forward speed F2 for road running, the neutral position N, and the reverse position R.
Are configured to be freely switchable.

The seedling planting apparatus 3 takes out the seedlings one by one from the lower end of the seedling rest 18 and the seedling rest 18 which moves reciprocally and horizontally with a constant stroke with respect to the planting transmission case 17 which also serves as a frame. A planting mechanism 19 for planting, a plurality of ground floats 20 and the like, which are supported so as to be able to swing up and down around a rear fulcrum, etc., are drawn on both left and right sides for drawing a running index line in the next work process on a field scene. The marker 21 is provided so as to be able to move back and forth. Each of the drawing markers 21 and 21 is
Each is configured to be biased by switching to the protruding posture and to be forcibly stored via a wire as the seedling planting device 3 is raised, and to lock and hold the left and right drawing markers 21 and 21 in the stored state. The lock mechanisms 22 and 22 are selectively unlocked, and when the seedling planting apparatus 3 is lowered, the drawing marker on the selected side is set to the protruding action posture. As shown in FIG. 7, the release operation of each of the lock mechanisms 22, 22 is performed by turning the steering handle 2 as shown in FIG.
3 is selectively operated by switching the first operating tool 24 provided on the lower right side from the neutral position in which the return bias is applied in the forward and backward and forward and reverse directions. The first operating tool 24 is linked so that when the forward / reverse switching operation is performed from the neutral position, the on / off clutch switch 25 of the planting clutch 12 is turned on in conjunction therewith. As shown in FIG. 1, the planting clutch 12 has a gear reduction type operation member 28 which is driven by a forward / reverse type electric clutch motor 27 driven through a relay circuit 26 which is switched by a clutch ON signal and a clutch OFF signal. The on / off operation is performed through a clutch, and the determination as to whether the clutch is engaged or disengaged is made by detecting one of a clutch-off switch 29 and a clutch-on switch 30 that are in contact with the operating member 28. I have.
The link mechanism for the interlocking operation includes a compression spring S which is interlocked and linked by a compression operation when operating the clutch disengagement side.
By interposing P, the clutch disengagement operation can be performed quickly while securing the operation flexibility.

The seedling planting device 3 is provided with an operation lever 32 provided on the side of the driver's seat 31 so as to be freely swingable back and forth.
Is configured to be moved up and down by the switching operation. As shown in FIG. 6, the operation lever 32 can be switched between a “planting position” P, a “down position” D, a “neutral position” N, a “up position” U, and an “automatic position” AT. The switching operation is performed by detecting the amount of swinging back and forth by a potentiometer-type lever sensor 33 and determining the level of the detection value of the lever sensor 33 by a control device 34 (an example of control means) having a microcomputer. That is, if the control device 34 is in the “planting” position based on the level determination, the control device 34 causes the planting clutch 12 to be engaged with the seedling planting device 3 in a state where the ground contact is lowered, and the control device 34 is in the “down position” D In this case, the seedling planting apparatus 3 is lowered while touching the planting clutch. If the “neutral position” N, the position is held as it is, and if the “elevated position” U, the seedling planting device 3 is forcibly raised to the set height. Then, when the operation is switched to the "automatic position" AT, as described later, the elevating operation by the elevating operation switch 35 can be performed, and the control for forcibly raising the seedling planting device 3 when the body moves backward is performed. As shown in FIG. 7, a second operating tool 36 is provided on the lower left side of the steering handle 23 in the body operating section, and when the second operating tool 36 is swingably operated upward from the neutral position in which the return is biased. , The raising / lowering operation switch 35 is turned on, and each time the switch is turned on, the seedling planting device 3
And the state in which the seedling planting apparatus 3 is raised to the maximum ascending position can alternately appear. When the second operating tool 36 is pivoted downward from the neutral position, the clutch switch 25 for switching the planting clutch 12 to the engaged state is operated. A reverse detection switch 37 for detecting that the main shift lever 16 has been detected at the reverse position R is provided.
4 controls so that the seedling planting device 3 is forcibly raised to the maximum raising position. The detection that the seedling planting device 3 has been raised to the maximum raised position is configured to be detected by an intermediate portion of the link mechanism 2 acting on a link switch 38 provided on the rear side of the driver's seat 31. is there. Elevation control of the seedling planting device 3 by the elevation operation switch 35 as described above,
In addition, the forced ascending control during the reverse movement of the aircraft is configured to be performed only when the operation lever 32 is operated to the “automatic position” AT.

The operating lever 32 is operated to one of the "planting position" P, the "down position" D, and the "automatic position" AT, and the main shift lever 16 is moved to the first forward position. In a state where the speed is operated at the speed F1 or the forward second speed F2, the automatic rolling control is executed so that the left and right inclination posture of the seedling planting device 3 is maintained at the set posture. More specifically, as shown in FIG. 3, the main transmission switch 39 for detecting whether the main transmission lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the absolute position of the seedling planting device 3 A weight type inclination sensor 40 for detecting an inclination angle from a horizontal posture, and a potentiometer type inclination angle setting device 41 for artificially setting a target inclination posture, and a control device based on these outputs and the output of a lever sensor 33 are provided. 3
4 performs control as shown in the control flowchart of FIG. The main shift switch 39 detects that the main shift lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the output of the lever sensor 33 changes the operating position of the operating lever 32 to the “planting position”. P, when it is detected that any of the “down position” D and the “automatic position” AT has been operated, the detection value XR of the inclination sensor 40 differs from the target value Ra by the inclination angle setting device 41, The detected value XR of the inclination sensor 40 is the target value Ra by the inclination angle setting device 41.
If it is smaller, the output for the lower right is output to the relay circuit 42 until these values substantially match, and the rolling motor 5 is rotated in the lower right direction. Tilt sensor 4
If the detected value XR of 0 is larger than the target value Ra by the inclination angle setting device 41, an output for lowering to the left is output to the relay circuit 42, and the rolling motor 5 is rotationally driven to lower left. The circuit configuration is such that when the rolling motor 5 is driven to the mechanical operation limit and detected by the left and right limit switches 43 and 44, the relay circuit 42 is directly turned off to stop the driving of the rolling motor 5. I have. Further, even when an abnormality occurs in the automatic control system as described above, the relay circuit 42 is directly driven by the manual rolling switch 45 which is three-position switching type and is biased to return to the center, thereby manually performing the rolling drive. It is configured to be able to. In the manual rolling operation by the manual switch 45, the control signal from the controller 34 is configured to be kept in the off state.

During the planting operation, automatic raising and lowering control is performed so that the ground height of the seedling planting device 3 is maintained at a set value. As shown in FIG. 2, a potentiometer type float sensor 46 for detecting the vertical swing amount based on the ground pressure fluctuation of the ground float 20 located at the left and right center is provided.
The detection value of the float sensor 46 is transmitted to the control panel 13
The controller 34 automatically controls the electromagnetic control valve 48 for the lift cylinder 4 so as to fall within the setting range of the potentiometer type sensitivity setting device 47 provided in the above, so that the ground height of the seedling planting device 3 is set. Value will be maintained. That is, as shown in FIG. 5, the control device 34 holds the state if the detection value XS of the float sensor 46 is within the dead zone of the target value Sa, and if the detection value XS is larger than the target value Sa, the electromagnetic control is performed. A drive signal is output to the ascending electromagnetic solenoid UPSol of the valve 48, and if the detected value XS is smaller than the target value Sa, the descending electromagnetic solenoid DWS
ol to output a drive signal. The automatic lifting control is configured to be executed only when the operation lever 32 is operated to any one of the “planting position” P, the “down position” D, and the “automatic position” AT. I have. The sensitivity setting device 47 changes the target reference posture of the ground float 20, and changes the sensing load of the ground float 20 according to the hardness of the mud. The control target value by the sensitivity setting device 47 can be corrected by a three-position switching type correction switch 51. As shown in FIG. 8, by changing the correction switch 51, the change characteristic of the control target value with respect to the set value by the sensitivity setting unit 47 is changed by the parallel movement to the insensitive side (the reference attitude of the ground float is in the forward rising direction) or the sensitive side (the forward Downward direction]. Further, if the vehicle traveling speed becomes high, the contact float 20 may be slightly lifted, and the seedling planting device 3 may rise to become shallow. Therefore, the change characteristic of the control target value in the elevating control is the vehicle speed. It is configured to be changed according to. That is, a speed sensor 52 for detecting the speed of the engine 6 and a potentiometer-type shift position sensor 53 for determining the shift position of the continuously variable transmission 7 are provided. If the speed is faster (for example, the vehicle speed is 0.8 m / sec or more), the change characteristic of the control target value is changed to the insensitive side, and the change amount becomes larger as the vehicle speed increases. Further, since a hydraulic pump (not shown) for the lift cylinder 4 is driven by the engine 6, the flow rate of hydraulic oil for the lift cylinder 4 changes due to a change in the engine speed. Each electromagnetic solenoid UPS of the electromagnetic control valve 48 according to the detection result of the number
ol, the duty ratio of the pulse current supplied to the DWSol is appropriately changed, and the control is performed such that the flow rate of the working oil is always kept constant.

As shown in FIG. 9, the tilt angle setting device 4
1. Manual rolling switch 45 and correction switch 51
Are disposed on a rear wheel fender 54 located on the side of the driver's seat 31, and these are openable and closable lids 55.
It is configured to cover with.

Next, the control operation of the control device 34 relating to the elevating operation of the seedling planting apparatus 3 will be described in detail with reference to the control flowcharts shown in FIGS. When the main switch is turned on and the control is started, the ascending electromagnetic solenoid UPSo of the electromagnetic control valve 48 for the lift cylinder 4 is moved.
1 and the outputs of the lowering electromagnetic solenoid DWSol are turned off, and the operation flag f0 for the lifting / lowering operation switch 35, the operation flag f1 for the clutch switch,
Initialize each of the operation flag f2 for automatic lifting control and the operation flag f3 for reverse lifting operation to “0” [Step 1,
2]. If the operation lever 32 is operated to a position other than the "automatic position" AT, the operation flags f0 to f3 are initialized, and if the "neutral position" is N, the clutch engagement signal STR for the clutch motor 27 is turned off. If the clutch off switch 29 is on, the clutch off signal ST
P is turned off, and if the clutch off switch 29 is off, a clutch disengagement signal STP is output and the planting clutch 1
2 is maintained in the cut state [Steps 3-9]. And
If the operation lever 32 is at a position other than the "automatic position" AT or the "neutral position" N when the main switch is turned on, once the operation lever 32 is switched to the "neutral position" N, the next operation is performed. Proceed to step [Step 1
0].

When the operating lever 32 is operated to the "up position" U, the clutch engagement signal STR is turned off, the operation flag f2 for automatic up / down control is set to "0", and then the clutch off switch 29 is turned on. If there is, the clutch disengagement signal STP is turned off, and if the link switch 38 is on (the seedling planting device 3 is in the up state), the ascending electromagnetic solenoid UPSol is turned off. If the link switch 38 is in the off state, it goes up. The operator turns on the electromagnetic solenoid UPSol for raising the seedling planting device 3 [steps 11 to 1].
7]. If the clutch-off switch 29 is not on, the clutch disengagement signal STP is turned on and the planting clutch 12 is disengaged by the clutch motor 27, and the ascending and descending solenoids UPSol and DWSol are turned off [steps 18, 19]. When the operation lever 32 is operated to the "down position" D, the output of the clutch engagement signal STR is stopped, and then the planting clutch 12 is turned on in the same manner as the control described above.
The seedling planting apparatus 3 is lowered [Steps 24 to 26] while maintaining the cutting state [Steps 20 to 23]. When it is determined from the detection value of the float sensor 46 that the seedling planting device 3 has touched the ground, the automatic elevation control mode is executed [step 27]. At this time, if the link switch 38 is turned on, the ascending solenoid UPSol is turned off, and the automatic up / down control operation flag f2 is set to "1" (steps 28 to 30). When the operating lever 32 is operated to the "planting position" AT, the clutch-on signal STR is turned off, and then the clutch-on signal STR is output until the clutch-on switch 30 is turned on to operate the clutch motor 27 to perform the planting. The attached clutch 12 is brought into the engaged state [steps 31 to 34]. Thereafter, automatic elevating control is performed. The operation flags f0, f1 and f3 other than the operation flag f2 for automatic elevation control are maintained at "0" (step 35).

Next, the operation when the operation lever 32 is operated to the "automatic position" AT will be described. Operation lever 3
When the up / down operation switch 35 is operated after the 2 is operated to the "automatic position" AT, the switch operation flag f0 is set to "1", and when the link switch 38 is in the ON state (up state), the automatic up / down operation is performed. Set the control operation flag f2 to “0”
, And the lowering solenoid DWSol is turned on to lower the seedling planting device 3 [Steps 36, 37, 39 to
43]. When the seedling planting apparatus 3 comes down on the ground, the switch operation flag f0 is set to "0", the operation flag f2 for automatic elevating control is set to "1", and then the mode shifts to the automatic elevating control mode [Steps 44 to 44]. 48]. If the link switch 38 is off when the lifting operation switch is operated, the planting clutch 12 is disengaged to raise the link switch 38 until the link switch 38 is turned on (steps 49 to 5).
4]. When the link switch 38 is turned on, the switch operation flag f0 is set to "0" (steps 55 and 55).
6]. When the up / down operation switch 35 is operated again during the up / down operation, the operation direction is reversed [steps 56 to 60]. Note that, when the raising / lowering operation switch 35 is operated in the initial state, the planting clutch 12
If is not the cutting state, it returns to the initial state [Step 3
7, 38]. Then, when the clutch switch 25 is turned on by the operating tools 24 and 36 of the control unit after the seedling planting apparatus 3 is lowered, the clutch switch operation flag f1 is set to "1" and planting is performed. When the clutch 12 is engaged (steps 61 to 64), the alarm buzzer 56 sounds until the clutch-on switch 30 is turned on. When the clutch-on switch 30 is turned on, the clutch switch operation flag f1 is set to "0" to issue an alarm. It stops (steps 65 to 69). Thereafter, the mode shifts to the automatic elevating control mode.

After the operation lever 32 is operated to the "automatic" position, the operation of the main transmission lever 16 to the reverse transmission position is detected by the reverse detection switch 37, and if the link switch 38 is not in the ON state, After setting the reverse ascending operation flag f3 to "1" [Steps 70 to 7]
4] Then, the process proceeds to a step 49, wherein the seedling planting apparatus 3 is operated until the planting clutch 12 is turned off and the link switch 38 is turned on.
Is forced to rise. When the link switch 38 is turned on, the reverse ascending operation flag f3 is set to "0" (step 56). Further, there is no operation of the lifting / lowering operation switch 35 or the detection operation of the reverse detection switch 37, and the reverse lifting operation flag f3
Is “1”, when the seedling planting device 3 is in the ascending position and the operation lever 32 is shifted from another position, or when the automatic elevating control mode is not set, the seedling planting device 3 is held at the ascending / descending position [ Steps 75 to 79]; otherwise, the mode is shifted to the automatic elevating control mode [Steps 80 and 46].

[Other Embodiments] (1) Based on the downward operation of the second operation tool 36, the on-off state and the off-state of the planting clutch 12 for each operation in the same manner as the operation of the elevation operation switch 35. May be controlled so as to appear alternately. That is, the second
The operating tool 36 disengages the planting clutch 12 with respect to the seedling planting device 3 and forcibly raises the seedling planting device 3 to the predetermined position based on the operation in the predetermined direction from the restored biased neutral position. The first state and the second state of lowering the seedling planting device 3 to the ground alternately appear, and based on an operation in a direction different from the predetermined direction from the neutral position,
The control device 34 is configured to perform a control operation so that a state where the planting clutch 12 is operated to be turned on and a state where the planting clutch 12 is operated to be turned off alternately appear. (2) Further, the second operating tool 36 is provided to be able to freely move back and forth around the axis of the vertical axis, and performs the switching operation of the lifting / lowering operation switch 35 based on the swinging operation to the rear side, and based on the operation to the front side. The planting clutch 12 may be operated by operating the planting clutch 12.

In the claims, the reference numerals are used to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control block diagram for a lifting operation.

FIG. 2 is an elevation control block diagram.

FIG. 3 is a block diagram of a rolling control.

FIG. 4 is a flowchart of a rolling control.

FIG. 5 is a lifting control flowchart.

FIG. 6 is an operation explanatory view of an operation lever.

FIG. 7 is a plan view of an arrangement portion of the operation tool.

FIG. 8 is a diagram showing the sensitivity characteristics

FIG. 9 is a plan view of an operation unit.

FIG. 10 is an elevating control flowchart.

FIG. 11 is an elevating control flowchart.

FIG. 12 is an elevating control flowchart.

FIG. 13 is a lifting control flowchart.

FIG. 14 is an elevating control flowchart.

FIG. 15 is an overall side view of the rice transplanter.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 3 Ground work device 4 Drive mechanism 20 Ground float 31 Driver seat 34 Control device

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-63-177715 (JP, A) JP-A-63-160124 (JP, A) JP-A-6-113630 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) A01C 11/02

Claims (5)

(57) [Claims] A driving mechanism (4) is provided at the rear of the traveling body (1).
The ground work device (3) is connected to the ground work device (3) so that it can be driven up and down freely, and the ground float (20) provided in the ground work device (3)
Control device (3) that raises and lowers the ground working device (3) so as to maintain the target posture corresponding to the set control sensitivity.
4. The transplanter according to 4), wherein a set value of a target posture of the ground float (20) is changed.
Can change the set value of the control sensitivity.
Equipped with highly efficient human-operated sensitivity adjusters.
One of the sensitivity adjusters is based on operation within a predetermined area.
Control sensitivity is sensitive side or insensitive side with predetermined control characteristics
And one other sensitivity adjuster is
The area that can be adjusted by the one sensitivity adjuster is also
Or move to the insensitive side, and
Set one target control sensitivity by a combination of operations
The respective sensitivity adjusters are adapted to the traveling body
It is located at a different distance from the driver's seat (31) in (1).
That transplanter. 2. A driving mechanism (4) provided at the rear of the traveling body (1).
The ground work device (3) is connected so that it can be driven up and down freely.
Ground float (20) provided to the ground work equipment (3)
Is maintained at the target posture corresponding to the set control sensitivity.
The control device (3) for raising and lowering the ground working device (3)
4. The transplanter according to 4), wherein a set value of a target posture of the ground float (20) is changed.
Can change the set value of the control sensitivity.
Equipped with highly efficient human-operated sensitivity adjusters.
One of the sensitivity adjusters is based on operation within a predetermined area.
Control sensitivity is sensitive side or insensitive side with predetermined control characteristics
And one other sensitivity adjuster is
The area that can be adjusted by the one sensitivity adjuster is also
Or move to the insensitive side, and
Set one target control sensitivity by a combination of operations
One of these plurality of sensitivity adjusters.
And the other one with the driving seat (31) of the traveling body (1) in between.
The transplanter is located at the right position . 3. The driving seat according to claim 1, wherein the one sensitivity adjuster is connected to the driver seat.
(31) placed on the left side, and the other one sensitivity adjuster
3. The transplanter according to claim 2, wherein the transplanter is arranged on the right side of the driver's seat . (4) A drive mechanism (4) at the rear of the traveling body (1)
The ground work device (3) is connected so that it can be driven up and down freely.
Ground float (20) provided to the ground work equipment (3)
Is maintained at the target posture corresponding to the set control sensitivity.
The control device (3) for raising and lowering the ground working device (3)
4) a transplanter comprising: Change the set value of the target attitude of the ground float (20)
Can change the set value of the control sensitivity.
Equipped with highly efficient human-operated sensitivity adjusters.
One of the sensitivity adjusters is based on operation within a predetermined area.
Control sensitivity is sensitive side or insensitive side with predetermined control characteristics
And one other sensitivity adjuster is
The area that can be adjusted by the one sensitivity adjuster is also
Or move to the insensitive side, and
Set one target control sensitivity by a combination of operations
One of these plurality of sensitivity adjusters.
Is placed in a position parallel to other operating tools, and separated from this position.
An implanter in which the other is placed in the intervening position. (5) A drive mechanism (4) at the rear of the traveling body (1)
The ground work device (3) is connected so that it can be driven up and down freely.
Ground float (20) provided to the ground work equipment (3)
Is maintained at the target posture corresponding to the set control sensitivity.
The control device (3) for raising and lowering the ground working device (3)
4) a transplanter comprising: Change the set value of the target attitude of the ground float (20)
Can change the set value of the control sensitivity.
Equipped with highly efficient human-operated sensitivity adjusters.
One of the sensitivity adjusters is based on operation within a predetermined area.
Control sensitivity is sensitive side or insensitive side with predetermined control characteristics
And one other sensitivity adjuster is
The area that can be adjusted by the one sensitivity adjuster is also
Or move to the insensitive side, and
Set one target control sensitivity by a combination of operations
One of these plurality of sensitivity adjusters.
A transplanter with a different height from the other.