JP3807881B2 - Raising and lowering structure of seedling planting equipment for riding rice transplanter - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a seedling planting device lifting structure for a riding type rice transplanter equipped with a seedling planting device in a machine body that can be moved up and down, and a drive mechanism that drives the seedling planting device to move up and down.
[0002]
[Prior art]
  In a riding rice transplanter, when one planting process is completed and the aircraft reaches the shore, the operator operates the lift lever to the raised position to raise the seedling planting device located on the rice field, and the steering handle Operate to the right or left to turn the aircraft on the heel. When the turn at the end of the heel is finished, the operator returns the steering handle to the straight position, operates the lift lever to the lowered position, lowers the raised seedling planting device to the surface, and moves to the next planting process. to go into.
  In this case, for example, as disclosed in Japanese Patent Application Laid-Open No. 11-196628, when the front wheel is steered from the straight travel position side to the right or left to start turning at the heel, the seedling planting device is Some are configured to be automatically lifted so that the operation at the time of turning on the coast becomes easy.
[0003]
[Problems to be solved by the invention]
  As described above, when the seedling planting device is configured to be automatically driven up with the start of turning, the state where the aircraft is traveling at an appropriate speed, the work is properly performed by the seedling planting device. In this state, it is preferable that the seedling planting device is automatically driven up as the turning starts.
  The present invention relates to an ascending / descending structure of a seedling planting device of a riding type rice transplanter configured so that the seedling planting device is automatically driven to rise with the start of turning. It is intended to be configured to be driven.
[0004]
[Means for Solving the Problems]
[I]
  The invention according to claim 1 of the present invention includes a seeding planting device provided in a machine body that can be moved up and down, a drive mechanism that drives the seedling planting device to move up and down, and detecting means for detecting the start and end of the cornering turning of the machine body Then, when the start of the saddle turning is detected by the detecting means, based on the detection, the automatic raising means that drives the seedling planting device up by the drive mechanism, and the end of the saddle turning is detected by the detecting means. If detected, an automatic lowering means for lowering the seedling planting device by the drive mechanism based on the detection is provided, and the airframe is stopped by the stepping operation of the clutch pedal for operating the main clutch to the transmission cutoff side. A stop state detecting means for detecting that, when it is determined that the body is stopped based on the detection of the stop state detecting means, the ascending drive of the seedling planting device by the automatic raising means, and Automatic lowering means According lies in having restraining means for preventing the lowering driving of the seedling planting apparatus.
  According to the first aspect of the present invention, when the body shifts from the straight traveling state to the turning state, the seedling planting device is automatically driven up by the automatic lifting means.
  In this case, according to the features of claim 1,Check that the aircraft is stopped by depressing the clutch pedal that operates the main clutch to the transmission cut-off side.If the machine is stopped, it can be determined that the work is not in a working state in which the work is performed by the seedling planting device. The device is prevented from being lifted. Thus, even if the front wheel is operated to the right or left from the straight traveling position side to make a turning state in a state where the machine body is stopped, the seedling planting device is not driven up by the automatic lifting means.
[0005]
[II]
  The invention according to claim 2 of the present invention is the invention of claim 1, further comprising low speed state detection means for detecting whether or not the traveling transmission device is operated on the low speed side, for detecting the low speed state detection means. Based on this, when it is determined that the traveling transmission is not operated to the low speed side, the seedling planting device is driven up by the automatic lifting means, and the seedling planting device is driven down by the automatic lowering means. It is in the point provided with the check means to prevent.
  According to the features of claim 2,The effects of claim 1 can be achieved and the following effects can be achieved.
  In general, a riding rice transplanter travels on the road by operating the traveling transmission device on the high speed side, but when entering the field, the traveling transmission device is operated on the low speed side for planting work (planting). Attached process).
[0006]
  In this case, according to the second aspect of the present invention, the vehicle is provided with the low speed state detecting means for detecting whether or not the traveling transmission is operated on the low speed side, and the traveling transmission is operated on the low speed side. If it is, it can be determined that the work is performed by the seedling planting device, and if the traveling transmission is operated on the high speed side, it cannot be determined that the work state is performed by the seedling planting device. If the transmission for traveling is not operated to the low speed side, the raising operation of the seedling planting device by the automatic raising means is prevented. Thus, even if the vehicle body shifts from the straight traveling state to the turning state in a state where the traveling transmission device is not operated to the low speed side, the seedling planting device is not driven up by the automatic lifting means.
[0007]
[III]
  The invention according to claim 3 of the present invention is the invention according to claim 2, wherein a planting clutch capable of transmitting power to the seedling planting device and allowing the transmission to be interrupted, and whether the planting clutch is operated to the transmission side. A work state detecting means for detecting, and based on the detection of the work state detecting means, if it is determined that the planting clutch is not operated to the transmission side, the automatic raising means prevents the seedling planting device from being driven up. It is in the point provided with the check means to do.
  According to the features of claim 3,The effects of claims 1 and 2 can be achieved and the following effects can be achieved.
  Riding type rice transplanters are equipped with a seedling planting device with a planting clutch that can transmit and receive power, and when the planting clutch is operated to the transmission cutoff side, the seedling planting device stops and works. On the other hand, if the planting clutch is operated to the transmission side, the seedling planting device is in operation and work is being performed.
[0008]
  In this case, according to the feature of claim 3, it is provided with working state detection means for detecting whether or not the planting clutch is operated on the transmission side, and when the planting clutch is operated on the transmission side, Seedling
If the planting clutch is operated to the transmission cut-off side, it cannot be determined that the planting clutch is operated, and the planting clutch is transmitted. If it is not operated to the side, the raising drive of the seedling planting device by the automatic raising means is prevented. As a result, even if the machine body shifts from the straight traveling state to the turning state in a state where the planting clutch is not operated to the transmission blocking side, the seedling planting device is not driven up by the automatic lifting means.
[0009]
[IV]
  The invention according to claim 4 of the present invention is the invention of claim 2, further comprising descending state detecting means for detecting whether or not the seedling planting device is driven to descend, and based on the descending state detecting means, When it is determined that the attaching device is not driven downward, the automatic attachment means is provided with check means for preventing the seed raising device from being driven upward.
  According to the features of claim 4,The effects of claims 1 and 2 can be achieved and the following effects can be achieved.
  In the riding type rice transplanter, the planting process (planting work) is performed in a state where the seedling planting device is driven downward, and once the planting process (planting work) is completed and the aircraft reaches the shoreline, The seedling planting device is driven up to make a turn, and the seedling planting device is driven down to enter the next planting process (planting operation).
[0010]
  In this case, according to the feature of claim 4, the apparatus is provided with a descending state detecting means for detecting whether or not the seedling planting device is driven downward, and when the seedling planting device is driven downward, If the seedling planting device is driven up, if the seedling planting device is driven up, it cannot be determined that the seedling planting device is working, so the seedling planting device is driven down. If not, the raising operation of the seedling planting device by the automatic raising means is prevented. As a result, even if the machine body shifts from the straight traveling state to the turning state in a state where the seedling planting device is not driven downward, the seedling planting device is not driven up by the automatic lifting means.
[0011]
[V]
  According to a fifth aspect of the present invention, in the second aspect of the present invention, the marker for drawing an indicator of the next work process on the ground can be freely changed to a working posture for grounding to the ground and a retracting posture away from the ground. And a working posture detecting means for detecting whether or not the marker is set to the working posture, and when it is determined that the marker is not set to the working posture based on the detection of the working posture detecting means, the automatic It is in the point provided with the check means which blocks the raising drive of the seedling planting device by the raising means.
  According to the features of claim 5,The following actions can be obtained while the actions of claims 1 and 2 can be achieved. Can play.
  The riding type rice transplanter is configured so that it can be freely changed to a working posture for grounding the marker to the ground and a retreating posture away from the ground, and the marker is placed in the working posture in a single planting process (planting work). The planting process (planting work) is performed once while an index of the next planting process (planting work) is drawn on the paddy field (ground) with the marker of the work posture.
[0012]
  In this case, according to the feature of claim 5, the apparatus is provided with working posture detecting means for detecting whether or not the marker is set in the working posture, and when the marker is set in the working posture, the seedling planting device If the marker is set in the retracted posture, it can not be determined that the work is performed by the seedling planting device, so if the marker is not set in the working posture, The raising drive of the seedling planting device by the automatic raising means is prevented. Thus, even if the machine body is shifted from the straight traveling state to the turning state in a state where the marker is not set to the working posture, the seedling planting device is not driven to be lifted by the automatic lifting means.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
[1]
  As shown in FIG. 1, an engine 3 and a driving unit 4 are provided on a machine body supported by a front wheel 1 and a rear wheel 2 that can be steered to the right and left, and a parallel quadruple link mechanism is provided at the rear part of the machine body. A seedling planting device 6 is connected to the vehicle 5 through a lift 5 and a single-acting hydraulic cylinder 7 that drives the link mechanism 5 to move up and down is provided to constitute a riding rice transplanter.
[0014]
  As shown in FIG. 1, the seedling planting device 6 includes a seedling setting table 8 that is driven by reciprocating lateral feed at a predetermined stroke, a planting transmission case 9, and a rotating case 10 that is rotationally driven at the rear portion of the planting transmission case 9, A pair of planting claws 11 supported by the rotating case 10, a plurality of floats 12, and the like are provided, and the planting claws 11 are alternately seedling from the lower part of the seedling base 8 by the rotation of the rotating case 10. Is taken out and planted on the rice field G.
[0015]
[2]
  As shown in FIG. 2, in all the floats 12, the rear part of the float 12 is supported so as to be swingable up and down around the horizontal axis P1, and the lower swing limit and the upper swing limit of the float 12 are It is determined by a stopper (not shown). The float 12 at the center of the left and right is provided with a potentiometer 14 for detecting the position of the front portion of the float 12 with respect to the seedling planting device 6, and the detected value of the potentiometer 14 is the height from the rice field G to the seedling planting device 6. The detected value is input to the control device 15. The hydraulic cylinder 7 is provided with an electromagnetically operated control valve 13 that supplies and discharges hydraulic fluid to operate the hydraulic cylinder 7 in the upward and downward directions, and is configured such that the control valve 13 is operated by the control device 15. .
[0016]
  When the seedling planting device 6 moves up and down with respect to the rice field G while the float 12 is in contact with the surface of the rice field G, the detection value of the potentiometer 14 changes. Therefore, the control device 15 performs control based on the detection value of the potentiometer 14. The seedling planting device 6 is automatically driven up and down so that the valve 13 is automatically operated and the hydraulic cylinder 7 expands and contracts, and the detection value of the potentiometer 14 is maintained at the set value (automatic lifting control). . Thereby, the seedling planting device 6 is maintained at the set height from the surface G, and the seedling planting depth by the planting claws 11 is maintained at the set value.
  An upper limit sensor 24 for detecting that the link mechanism 5 has reached the mechanical upper limit position is provided, and a detection signal of the upper limit sensor 24 is input to the control device 15.
[0017]
[3]
  As shown in FIGS. 2 and 1, a hydrostatic continuously variable transmission (not shown) in which the power of the engine 3 is steplessly variable between the forward side F and the reverse side R, and a wet multi-plate type main clutch. 22. Front wheel 1 and rear wheel 2 via a gear transmission type sub-transmission device (not shown) that can be shifted to a high speed position H (a position when traveling on the road) and a low speed position L (a position when planting). The power from the main clutch 22 is transmitted to the seedling planting device 6 via the planting clutch 16.
[0018]
  As shown in FIG. 3, an accelerator sensor 37 that detects the accelerator position of the engine 3 and a rotation speed sensor 38 that detects the rotation speed of the engine 3 are provided. The detection values of the accelerator sensor 37 and the rotation speed sensor 38 are It is configured to be input to the control device 15.
[0019]
  As shown in FIG. 2, a motor 17 for operating the planting clutch 16 to the transmission side and the transmission cutoff side is provided, and the motor 17 is configured to be operated by the control device 15, and the planting clutch 16 is transmitted. A planting clutch sensor 32 for detecting that the planting clutch sensor 32 is operated to the side is provided, and a detection signal of the planting clutch sensor 32 is input to the control device 15.
[0020]
  As shown in FIGS. 2 and 1, the pitman arm 29 swinging right and left by the steering handle 18 and the right and left front wheels 1 are connected by a tie rod 30, and the front wheel 1 is moved by the steering handle 18. A steering handle 18 and a driver's seat 19 are provided in the driving unit 4. An angle sensor 31 that detects an angle of the pitman arm 29 with respect to the straight traveling position A is provided, and a detection value of the angle sensor 31 is input to the control device 15.
[0021]
  As shown in FIGS. 2 and 1, a main transmission lever 21 is provided on the left side of the steering handle 18 so that the hydrostatic continuously variable transmission can be operated to the forward side F, the reverse side R, and the neutral position N. An electric cylinder 33 for operating the main transmission lever 21 operated on the high speed side of the forward side F to a predetermined low speed position on the forward side F is provided, and the electric cylinder 33 is operated by the control device 15.
It is configured as follows.
[0022]
  As shown in FIGS. 2 and 1, an auxiliary transmission lever 23 for operating the auxiliary transmission device to a high speed position H and a low speed position L is provided on the left side of the driver's seat 19, and the auxiliary transmission lever 23 is set to the low speed position L. A low speed sensor 25 is provided for detecting the operation, and a detection signal of the low speed sensor 25 is input to the control device 15. A clutch pedal 26 for operating the main clutch 22 to the transmission cut-off side by performing a stepping operation is provided, a clutch sensor 27 for detecting that the clutch pedal 26 is depressed is provided, and a detection signal of the clutch sensor 27 Is input to the control device 15.
[0023]
  As shown in FIGS. 1 and 3, a pair of left and right columns 34 extend upward from the right and left sides of the steering handle 18, and a roof 35 is supported from the columns 34 in a cantilevered manner. An obstacle sensor 39 such as an ultrasonic sensor for detecting whether or not there are obstacles (for example, other workers) near the rear side, the right side and the left side of the seedling planting device 6, It is provided in the rear part of the roof 35, and is configured such that a detection signal of the obstacle sensor 39 is input to the control device 15.
[0024]
[4]
  As shown in FIGS. 2 and 1, a first elevating lever 28 is provided on the right side of the driver's seat 19, and the first elevating lever 28 is operated to a raised position, a neutral position, a lowered position, a planting position, and an automatic position. It is configured freely. Even if the first lifting lever 28 is operated and then released, the first lifting lever 28 is configured not to move from that position, and the operation position of the first lifting lever 28 is input to the control device 15. .
[0025]
  As shown in FIGS. 2 and 1, the neutral position N, the upward position U from the neutral position N, the downward position D from the neutral position N, the left marker position ML and the neutral position N from the neutral position N to the front. A second elevating lever 20 that can be operated in the cross direction of the right marker position MR behind is provided on the lower right side of the steering handle 18, and the operation position of the second elevating lever 20 is input to the control device 15. Yes. The second elevating lever 20 is urged to the neutral position N. When the second elevating lever 20 is released from the second elevating lever 20 in a state where the second elevating lever 20 is operated to the raised position U, the lowered position D, the right and left marker positions MR, ML, 2 The lift lever 20 automatically returns to the neutral position N.
[0026]
  As shown in FIG. 3, right and left markers 36 on the right side and left side of the seedling planting device 6 are provided, and a working posture for drawing an indicator of the next planting process on the rice field G in a downward posture ( The right and left markers 36 are configured to be freely changeable to a retracted posture (see a solid line in FIG. 3) that is upwardly separated from the field G in an upward posture (see a two-dot chain line in FIG. 3). When the seedling planting device 6 is driven up, the right and left markers 36 are operated in the retracted posture, and when the seedling planting device 6 is driven down, the right and left markers 36 are operated in the working posture. In addition, the seedling planting device 6 and the right and left markers 36 are linked by a wire (not shown).
[0027]
  A right and left lock mechanism 40 that holds the right and left markers 36 in the retracted position is provided, and when the seedling planting device 6 is driven up, the right and left markers 36 are operated from the working posture to the retracted posture. Thus, the right and left lock mechanisms 40 are configured to automatically hold the right and left markers 36 at the retracted position. The second elevating lever 20 and the right and left locking mechanisms 40 are mechanically linked by a wire (not shown), and when the second elevating lever 20 is operated to the right marker position MR, the right locking mechanism 40 is When the second lift lever 20 is operated to the left marker position ML when operated to the holding release side, the left lock mechanism 40 is operated to the holding release side.
[0028]
  Thereby, the seedling planting device 6 is driven to move upward, and the seedling planting device 6 is driven to move downward while the right and left markers 36 are held in the retracted posture by the right and left lock mechanisms 40.
In this case, when the second elevating lever 20 is operated to the right marker position MR, the right locking mechanism 40 is operated to the holding release side, and the right marker 36 is operated from the retracted position to the working position. When the lever 20 is operated to the left marker position ML, the left lock mechanism 40 is operated to the holding release side, and the left marker 36 is operated from the retracted position to the working position.
  Right and left marker sensors 41 for detecting that the right and left markers 36 are operated to the working posture are provided, and detection signals of the right and left marker sensors 41 are input to the control device 15. It is configured.
[0029]
[5]
  Next, the case where the 1st raising / lowering lever 28 is operated to a raise position, a neutral position, a descent position, and a planting position is demonstrated based on FIG.4 and FIG.2.
  When the first elevating lever 28 is operated to the raised position (step S1), the planting clutch 16 is operated to the transmission cutoff side by the motor 17 (step S2), and the control valve 13 is operated to the raised position (step S3). The seedling planting device 6 is driven up by the hydraulic cylinder 7. In this case, when the upper limit sensor 24 detects that the link mechanism 5 has reached the upper limit position (step S4), the control valve 13 is operated to the neutral position and the hydraulic cylinder 7 is stopped (step S6). The attaching device 6 automatically stops at the upper limit position.
[0030]
  When the first elevating lever 28 is operated to the neutral position (step S1), the planting clutch 16 is operated to the transmission cutoff side by the motor 17 (step S5), and the control valve 13 is operated to the neutral position (step S6). The hydraulic cylinder 7 and the seedling planting device 6 stop at that position.
[0031]
  When the first elevating lever 28 is operated to the lowered position (step S1), the planting clutch 16 is operated to the transmission cutoff side by the motor 17 (step S7), and the automatic elevating control described in [2] above is activated (step S7). Step S8). In this case, if the float 12 is located above the surface G and hangs down, it is determined that the detected value of the height from the surface G to the seedling planting device 6 is too high, and the control valve 13 is The seedling planting device 6 is driven to the lowering position by the hydraulic cylinder 7, and the seedling planting device 6 is apparently continuously lowered. Thereafter, when the float 12 contacts the surface G, the control valve 13 is automatically operated so that the detection value of the potentiometer 14 is maintained at the set value. It will be in a stopped state.
[0032]
  When the first elevating lever 28 is operated to the planting position (step S1), the planting clutch 16 is operated to the transmission side by the motor 17 (step S9), and the automatic elevating control described in [2] above is activated (step S9). Step S10). Thereby, the control valve 13 is automatically operated so that the hydraulic cylinder 7 expands and contracts so that the detection value of the potentiometer 14 is maintained at the set value, and the seedling planting device 6 is maintained at the set height from the paddy surface G. Therefore, the planting operation is performed in which the planting claws 11 plant the seedling while the planting depth of the seedling is maintained at the set value.
[0033]
  As described above, by operating the first elevating lever 28 to the raised position, the neutral position, and the lowered position, the seedling planting device 6 can be raised to an arbitrary height within the range between the upper limit position of the link mechanism 5 and the rice field G. It can be stopped by driving up and down, and by operating the first lifting lever 28 to the planting position, the planting operation is performed while the planting depth of the seedling is maintained at the set value.
[0034]
[6]
  Next, a case where the second elevating lever 20 is operated while the first elevating lever 28 is operated to the automatic position will be described with reference to FIGS.
  In a state where the first elevating lever 28 is operated to the automatic position (step S1), for example, the seedling planting device 6 is automatically driven up and down so as to be maintained at the set height from the surface G (operation of automatic elevating control). In the state of planting work in which the planting clutch 16 is operated to the transmission side (steps to be described later)
When the second elevating lever 20 is operated to the raised position U (steps S11 and S24), the planting clutch 16 is operated to the transmission cut-off side by the motor 17 (step S25), and automatic elevating control is performed. Is stopped and the control valve 13 is operated to the raised position (step S26), and the seedling planting device 6 is driven to rise by the hydraulic cylinder 7. In this case, even if the second elevating lever 20 is held at the raised position U, or the second elevating lever 20 is operated to the raised position U and then to the neutral position N, the seedling planting device 6 is driven to rise. Will continue.
[0035]
  When the upper limit sensor 24 detects that the link mechanism 5 has reached the upper limit position (step S27), the control valve 13 is operated to the neutral position and the hydraulic cylinder 7 is stopped (step S28). Stops automatically at the upper limit position. Thus, by operating the 2nd raising / lowering lever 20 to the raise position U, the planting clutch 16 can be operated to the transmission interruption | blocking side with the motor 17, and the seedling planting apparatus 6 can be raised at a stretch to an upper limit position.
[0036]
  Next, when the second elevating lever 20 is operated to the lowered position D in the state where the seedling planting device 6 is raised (steps S11 and S32 (N = 1)), as in the previous item [5] and step S8 in FIG. In the state where the planting clutch 16 is operated to the transmission cut-off side, the automatic raising / lowering control is activated (steps S33 and S34). When the automatic lifting control is activated, the seedling planting device 6 is apparently continuously lowered, and when the float 12 is brought into contact with the rice field G, the seedling planting device 6 is apparently stopped at the rice field G. It becomes. In this case, even if the second elevating lever 20 is held at the lowered position D or the second elevating lever 20 is operated to the lowered position D and then to the neutral position N, the lowering of the seedling planting device 6 continues. Is done. By operating the second elevating lever 20 to the lowered position D in this way, the seedling planting device 6 can be lowered at a stroke until the float 12 contacts the field surface G.
[0037]
  In the state where the seedling planting device 6 is lowered as described above (the state where the automatic raising / lowering control is activated), the second raising / lowering lever 20 is operated to the neutral position N and then to the lowering position D again (steps S11 and S32). (N = 2)), the planting clutch 16 is operated to the transmission side by the motor 17 (step S35), and the planting operation is started in the same manner as in the previous item [5] and steps S9 and S10 in FIG.
[0038]
  In step S26 of FIG. 6, when the second elevating lever 20 is operated to the lowered position D before the seedling planting device 6 reaches the upper limit position while the seedling planting device 6 is raised (steps S27 and S29), step S33 is performed. , S34, the ascending drive of the seedling planting device 6 is stopped, and the seedling planting device 6 is driven to descend (operation of automatic elevation control). Conversely, in step S34 in FIG. 6, when the second lifting lever 20 is operated to the raised position U before the float 12 reaches the surface G while the seedling planting device 6 is descending (step S11), steps S24, S25, Shifting to S26, the descending drive of the seedling planting device 6 is stopped, and the seedling planting device 6 is driven up.
[0039]
[7]
  Next, a case where turning at the heel with the first elevating lever 28 being operated to the automatic position will be described with reference to FIGS.
  As shown in FIG. 2, a right and left first set angle A <b> 1 and a right and left second set angle A <b> 2 are set between the rectilinear position A of the pitman arm 29 and the right and left steering limits B. The angle C1 between the rectilinear position A and the first set angle A1 on the right (the angle between the rectilinear position A and the first set angle A1 on the left) C1 is set to be large, and the right steering limit An angle between B and the right second setting angle A2 (an angle between the left steering limit B and the left second setting angle A2) C2 is set to be small.
[0040]
  For example, in the state of planting work in which the seedling planting device 6 is automatically driven up and down so as to be maintained at a set height from the surface G (operation of automatic lifting control), and the planting clutch 16 is operated to the transmission side. (Steps S32, S33, S34, S35), once the planting process is over and the aircraft is on the verge
In this case, the steering handle 18 is operated by the operator, and the pitman arm 29 is swung from the straight traveling position A side to the right (left) to reach the first set angle A1 on the right (left) (FIG. 2). ), When the aircraft reaches the shore and turns on the shoreDiscrimination(Step S21).
[0041]
  As a result, a buzzer (not shown) is activated (step S22), the main transmission lever 21 is operated to a predetermined low speed position on the forward side F by the electric cylinder 33, and the hydrostatic continuously variable transmission is decelerated. (Step S23), the planting clutch 16 is operated to the transmission cutoff side by the motor 17 (Steps S24, S25), the control valve 13 is operated to the raised position (Step S26), and the seedling planting device 6 is operated by the hydraulic cylinder 7. Is driven up to the upper limit position.
[0042]
  When turning on the heel is started as in step S23, the hydrostatic continuously variable transmission is decelerated with the accelerator lever remaining, instead of operating the accelerator lever of the engine 3 to the low speed side. As a result, the turning of the engine 3 is performed at low speed without running out of power of the engine 3. Further, since the accelerator lever is left, the discharge amount of a hydraulic pump (not shown) driven by the engine 3 does not decrease, and the operating speed of the hydraulic cylinder 7 operated by the hydraulic oil from the hydraulic pump does not decrease. The rising speed when the seedling planting device 6 is driven to rise is not reduced.
[0043]
  In a riding type rice transplanter, in general, the pitman arm 29 is swung from the straight traveling position A side to the right (left) steering limit B, and swivel is performed (see the arrow in FIG. 2). When the turning at the shore ends, the steering handle 18 is operated by the pilot, and the pitman arm 29 reaches the right (left) second set position A2 from the right (left) steering limit B side ( (See the arrow in Fig. 2)Discrimination(Step S30).
[0044]
  As a result, a buzzer (not shown) is activated (step S31), and the seedling planting device 6 is driven downward (steps S33, S34) (operation of automatic elevation control). Thereafter, when the second elevating lever 20 is operated to the neutral position N and then to the lower position D again (steps S11 and S32 (N = 2)), the planting clutch 16 is operated to the transmission side by the motor 17 ( In step S35), the planting operation is started in the same manner as in the preceding item [5] and steps S9 and S10 in FIG. 4, and the next planting process is started.
[0045]
  In step S26 of FIG. 6, when the second elevating lever 20 is operated to the lowered position D before the seedling planting device 6 reaches the upper limit position while the seedling planting device 6 is raised (steps S27 and S29), step S33 is performed. , S34, the ascending drive of the seedling planting device 6 is stopped, and the seedling planting device 6 is driven to descend (operation of automatic elevation control). In step S34 of FIG. 6, when the second elevating lever 20 is operated to the ascending position U before the float 12 reaches the surface G while the seedling planting device 6 is descending (step S11), steps S24, S25, and S26 are performed. It moves, the descent drive of the seedling planting device 6 is stopped, and the seedling planting device 6 is driven up.
[0046]
[8]
  As described in [7] above, the seedling planting device 6 is automatically lifted (steps S21 to S26 in FIG. 6) along with the start of turning at the end of the turn, and at the end of turning at the end of the turn. The automatic descent drive (steps S30, S31, S33, S34 in FIG. 6) of the seedling planting device 6 is configured not to be performed under the following conditions. , 2, and 3.
[0047]
  When the obstacle sensor 39 shown in FIGS. 1 and 3 detects that an obstacle is present near the rear side, near the right side or near the left side of the seedling planting device 6 (step S12), Alternatively, based on the detection of the clutch sensor 27, the clutch pedal 26 is depressed to operate the main clutch 22
Is operated to the transmission cut-off side (step S15), or based on the detection of the low speed sensor 25, when the auxiliary transmission lever 23 is not operated to the low speed position L (step S16), turning at the heel The automatic raising drive (steps S21 to S26 in FIG. 6) of the seedling planting device 6 accompanying the start of the movement and the automatic lowering drive (see FIG. Steps S30, S31, S33, S34) are not performed.
[0048]
  Based on the detection of the planting clutch sensor 32, when the planting clutch 16 is not operated to the transmission side (step S18), or when the float 12 is not in contact with the surface G (step S19) (the float 12 is upward and Since it is located between the lower swing limit, if the detected value of the potentiometer 14 is a value corresponding to the upper position from the value corresponding to the lower swing limit, the float 12 is grounded to the surface G. AndDiscriminationOr if the right or left marker 36 is not operated to the working posture based on the detection of the right and left marker sensors 41 (step S20), seedling planting accompanying the start of turning at the heel The device 6 is not automatically raised (steps S21 to S26 in FIG. 6).
  In this case, the automatic lowering drive (steps S30, S31, S33, and S34 in FIG. 6) of the seedling planting device 6 accompanying the end of turning at the heel is performed in step S17 (N = 2).
[0049]
  If the front wheel 1 or the rear wheel 2 enters a large recess in the middle of the planting process instead of the dredging, a large load may be applied to the engine 3 and it may be difficult to escape from the recess. In this case, when the rotation speed of the engine 3 becomes less than the set value by the detection of the rotation speed sensor 38 in a state where the accelerator position of the engine 3 is operated to the set position or more based on the detection of the acceleration sensor 37 (step S13) ( Step S14), when a large load is applied to the engine 3DiscriminationIs done.
[0050]
  As a result, the buzzer is activated (step S36), the planting clutch 16 is operated to the transmission cutoff side by the motor 17 (steps S24 and S25), the control valve 13 is operated to the raised position (step S26), and the hydraulic cylinder 7, the seedling planting device 6 is driven up to the upper limit position. Thus, by operating the planting clutch 16 to the transmission cut-off side and driving the seedling planting device 6 upward, the load applied to the engine 3 from the seedling planting device 6 can be reduced. The power can be concentrated on the front wheel 1 and the rear wheel 2, and it is easy to escape from the recess.
[0051]
  In this case, if the obstacle sensor 39 detects that there is an obstacle near the rear side, the right side or the left side of the seedling planting device 6 (step S12), the process goes to steps S13 and S14. Even if the accelerator position is operated more than the set position without shifting and the rotational speed of the engine 3 becomes less than the set value, the seedling planting device 6 is not driven up.
[0052]
[First Alternative Embodiment of the Invention]
  Whether or not the automatic raising drive (steps S21 to S26 in FIG. 6) of the seedling planting device 6 accompanying the start of turning at the heel as described in [7] above is correctly performed. You may provide the following structures which can be tested in a stop state.
  As shown in FIG. 7, when the clutch pedal 26 is depressed to operate the main clutch 22 to the transmission cut-off side and the machine is stopped (step S41), the first elevating lever 28 is operated to the automatic position (step S41). Step S42). In advance, the second elevating lever 20 is operated to the lowered position D, the planting clutch 16 is operated to the transmission side by the motor 17, the second elevating lever 20 is operated to the right or left marker position MR, ML, and the right Alternatively, the second elevating lever 20 is operated to the neutral position N after the left marker 36 is operated to the working position (step)S43).
[0053]
  Next, the auxiliary transmission lever 23 is operated to the low speed position L (step S45) without placing an obstacle near the rear side, the right side and the left side near the seedling planting device 6 (step S44). As described above, the planting clutch 16 is operated to the transmission side (step S46), the float 12 is grounded to the surface G (or the ground) (step S47), and the right or left marker 36 is operated to the working posture. In step S48, the pitman arm 29 is swung from the straight traveling position A side to the right (left) first set angle A1 by the steering handle 18 (step S49).
[0054]
  Thereby, when each part is normal, it is notified that the seedling planting device 6 is driven up by voice (step S50) (for example, from the speaker (not shown) provided in the machine body) When the set time T1 elapses thereafter (steps S51 and S52), the planting clutch 16 is operated to the transmission cut-off side by the motor 17 (step S53), and the control valve 13 is operated to the raised position (step S54), and the seedling planting device 6 is driven up to the upper limit position by the hydraulic cylinder 7 (steps S55, S56).
[0055]
[Second Embodiment of the Invention]
  As shown in FIG. 2, instead of the configuration including the angle sensor 31 that detects the angle of the pitman arm 29 with respect to the rectilinear position A, in the configuration that transmits power to the right and left rear wheels 2 via the differential device, And a right rotation speed sensor (not shown) and a left rotation speed sensor (not shown) that independently detect the rotation speed of the left rear wheel 2, and detected values of the right and left rotation speed sensors. May be configured to detect the start of turning and the end of turning at the coast (in a straight line state, the difference between the detection values of the right and left rotational speed sensors is close to zero and the turning radius is The smaller the value, the larger the difference between the detection values of the right and left rotation speed sensors).
[0056]
  As shown in FIG. 5, instead of step S18 (or in addition to step S18) indicating whether or not the planting clutch 16 is operated on the transmission side, the seedling setting table 8 is not reciprocally driven laterally, Steps (not shown) that the automatic raising drive (steps S21 to S26 in FIG. 6) of the seedling planting device 6 accompanying the start of turning at the heel is not performed, If no seedlings are placed at all, a step (not shown) that the automatic raising drive (steps S21 to S26 in FIG. 6) of the seedling planting device 6 accompanying the start of turning at the heel is not performed. ) May be provided.
[0057]
【The invention's effect】
  According to the first aspect of the present invention, when the airframe is shifted from the straight traveling state to the turning state, the airframe moves straight in a state where the airframe is stopped when the automatic lifting means for driving the seedling planting device up by the drive mechanism is provided. Even if the state changes from the turning state to the turning state, it is configured so that the seedling planting device is not driven to be lifted by the automatic lifting means, so that the working state in which the seedling planting device performs the work is appropriately judged, and the machine body goes straight With the transition from the state to the turning state, the seedling planting device can be driven up and the workability can be improved.
[0058]
  According to the features of claim 2,In addition to the effect of the invention of claim 1, the following effect can be obtained.
  When the airframe transitions from the straight traveling state to the turning state, if the driving mechanism is equipped with automatic raising means for driving the seedling planting device up, the airframe is in the straight traveling state unless the traveling transmission is operated to the low speed side. Even if it shifts from the turning state to the turning state, it is configured so that the seedling planting device is not driven to be lifted by the automatic lifting means, so that the work state in which the work is performed by the seedling planting device is appropriately determined, and the straight state of the aircraft With the shift from the swivel state to the turning state, the seedling planting device can be driven up and the workability can be improved.
[0059]
  According to the features of claim 3,In addition to the effects of the first and second aspects of the invention, the following effects can be obtained.
  When the aircraft moves from a straight-running state to a turning state, a planting clutch that can transmit power to the seedling planting device and cut off transmission can be transmitted to the seedling planting device when it has automatic lifting means that drives the seedling planting device up by the drive mechanism. If the machine is not operated, the operation state where the seedling planting device performs the work is configured so that the seedling planting device is not driven to be lifted by the automatic lifting means even if the aircraft shifts from the straight traveling state to the turning state. As a result, the seedling planting apparatus can be driven up as the aircraft moves from the straight traveling state to the turning state, and the workability can be improved.
[0060]
  According to the features of claim 4,In addition to the effects of the first and second aspects of the invention, the following effects can be obtained.
  When the aircraft moves from the straight running state to the turning state, when equipped with automatic raising means for driving the seedling planting device up by the drive mechanism, if the seedling planting device is not driven downward, the body turns from the straight running state to the turning state. Even if a transition is made, the seedling planting device is configured not to be driven up by the automatic lifting means, so that the work state in which the seedling planting device is operated is appropriately determined, and the machine body is turned from the straight traveling state to the turning state. With the shift to, the seedling planting device can be driven up and the workability can be improved.
[0061]
  According to the features of claim 5,In addition to the effects of the first and second aspects of the invention, the following effects can be obtained.
  When the aircraft moves from the straight state to the turning state, the marker that draws the index of the next work process on the ground must be set to the work posture when equipped with an automatic ascending means that drives the seedling planting device up by the drive mechanism. For example, even if the aircraft moves from a straight traveling state to a turning state, it is possible to appropriately determine the working state in which the work is performed by the seedling planting device by configuring the seedling planting device not to be driven up by the automatic lifting means. With the transition of the aircraft from the straight traveling state to the turning state, the seedling planting device can be driven up and the workability can be improved.
[Brief description of the drawings]
[Fig. 1] Overall side view of a riding rice transplanter
FIG. 2 is a diagram showing the relationship of the control system
FIG. 3 is a diagram showing the relationship of the control system
FIG. 4 is a diagram showing a flow of the first half of control.
FIG. 5 is a diagram showing the middle flow of control.
FIG. 6 is a diagram showing the flow of the second half of control.
FIG. 7 is a diagram showing a control flow in a first alternative embodiment of the invention;
[Explanation of symbols]
  6 Seedling planting equipment
  7 Drive mechanism
  16 Planting clutch
  25 Low speed state detection means
  27 Stop state detection means
  32 Working state detection means
  36 markers
  41 Working posture detection means
  L Low speed side of the transmission for traveling
  G ground

Claims (5)

A seedling planting device is provided in the body so as to be movable up and down, and a drive mechanism for driving the seedling planting device up and down is provided
Detection means for detecting the start and end of the turning of the body, and when the start of the turning is detected by the detection means, the seedling planting device is driven up by the drive mechanism based on the detection. Automatic rising means, and automatic lowering means for driving the seedling planting device to descend by the drive mechanism based on the detection when the end of the saddle turning is detected by the detection means,
Comprising stop state detecting means for detecting that the airframe is stopped by depressing a clutch pedal for operating the main clutch to the transmission cut-off side ;
When it is determined that the aircraft is stopped based on the detection by the stop state detection means, the seedling planting device is driven to rise by the automatic raising means, and the seedling planting device is lowered by the automatic lowering means. A raising / lowering structure for a seedling planting device of a riding type rice transplanter provided with check means for preventing driving. Comprising low speed state detecting means for detecting whether or not the traveling transmission is operated on the low speed side;
Based on the detection of the low speed state detecting means, the shifting device for the running is judged not being operated in the low speed side, elevated driving seedling planting apparatus according to the automatic lifting means, and the automatic lowering means The raising / lowering structure of the seedling planting device of the riding type rice transplanter according to claim 1, further comprising restraining means for preventing the seedling planting device from being driven downward. The seedling planting device includes a planting clutch capable of transmitting power and interrupting transmission, and a work state detecting means for detecting whether the planting clutch is operated on the transmission side ,
Based on the detection of said working state detection means, when the planting clutch is determined not to be operated to the transmission side, there are provided restraining means for preventing lift-up operation of the seedling planting apparatus according to the automatic raising means The seedling planting device lifting structure of the riding type rice transplanter according to claim 2 . A descent state detecting means for detecting whether or not the seedling planting device is driven to descend ;
3. A check means for preventing the seedling planting device from being lifted by the automatic lifting means when it is determined that the seedling planting device is not driven to descend based on the descending state detecting means. The raising / lowering structure of the seedling planting device of the riding type rice transplanter as described . A working posture for detecting whether or not the marker is set to the working posture, with a marker that draws an index of the next working stroke on the ground, which can be freely changed to a working posture that touches the ground and a retreating posture that is away from the ground. Provided with detection means,
Based on the detection of the working posture detecting unit, when the marker is determined not to be set in the working posture, the claims are provided restraining means for preventing lift-up operation of the seedling planting apparatus according to the automatic raising means The raising / lowering structure of the seedling planting device of the riding type rice transplanter as described in 2 .

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