JP4625107B2 - Working device lifting structure of paddy field work machine - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device lifting structure for a paddy field working machine equipped with a working mechanism that can be moved up and down, such as a riding type rice transplanter and a riding type direct sowing machine, and a driving mechanism that drives the working device to move up and down.

  In a riding-type rice transplanter, which is an example of a paddy field work machine, when a single planting process is completed and the aircraft reaches the shoreline, the operator operates the lifting lever to the raised position to lower the planting device ( An example of a working device is raised and the steering handle is operated to the right or left to turn the aircraft at the heel. When the turn at the end of the heel is completed, the operator returns the steering handle to the straight position, operates the lift lever to the lowered position, lowers the raised seedling planting device, and enters the next planting process. .

In this case, as disclosed in Patent Document 1, when the front wheel is steered to the right or left from the straight traveling position side and the turning at the heel is started, the seedling planting device is automatically driven upward. There is an automatic climbing means that is configured to facilitate the turning operation at the shore.
JP-A-11-196628

In a riding type rice transplanter equipped with an automatic lifting means as described in the prior art, when the steering handle is greatly operated to the right or left during the planting process, the seedling planting device is automatically operated by the automatic lifting means. The planting operation may be interrupted.
The present invention provides a working device lifting structure of a paddy field work machine provided with an automatic lifting means for automatically lifting and driving the working device when the front wheel is steered to the right or left from the straight traveling position side. Therefore, it is intended to prevent such a situation that the working device is automatically driven up and the work is interrupted.

The invention according to claim 1 is provided with a working device on the machine body that can be moved up and down, a drive mechanism that drives the working device to move up and down, and the working device is constituted by a seedling planting device or a direct sowing device, and is moved from the straight position to the right. Or, when the left set angle is set and the front wheel is steered more than the right or left set angle from the straight drive position side, the drive mechanism is equipped with automatic raising means for raising and driving the working device, and ascends and control means for lowering drives a working device with a rotation speed sensor for detecting the rotational speed of the drive system to the rear wheels, a running distance of the aircraft from at operation before Symbol control means lowers the working device A travel distance detecting means for detecting based on a detection value of the rotational speed sensor, and a reference shorter than the travel distance of the work stroke from one heel to the other heel on the field based on the detection from the travel distance detecting means. Mileage Discriminating means for discriminating whether the travel was whether, and a restraint means for preventing the operation of the automatic raising means in the course of the working stroke, said check means, by said determining means from is lowered the working device until it is determined that the vehicle has traveled the reference travel distance, that is configured to prevent the operation of the automatic raising means for automatically increasing driving the working device in the lowered state.

According to the features of claim 1, in the middle of the working stroke, since it is determined that not in the state like the travel distance of the body has reached the reference travel distance, the front wheels in the middle of the working stroke right or from the straight position side Even if it is steered to the left set angle, the ascending drive of the work device by the automatic lifting means is not performed, and even if the steering handle is largely operated to the right or left and the orientation of the aircraft is corrected, The work device is not lifted by the automatic lifting means.
Next, when the aircraft reaches a ridge, the travel distance of the aircraft is determined to become a state that reaches the reference travel distance, is steering operation from the front wheel is the straight-ahead position side setting angle of the right or left, furrow When the turning is performed, the working device is driven to rise by the automatic raising means.

  In paddy field machines that repeat the work process from one side to the other side and the turning at the end, when the orientation of the machine is corrected during the work process, the steering handle is operated relatively slowly to the right or left. (If the steering handle is rapidly operated to the right or left, the direction of the aircraft changes rapidly, which is undesirable for the operation of the working device). On the contrary, since it is necessary to turn with the smallest possible turning radius, the steering handle is rapidly operated to the right or left at the time of turning at the side of the turn, and the turn at the side of the turn is performed.

  According to the feature of claim 1, when the front wheel is steered to the right or left from the straight traveling position side, the working device lifting structure of the paddy field work machine provided with the automatic lifting means that automatically drives the working device to lift up is provided. Even if the steering handle is greatly operated to the right or left in the middle of the work process, it is possible to accurately determine that it is in the middle of the work process and to prevent the work device from being driven up by the automatic lifting means. Thus, the situation where the work is interrupted during the work process can be avoided, and the workability and work efficiency of the paddy field machine can be improved.

The invention according to claim 2 is the invention according to claim 1, in preference to the restraint means, by operation of the lift lever, and are configured to be dynamic drive increases the working device.

The invention according to claim 3 is the invention according to claim 1 or 2, further comprising: a sub-shift lever that can shift between a low-speed position and a high-speed position; and a switch that pushes the switch. If the travel distance of the airframe has reached the reference travel distance when the switch is pressed, the automatic lifting means is activated.

[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. An eight-row planting type seedling planting device 6 is connected to be movable up and down through 5 and a single-acting hydraulic cylinder 7 that drives the link mechanism 5 up and down is provided, which is an example of a paddy field work machine. A planting-type riding rice transplanter is constructed.

  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.

[2]
As shown in FIG. 2, the rear part of the left and right float 12 is supported so as to be swingable around the horizontal axis P <b> 1, and a potentiometer 14 for detecting the position of the front part of the float 12 with respect to the seedling planting device 6 is provided. The detection value of the potentiometer 14 is input to the control device 15 as the detection value of the height from the surface G to the seedling planting device 6. The hydraulic cylinder 7 is provided with an electromagnetically operated control valve 13 for supplying and discharging hydraulic oil and operating the hydraulic cylinder 7 in the upward and downward directions. The control valve 13 is operated by the control device 15. .

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.
As will be described later, when the seedling planting device 6 is driven upward, an upper limit sensor 24 for detecting that the link mechanism 5 has reached the mechanical upper limit position is provided, and a signal from the upper limit sensor 24 is transmitted to the control device 15. It is comprised so that it may be input.

[3]
A hydrostatic continuously variable transmission (not shown) in which the power of the engine 3 can be steplessly shifted forward and backward, a wet multi-plate main clutch (not shown), and a high speed position H (running on the road) Time position) and a low speed position L (position at the time of planting work), and is configured to be transmitted to the front wheels 1 and the rear wheels 2 via a gear transmission type sub-transmission device (not shown) that is freely variable. As shown in FIG. 2, the power from the main clutch is transmitted to the seedling planting device 6 via the planting clutch 16. A motor 17 is provided for operating the planting clutch 16 on the transmission side and transmission cutoff side, and the motor 17 is operated by the control device 15.

  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.

  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, the reverse side, and the neutral position. An auxiliary transmission lever 23 for operating the auxiliary transmission device to the high speed position H and the low speed position L is provided on the left side of the driver's seat 19, and a low speed sensor 25 that detects that the auxiliary transmission lever 23 has been operated to the low speed position L. And a detection signal of the low speed sensor 25 is input to the control device 15. A clutch pedal 26 is provided for operating the main clutch to the transmission cut-off side by depressing the pedal.

  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. .

  As shown in FIGS. 2 and 1, the second elevating lever 20 that can be operated from the neutral position N, the upward position U from the neutral position N and the downward position D from the neutral position N is provided on the steering handle 18. The operation position of the second elevating lever 20 is input to the control device 15. The second elevating lever 20 is biased to the neutral position N. When the second elevating lever 20 is released from the second elevating lever 20 in the state of being operated to the raised position U and the lowered position D, the second elevating lever 20 is automatically neutralized. Return to position N.

[4]
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.3 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 link mechanism 5 reaches the upper limit position and is detected by the upper limit sensor 24 (step S4), the control valve 13 is operated to the neutral position and the hydraulic cylinder 7 is stopped (step S6). The device 6 automatically stops at the upper limit position.

  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.

  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.

  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.

  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.

[5]
Next, a case where the second elevating lever 20 is operated in a state where the first elevating lever 28 is operated to the automatic position will be described with reference to FIGS. 4 and 2.
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 the planting work in which the planting clutch 16 is operated to the transmission side (steps S23, S24, S25, S26 described later), the second elevating lever 20 is operated to the raised position U (steps S16, S17). The planting clutch 16 is operated to the transmission cutoff side by the motor 17 (step S18), the automatic lifting control is stopped and the control valve 13 is operated to the raised position (step S19), and the seedling planting device 6 is moved by the hydraulic cylinder 7. Driven up. 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.

  When the link mechanism 5 reaches the upper limit position and is detected by the upper limit sensor 24 (step S20), the control valve 13 is operated to the neutral position and the hydraulic cylinder 7 is stopped (step S21). 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.

Next, when the second elevating lever 20 is operated to the lowered position D with the seedling planting device 6 raised (steps S16, S23 (N = 1)), as in the previous item [4] and step S8 in FIG. In the state where the planting clutch 16 is operated to the transmission cut-off side, the automatic lifting control is activated (steps S24 and S25). 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.

  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 S16 and S23). (N = 2)), the planting clutch 16 is operated to the transmission side by the motor 17 (step S26), and the planting operation is started in the same manner as in the previous section [4] and steps S9 and S10 in FIG.

  In step S19 of FIG. 4, 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 rising (steps S20 and S22), step S24 is performed. , S25, the ascending drive of the seedling planting device 6 is stopped, and the seedling planting device 6 is driven down (operation of automatic elevation control). Conversely, in step S25 of FIG. 4, 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 S16), steps S17, S18, The process proceeds to S19, where the descent driving of the seedling planting device 6 is stopped and the seedling planting device 6 is driven up.

[6]
In the 8-row planting type rice transplanter, the following operations are repeated in the planting operation in the field. As shown in FIGS. 7 and 8, the aircraft is started from the first position on one side of the heel G1 (see the solid line in FIG. 7) and the first planting process K1 is performed, and the aircraft reaches the other side G1. Then, the turn at the side of the other ridge G1 is performed and the second planting process K2 is entered. After the second planting process K2, when the aircraft reaches one kite G1, it turns at the edge of one kite G1 and enters the third planting process K3.

  In this case, the turning at each corner is performed as follows. As shown in FIGS. 7 and 8, for example, when the first planting process K1 is completed and the aircraft approaches one kite G1, the front end of the aircraft remains substantially in contact with the one kite G1 while remaining straight. Travel until the aircraft is paused. The pitman arm 29 is swung from the straight travel position A side to the right (left) steering limit B, the aircraft is started, the first half turn L1 at the shore is performed, and then the pitman arm 29 is moved to the right (left ) Is swung from the steering limit B to the straight-ahead position A side, and a straight traveling L2 at the heel is performed. When the straight traveling L2 at the shore is completed, the pitman arm 29 is swung from the straight traveling position A side to the right (left) steering limit B, and the second turn L3 at the shore is performed. The arm 29 is swung from the right (left) steering limit B to the straight traveling position A side, and the second planting stroke K2 is entered.

In the first planting process K1 shown in FIG. 7, the reference travel distance J0 used in the subsequent second and third planting processes K2 and K3 is detected, and then the reference travel distance J0 is detected. Will be described with reference to FIGS.
In the state where the machine body is positioned at the first position on one heel G1 side (see the solid line in FIG. 7), the second lifting lever 20 is operated to the lowered position D to lower the seedling planting device 6 ( Step S25) (operation of automatic lifting control), the second lifting lever 20 is again operated to the lowered position D, and the planting clutch 16 is operated to the transmission side by the motor 17 (Step S26), the first planting When the stroke K1 is started, the operator immediately presses the detection switch 22 (see FIG. 2) provided in the driving unit 4 (step S12). Conversely, after pressing the detection switch 22, the seedling planting device 6 may be lowered by the second lifting lever 20 (operation of automatic lifting control), and the planting clutch 16 may be operated to the transmission side by the motor 17. .

  As a result, the previously detected travel distance J1 and the reference travel distance J0 are deleted (step S13), and the detection of the travel distance J1 of the first planting stroke K1 is started (steps S14 and S15). A rotation speed sensor 27 (see FIG. 2) for detecting the rotation speed of the transmission system to the rear wheel 2 is provided. Based on the detection value of the rotation speed sensor 27, the travel distance J1 of the first planting stroke K1. Is detected.

  As described above, when the first planting process K1 ends and the aircraft reaches the other kite G1, the aircraft is temporarily stopped and the second lifting lever 20 is operated to the raised position U (steps S16 and S17). Then, the planting clutch 16 is operated to the transmission cut-off side by the motor 17 (step S18), the seedling planting device 6 is driven up (step S19), and the pitman arm 29 is operated from the straight travel position A side to the right (left). The swing operation is performed to the direction limit B, the aircraft is started, and the first half turn L1 at the heel is performed.

  As a result, when the seedling planting device 6 stops at the upper limit position (steps S20 and S21), the detection of the travel distance J1 of the first planting process K1 ends, and the detected travel of the first planting process K1. The distance J1 is stored (steps S28 (M = 1), S29), and for example, 80% of the detected travel distance J1 of the first planting stroke K1 is set as the reference travel distance J0 (step S30). , S31).

  After the first half turn L1 at the shore, the pitman arm 29 is swung from the right (left) steering limit B to the straight position A to perform a straight travel L2 at the shore, and then the pitman arm. 29 is swung from the straight travel position A side to the right (left) steering limit B, and the second half turn L3 is performed at the heel. When the second half turn L3 at the end of the heel is finished, the second elevating lever 20 is operated to the lowered position D (step S16), the seedling planting device 6 is lowered (steps S23, S24, S25), and the second elevating / lowering lever 20 is operated. The lever 20 is again operated to the lowered position D (step S16), and the planting clutch 16 is operated to the transmission side by the motor 17 (steps S23 and S26), and the second planting process K2 is started (step S27). (M = 2)).

  The detection of the travel distance J1 of the first planting stroke K1 as described above is performed when the auxiliary transmission lever 23 is operated to the low speed position L (step S11), and the auxiliary transmission lever 23 is in the high speed position. If it is operated to H, even if the detection switch 22 is pressed, the travel distance J1 of the first planting stroke K1 is not detected.

[7]
Next, the third planting process K3 from the second planting process K2 will be described with reference to FIGS.
When the second planting stroke K2 is started as described in [6] above, detection of the travel distance J2 of the second planting stroke K2 is started by the rotation speed sensor 27 (steps S33 and S34). In this case, if the detected travel distance J2 of the second planting process K2 does not reach the reference travel distance J0 (step S37) (as shown in FIG. 7, the aircraft is almost in the second planting process K2). If the process is not completed (for example, 80% of the second planting process K2), the process cannot proceed to steps S38 to S45.

  In other words, in the middle of the second planting stroke K2 (if the detected travel distance J2 of the second planting stroke K2 does not reach the reference travel distance J0 (step S37)), the operator operates the steering handle 18. Even if the pitman arm 29 is swung to the right and left, the pitman arm 29 as will be described later is swung to the right and left first set angles A1 from the straight travel position A side. A state in which the planting clutch 16 is automatically operated to the transmission cutoff side by the motor 17 and the seedling planting device 6 is automatically driven up to the upper limit position (steps S40 to S43, S46 to S50), and pitman Based on the fact that the arm 29 is swung from the right (left) steering limit B side to the right (left) second set angle A2, the seedling planting device 6 is operated until the float 12 contacts the surface G. Self To condition falling driven (step S44, S45, S52, S53, S54) does not occur.

As described above, during the second planting stroke K2 (if the detected travel distance J2 of the second planting stroke K2 does not reach the reference travel distance J0 (step S37)), the second lift lever 20 is moved. By operating to the raised position U (steps S35 and S46), the planting clutch 16 is operated to the transmission cutoff side by the motor 17 (step S47), and the seedling planting device 6 can be driven to rise (step S48). ).
Similarly, by operating the second elevating lever 20 to the lowered position D (step S35), the seedling planting device 6 is lowered (steps S52 (N = 1), S53, S54) (operation of automatic elevating control). The second elevating lever 20 is again operated to the lowered position D (step S16), and the planting clutch 16 can be operated to the transmission side by the motor 17 (steps S52 (N = 2), S55).

  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.

  After the detected traveling distance J2 of the second planting stroke K2 reaches the reference traveling distance J0 (step S37), when the second planting stroke K2 ends and the aircraft reaches one heel G1, Pause the aircraft. Thereafter, the pitman arm 29 is swung from the straight traveling position A side to the left (right), and when the pitman arm 29 reaches the first set angle A1 on the left (right) (steps S38 (Q = 1), S40). (See the arrow in FIG. 2), the count of the set time T1 is started (steps S41 and S42), a buzzer (not shown) is activated (step S43), the process proceeds to steps S46 to S48, and the motor 17 Thus, the planting clutch 16 is operated to the transmission cut-off side, and the seedling planting device 6 is driven up to the upper limit position. As a result, the aircraft is started and the first half turn L1 at the heel is performed.

  In the riding type rice transplanter, in general, the pitman arm 29 is operated from the straight traveling position A side to the right (left) steering limit B, and the first turn L1 at the heel is performed (see the arrow in FIG. 2). As a result, the first half turn L1 at the end of the coast is completed, and the pitman arm 29 is operated from the left (right) steering limit B side to the straight traveling position A side to the left (right) second set angle A2. When the pitman arm 29 is reached (step S44) (see the arrow in FIG. 2), the buzzer is activated (step S45), the process proceeds to steps S52 (N = 1), S53, S54, and the float 12 contacts the surface G. Until then, the seedling planting device 6 is driven downward (operation of automatic elevation control). In this manner, from the first half turn L1 at the heel, in a state where the seedling planting device 6 is driven downward (operation of automatic lifting control), the straight traveling L2 at the heel is performed.

  When entering the turning L3 in the latter half of the coast from the straight travel L2 on the coast, the pitman arm 29 is swung from the straight travel position A side to the left (right), and the first set angle A1 on the left (right) Even if the pitman arm 29 arrives at this time, since the count of the set time T1 has not yet elapsed (steps S38 (Q = 2), S39), the process proceeds to step S44, and the seedling planting device 6 is driven upward. There is nothing. In this case, since the set time T1 is set to a length sufficient to complete the first turn L1, the straight running L2 and the second turn L3 at the heel, the seedling planting device 6 is driven downward. (The operation of automatic elevation control), the second half of the turn L3 at the heel is performed.

  After the second half turn L3 at the heel end, the pitman arm 29 is operated from the left (right) steering limit B side to the straight traveling position A side, and then the second elevating lever 20 is operated to the lowered position D. (Step S35), the planting clutch 16 is operated to the transmission side by the motor 17 (Steps S52 (N = 2), S55), and the third planting process K3 is started. When the third planting process K3 is started in this way, the detected travel distance J2 of the second planting process K2 is deleted (steps S56 and S57), and the process proceeds to steps S32 and S33. Detection of the travel distance J2 in the second planting stroke K3 is started.

  In the straight traveling L2 and the second turn L3 shown in FIG. 7, the second elevating lever 20 is operated to the raised position U and the lowered position D (step S35), and the seedling planting device 6 is raised and lowered. Can be driven. In this case, the second half turn L3 at the end of the heel is finished with the seedling planting device 6 being driven upward, and the pitman arm 29 is moved from the left (right) steering limit B side to the left (right) second set angle. When the steering operation is performed at A2 (step S44) (see the arrow in FIG. 2), the buzzer is activated (step S45), the process proceeds to steps S52 (N = 1), S53, and S54. The seedling planting device 6 is driven to descend until it touches the ground (operation of automatic elevation control).

The detection of the travel distance J1 of the first planting stroke K1 as described above is performed when the auxiliary transmission lever 23 is operated to the low speed position L (step S11 in FIG. 4). Is operated at the high speed position H, even if the detection switch 22 is pressed, the travel distance J1 of the first planting stroke K1 is not detected.
Similarly, after the second planting stroke K2, if the auxiliary transmission lever 23 is not operated to the low speed position L (if the auxiliary transmission lever 23 is operated to the high speed position H (steps S32 and S36), The process does not proceed to steps S33 and S34 (the detection of the travel distance J2 of the second planting stroke K2 is not started), and the pitman arm 29 swings from the straight traveling position A side to the right (left) first set angle A1. Even if operated, the seedling planting device 6 is not driven to rise, and even if the pitman arm 29 is swung from the right (left) steering limit B to the right (left) second set angle A2, the seedling planting is performed. The attaching device 6 is not driven downward.

  In the configuration shown in FIGS. 4, 5 and 6, the reference travel distance J0 is not set based only on the travel distance J1 of the first planting stroke K1, but the travel distance detected in the previous planting stroke is It may be configured such that the reference travel distance J0 is updated every time the travel distance of the planting process is detected, such as the reference travel distance J0 of the planting process.

[First Alternative Embodiment of the Invention]
As shown in FIGS. 4, 5, and 6, a configuration as shown in FIGS. 9 and 10 may be used instead of the configuration for setting the reference travel distance J <b> 0 and detecting the elapse of the set time T <b> 1.
As shown in FIGS. 9 and 10, the second elevating lever 20 is operated to the lowered position D (step S61), and the planting clutch 16 is operated to the transmission side by the motor 17 (step S87 (N = 2)). S90, S91), it is assumed that the planting process K1, K2, K3 has started.

  In this state, when the pitman arm 29 is swung to the right or left from the straight traveling position A side (steps S63 and S69), the detected value of the angle sensor 31 is subjected to differential processing, and the swing speed V of the pitman aan 29 is determined. Is detected (steps S64 and S70), and if the swing speed V is lower than the set speed V0 (steps S65 and S71), it is not the start of the first and second half turns L1 and L3 at the coast, but the Even if it is determined that the direction is corrected and the pitman arm 29 is swung to the right (left) first set angle A1 from the rectilinear position A side, the seedling planting device 6 is not driven up (steps S75, S81, (Do not move to S82, S83).

  Similarly, when the pitman arm 29 is swung from the right (left) steering limit B side to the straight travel position A side (step S76), the detected value of the angle sensor 31 is subjected to differential processing, and the pitman aan 29 is swung. If the moving speed V is detected (step S77) and the swing speed V is lower than the set speed V0 (step S78), the direction of the aircraft is not the end of the first and second half turns L1 and L3 at the shore. Therefore, even if the pitman arm 29 is swung from the right (left) steering limit B side to the right (left) second set angle A2, the seedling planting device 6 is not driven downward ( (Do not proceed to steps S80, S87, S88, S89).

  As shown in FIGS. 7 and 8, when the fuselage reaches the heel, the pitman arm 29 is rapidly swung to the right (left) from the rectilinear position A side, and the first half turn L1 at the heel is started. As a result, the swing speed V of the pitman arm 29 becomes higher than the set speed V0 (steps S63 to S65, S69 to S71). As a result, when the pitman arm 29 (swing angle) reaches the right (left) first set angle A1 (steps S66 and S72), it is determined that the first half turn L1 at the heel has started, and step S67 ( From W = 0), S68, S73 (W = 0), S74, the process proceeds to steps S75, S81, S82, S83, the buzzer is activated, and the planting clutch 16 is operated to the transmission cutoff side by the motor 17, The seedling planting device 6 is driven up to the upper limit position.

  When the first half turn L1 at the shore is completed, the pitman arm 29 is rapidly operated from the right (left) travel limit B side to the straight travel position A side, and the straight travel L2 at the shore is about to start. Therefore, in this case, the swing speed V of the pitman arm 29 is higher than the set speed V0 (steps S76 to S78). Thus, when the pitman arm 29 (swing angle) reaches the right (left) second set angle A2 (step S79), it is determined that the first half turn L1 at the heel has been finished, and steps S80, S87 ( N = 1), the process proceeds to S88, S89, the buzzer is activated, and the seedling planting device 6 is driven down until the float 12 contacts the surface G.

If the first half turn L1 at the shore is a right turn (step S63), when the straight traveling L2 at the shore is completed and the second half turn L3 at the shore is entered, the second half turn at the shore. L3 also turns right. Similarly, if the first turn L1 at the shore is a left turn (step S69), when the straight traveling L2 at the shore is finished and the second turn L3 at the shore is entered, the second half at the shore The turn L3 is also a left turn.
Thus, when the first half turn L1 at the shore is a right turn, for example, when the straight traveling L2 at the shore is finished and the second turn L3 (right turn) at the heel is entered, the pitman arm Even if 29 is swung to the right at a speed higher than the set speed V0 from the straight travel position A side and reaches the first set angle A1 on the right, the seedling planting device 6 is not driven up (step S67 (W = 1) ) Does not proceed to steps S75, S81, S82, S83).

  In the straight traveling L2 at the heel and the second turn L3, the seedling planting device 6 can be driven up and down by operating the second elevating lever 20 to the up position U and the down position D (step S61). it can. In this case, when the second half turn L3 at the end of the coasting is finished, the pitman arm 29 moves from the right (left) steering limit B side to the right (left) second set angle A2 at a speed higher than the set speed V0. When the steering operation is performed (steps S76 to S79), the buzzer is activated (step S80), the process proceeds to steps S87 (N = 1), S88, and S89, and seedlings are planted until the float 12 contacts the rice field G. The device 6 is driven downward (operation of automatic elevation control).

  If the sub transmission lever 23 is not operated to the low speed position L (step S62) (if the sub transmission lever 23 is operated to the high speed position H), the process does not proceed to steps S63 to S80, and the pitman arm 29 is moved straight. Even if the swinging operation is performed from the A side to the right (left) first set angle A1 at a speed higher than the set speed V0, the seedling planting device 6 is not driven up, and the pitman arm 29 is steered to the right (left). Even if the swing operation is performed from the limit B side to the right (left) second set angle A2 at a speed higher than the set speed V0, the seedling planting device 6 is not driven downward.

[Second Embodiment of the Invention]
9 and 10, an artificially operable setting switch (not shown) that can set the transition to steps S62 to S80 when the first elevating lever 28 is operated to the automatic position. You may prepare. In this case, if the setting switch is operated to the ON position, the transition from step S61 to step S62 is permitted. If the setting switch is operated to the OFF position, the process returns from step S61 unconditionally (steps S62 to S80). (Not shown) is provided between step S61 and step S62 in FIG.

  4, 5, and 6, steps S <b> 44 and S <b> 45 may be deleted and the second raising / lowering lever 20 may be operated to the lowered position D to drive the seedling planting device 6 to descend. . 9 and 10, steps S76 to S80 may be deleted, and the second raising / lowering lever 20 may be operated to the lowered position D so that the seedling planting device 6 is driven to descend.

The present invention is not only riding rice transplanter, direct seeding device to the rear of the machine body (work device) can be applied to the riding straight seeder with freely up and down.

Overall side view of riding rice transplanter Diagram showing control system relationship The figure which shows the flow of control at the time of operating a 1st raising / lowering lever The figure which shows the flow of control at the time of operating the 1st planting process and the 2nd raising / lowering lever The figure which shows the flow of the first half of the control at the time of operating the planting process and the 2nd raising / lowering lever after the 2nd time. The figure which shows the flow of the latter half of the control at the time of operating the planting process and the 2nd raising / lowering lever after the 2nd time. Plan view showing the state of the planting process in the field Plan view showing the state of turning at the shore The figure which shows the flow of the first half of the control at the time of operating the planting process and the 2nd raising / lowering lever in 1st another form of implementation of invention. The figure which shows the latter half flow of the control at the time of operating the planting process and the 2nd raising / lowering lever in 1st another form of implementation of invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Front wheel 2 Rear wheel 6 Working device 7 Drive mechanism 27 Rotation speed sensor A Straight running position A1 Setting angle J0 reference | standard travel distance 20 Lifting lever 23 Subshift lever

Claims (3)

A working device is provided in the machine body so as to be movable up and down, a drive mechanism for driving the working device up and down is provided, and the working device is constituted by a seedling planting device or a direct sowing device,
When the right or left set angle is set from the straight drive position, and the front wheel is steered to the right or left set angle or more from the straight drive position side, an automatic lift means for driving the working device up by the drive mechanism is provided. As well as
And control means for lowering drive the raised working device, a rotation speed sensor for detecting the rotational speed of the drive system to the rear wheels, the travel distance of the aircraft from is lowered the working device operation prior Symbol control means Is based on the detection value of the rotational speed sensor, and based on the detection from the travel distance detection means, is shorter than the travel distance of the work stroke from one heel to the other heel on the field A discriminating means for discriminating whether or not the vehicle has traveled a reference travel distance; and a check means for preventing the operation of the automatic raising means during the work process;
The checking means operates the automatic raising means for automatically raising the working apparatus in the lowered state until it is judged that the working apparatus has traveled the reference travel distance after the working apparatus is lowered. A work device lifting structure for paddy field machine configured to prevent.   2. The working device lifting structure for a paddy field working machine according to claim 1, wherein the working device is configured to be driven to be lifted by an operation of a lifting lever in preference to the checking means. A sub-shift lever capable of shifting between a low-speed position and a high-speed position, and a push-operating switch; when the sub-shift lever is in a low-speed position and the switch is pushed, the travel distance of the airframe is the reference travel The work device lifting structure for a paddy field work machine according to claim 1 or 2, wherein the automatic lifting means is activated when the distance is reached.

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