JP4998324B2 - Traveling vehicle - Google Patents

Description

  The present invention relates to a traveling vehicle such as a riding work machine in which a work device such as a seedling planting device is connected to the work vehicle.

The wheels arranged on the left and right in the direction of travel of the work vehicle are turned by turning the steering handle to turn on / off the side clutch and the side brake of the wheel corresponding to the operation of the steering wheel.
Patent Document 1 (Japanese Patent Application Laid-Open No. 2004-196000) discloses a side clutch that intermittently transmits power to left and right rear wheels, and a side clutch that turns inside when the front wheel is steered from a straight traveling position beyond a set angle. It is equipped with a mechanical automatic steering mechanism that turns the front wheel, and when it detects that the front wheels are steered more than the set angle from the straight running posture, the side clutch for the rear wheels inside the turn is automatically activated by the actuator. And the structure which controls on-off intermittently is disclosed.
Japanese Patent Laid-Open No. 2004-196000

In the riding type work machine disclosed in Patent Document 1, the field of the field is tampered by the rear wheels inside the turn while taking advantage of the features of an automatic steering mechanism that can turn a small turn only by greatly steering the front wheels. Can be reduced. However, when a riding type rice transplanter for eight-row planting is used instead of the riding type rice transplanter for six-row planting disclosed in Patent Document 1, the turning radius of the rice transplanter increases because the width of the body is large. It is necessary to increase or decrease the degree of the planting, but even if the turning interlock control device disclosed in Patent Document 1 is applied, the turning cannot be sufficiently performed and the seedling is planted in a state where it partially overlaps the previous planting line There was a risk of doing.
Accordingly, an object of the present invention is to provide a traveling vehicle such as a riding type work machine provided with a turning interlock control device capable of planting seedlings at an appropriate position even for multi-row planting such as 8-row planting.

The above-mentioned problem of the present invention is solved by the following means.
The invention according to claim 1 is directed to a traveling vehicle body (2) having left and right front wheels (10) and left and right rear wheels (11) , and a steering direction provided in a cockpit (31) of the traveling vehicle body (2). Steering means (34) for determining the steering wheel, a steering mechanism (175, 180, etc.) capable of changing the direction of the front wheel (10) in conjunction with the operation of the steering means (34), and the steering mechanism (175, 180, etc.) ), The turning interlock mechanism (A) that intermittently turns on / off the driving force of the traveling propulsion body (11) inside the turning by the side clutch , and the rotational speed of the transmission shaft of the left and right rear wheels (11) Each transmission shaft rotational speed sensor (205) for detection is provided , and when the traveling vehicle body (2) turns, the driving force of the rear wheel (11) inside the turning is intermittently turned on / off by the turning interlock mechanism (A). the control of, by turning the outer transmission shaft rotational speed detection means (205a) To determine the set rotational speed of the rear wheel inside (11) according to the rotation speed (a1) issued, the rotational speed detected by the transmission shaft rotational speed sensor of the turning inner (205) and the set rotational speed so as to perform, in a driving state is a running vehicle comprising the control device for continuously driven by the side clutch to the rear wheel located on the inside (11) reaches a predetermined rotation angle (163).

The invention according to claim 2 is the traveling vehicle according to claim 1, further comprising an adjustment dial (210) capable of manually changing a predetermined rotation angle .
According to the third aspect of the present invention, the seedling planting part (4) is mounted so as to be movable up and down via the lifting link device (3), and the seedling planting part (automatically) based on the rotation of the steering means (34). 4) is configured to raise, an automatic lift changeover switch (192) that automatically switches to a state where the seedling planting part (4) does not rise is provided, and planting to turn on / off transmission to the seedling planting part (4) A clutch is provided, and the control device (163) disengages the rear clutch (11) inside the turning after the side clutch is turned off when turning off the side clutch of the rear wheel (11) inside the turning. The rotational speed of the transmission shaft is detected by the transmission shaft rotational speed sensor (205), and when the rotational speed detected by the transmission shaft rotational speed sensor (205) reaches the first set value, the seedling planting part (4) is lowered. Thereafter, the rotational speed detected by the transmission shaft rotational speed sensor (205) is set to the second setting. A turn interlock control that automatically activates the seedling planting portion (4) by the planting clutch when the value is reached, and the rear wheel (11) inside the turn is continued in a non-driven state when traveling at high speed; The traveling vehicle according to claim 1.
According to the fourth aspect of the present invention, the pitman arm (175) operated by the operation of the steering means (34), the operating roller (177) linked to the pitman arm (175), and the driven linked to the operating roller (177). A body (179), left and right rods (180) for operating the left and right side clutch operating arms (86I) from the driven body (179), and a rod (180) and a side clutch operating arm (86I). A pull cylinder (217) and an electromagnetic valve (221) for hydraulically operating the pull cylinder (217) are provided, and the side clutch inside the turning is continuously cut by the operation of the pull cylinder (217) and the turning inside The traveling vehicle according to claim 1, wherein a control for intermittently turning on and off the side clutch is executed.

According to the first aspect of the present invention, in the driving state, the rear wheel (11) inside the turning is continuously driven by the side clutch until the predetermined rotation angle is reached, and the driving force of the rear wheel (11) inside the turning is increased. There are few impacts that are intermittently turned on and off, and it is possible to turn on a desired travel route even during wet field travel.

According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the predetermined rotation angle can be changed manually, and a traveling vehicle with good maneuverability can be provided.
According to the invention described in claim 3, in addition to the effect of the invention described in claim 1, the seedling planting part (4) is lowered based on the rotational speed of the rear wheel (11) inside the turning where the side clutch is disengaged. Then, since the seedling planting part (4) is automatically operated by the planting clutch, the planting start of the seedling can be made almost constant without being affected by slip or the like. In addition, when the planting part (4) is automatically switched to a state where it does not rise by the automatic lift changeover switch (192), when planting around along the edge in a deformed farm field such as a fan shape or a gourd type, The planting work is performed while turning the steering handle (34) along the bent ridges, but the seedling planting part (4) does not automatically rise even if the steering handle (34) is rotated, so that the planting work can be performed and deformed. Seedlings can be properly planted in the field.
According to the fourth aspect of the invention, in addition to the effect of the first aspect of the invention, the control of continuously turning off the side clutch inside the turning by the operation of the pull cylinder (217) and the side clutch inside the turning intermittently. Control to turn on / off can be executed.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIGS. 1 and 2 are a side view and a plan view of a riding type rice transplanter equipped with a fertilizer application device as a granular material feeding device which is an embodiment using the present invention. In this riding type rice transplanter 1 with a fertilizer application, a seedling planting portion 4 is mounted on the rear side of the traveling vehicle body 2 via an elevating link device 3 so that the seedling planting portion 4 can be moved up and down. Is provided.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and a pair of left and right rear wheels 11 and 11 as drive wheels, and a transmission case 12 is disposed at the front of the fuselage. Front wheel final cases 13, 13 are provided on the left and right sides of the case 12, and the left and right front wheels are mounted on the left and right front wheel axles projecting outward from the respective front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 13, 13. 10 and 10 are respectively attached. Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and a rear wheel gear case 18, with a rear wheel rolling shaft provided horizontally in the front and rear sides at the rear left and right center of the main frame 15 as a fulcrum. The rear wheels 11 and 11 are attached to a rear wheel axle that is supported in a freely rolling manner and projects outwardly from the rear wheel gear cases 18 and 18.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission 21 and a hydraulic continuously variable transmission 23. The rotational power transmitted to the mission case 12 is shifted by a transmission in the case 12 and then separated into traveling power and external power to be extracted. A part of the traveling power is transmitted to the front wheel final cases 13 and 13 to drive the front wheels 10 and 10, and the rest is transmitted to the rear wheel gear cases 18 and 18 to drive the rear wheels 11 and 11. Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear part of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26, and also the fertilizer application device 5 by the fertilization transmission mechanism 28. Is transmitted to.

  The upper part of the engine 20 is covered with an engine cover 30, and a seat 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the seat 31, and a handle 34 for steering the front wheels 10 and 10 is provided above the front cover 32. The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The floor step 35 is partly grid-shaped (see FIG. 2), and mud on the shoe of the worker walking through the step 35 falls on the field. The rear part on the floor step 35 is a rear step 36 that also serves as a rear wheel fender.

  Further, on both the left and right sides of the front part of the traveling vehicle body 2, the spare seedling platforms 38, 38 on which the replenishment seedlings are placed can be pivoted to a position projecting laterally from the machine body and a position housed inside. Is provided. The elevating link device 3 has a parallel link configuration, and includes one upper link 40 and a pair of left and right lower links 41, 41. These links 40, 41, 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected on the rear end of the main frame 15, and a vertical link 43 is connected to the tip side thereof. ing. And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44. An elevating hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and a tip of a swing arm (not shown) integrally formed with the upper link 40, and the cylinder 46 is expanded and contracted by hydraulic pressure. The upper link 40 pivots up and down, and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting section 4 has an eight-row planting structure, a seedling planting transmission case 50 that also serves as a frame, a mat seedling, and a left and right reciprocating motion to supply seedlings to the seedling outlets 51a of each row one by one. When all the seedlings for one horizontal row are supplied to the seedling outlet 51a, ..., the seedling feed belt 51b, ..., the seedling stage 51 for transferring the seedling downward by the seedling feeding belt 51, ..., seedlings supplied to the seedling outlet 51a, ... are planted in the field. A seedling planting device 52 to be attached is provided with a pair of left and right drawing markers (not shown) for drawing the aircraft path in the next stroke to the topsoil surface. In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and middle floats 57 and side floats 56 are provided on the left and right sides thereof. When the aircraft is advanced with these floats 55 to 57 in contact with the mud surface of the field, the floats 55 to 57 slide while leveling the mud surface, and the seedling planting device 52,. Planted. Each of the floats 55 to 57 is rotatably attached so that the front end side moves up and down according to the unevenness of the field topsoil surface, and the vertical movement of the front part of the center float 55 is an angle-of-attack control sensor (see FIG. The planting depth of the seedling is always maintained constant by switching the hydraulic valve that controls the lifting hydraulic cylinder 46 according to the detection result to raise and lower the seedling planting unit 4.

  The fertilizer applicator 5 feeds the granular fertilizer stored in the fertilizer hopper 60 by a fixed amount by the feeding portions 61,..., And applies the fertilizer to the left and right sides of the floats 55-57 with the fertilizer hoses 62,. (Not shown), guided to the fertilizer guide, and a grooving body (not shown) provided on the front side of the fertilizer guide. . Air generated by the blower 58 driven by the blower electric motor 53 is blown into the fertilizer hose 62 through the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hose 62 is forced by the wind pressure. It is designed to be transported.

  A rotor 27 (27a, 27b) which is an example of a leveling device is attached to the seedling planting unit 4. In addition, the seedling mount 51 is configured to slide in the left-right direction using a support roller 65a of a rectangular support frame 65 having a full width in the left-right direction and the vertical direction that supports the entire seedling planting unit 4 as a rail.

  The rotor 27 is supported by the following support structure. That is, a beam member 66 supported at both ends 65b of the support frame 65 of the seedling stage 51 so that the upper end thereof is freely rotatable, a support arm 67 fixed to both ends of the beam member 66, and a rotation to the support arm 67. A freely attached rotor support frame 68 is provided, and a drive shaft 70 (70a, 70b) of the rotor 27 (side rotor 27a and center rotor 27b) is attached to the lower end of the rotor support frame 68. Further, the lower end portion of the rotor support frame 68 is connected to a connecting member 71 rotatably attached to the seedling planting transmission case 50.

  The rotor 27 b located in front of the center float 55 is arranged in front of the rotors 27 a located in front of the side float 56 and the middle float 57 in relation to the arrangement positions of the floats 55 to 57. Therefore, the power to the drive shaft 70a of the rotor 27a is transmitted from the gear in the gear case 18 of the rear wheel 11, and the drive shafts 70a of both the rotors 27a and 27a are connected to the inner end of the vehicle body to the drive shaft 70b of the rotor 27b. Power is transmitted from each part.

The rotor 27b is suspended by a pair of link members 76 and 77 whose upper ends are supported by the beam member 66 via a spring 78.
A bent piece 82 is fixed to the lower end portion of the rotor vertical position adjusting lever 81, and the bent piece 82 is rotatably supported by the support frame 65. When the lever 81 is rotated in the left-right direction of the vehicle, the lever 81 is bent near the protrusion 66a fixedly supported by the beam member 66 that is rotatably supported by the side members 65b of the support frame 65. The piece 82 rotates up and down. Since the bent piece 82 is locked below the protrusion 66a, the protrusion 66a rotates upward about the beam member 66 by the lever 81 rotating in the right direction of the machine body. By the rotation of the projecting portion 66a, the end of the first link member 76 opposite to the connecting portion with the beam member 66 is also rotated upward about the beam member 66. By rotating the first link member 76 upward, the rotor 27b can be lifted upward via the second link member 77 and the spring 78. When the rotor 27b is moved upward, the rotor 27a is also simultaneously moved upward via the drive shaft 70b and the drive shaft 70a.
Since the rotor vertical position adjusting lever 81 is provided at substantially the center of the vehicle body 2, it is easy to balance left and right when the rotors 27a and 27b are moved up and down.

  Further, when the seedling planting section 4 is lowered to the field, the cable 45 for returning the seedling planting section 4 to the horizontal position is connected to the pulling spring section including the link members 76 and 77 of the center rotor 27b and the spring 78 and the hydraulic piston 46. It was linked with.

  Thus, by providing the cable 45 in addition to the swing mechanism by the spring 78 of the center rotor 27b, the center rotor 27b can be returned to the horizontal position every time the seedling planting part 4 is lowered from the raised position. The holding position of 27b can be stabilized.

  The rotational power of the engine 20 is transmitted to a hydraulic transmission hydraulic continuously variable transmission 23 via a belt transmission 21 or the like, and the output from the hydraulic transmission hydraulic continuously variable transmission 23 is a belt (not shown). ) To the input shaft (not shown) of the mission case 12.

  The seedling planting unit 4 is mounted on the main frame 15 of the traveling vehicle body 2 so as to be movable up and down by the lifting link device 3. The configuration for raising and lowering and the configuration of the seedling planting unit 4 will be described. First, a piston upper end portion of a general hydraulic cylinder 46 (FIG. 1) whose base is rotatably provided on the traveling vehicle body 2 is connected to the lifting link device 3, and a hydraulic pump (not shown) provided on the traveling vehicle body 2. ) To supply and discharge the hydraulic oil to and from the hydraulic cylinder 46, and extend and retract the piston of the hydraulic cylinder 46 so that the seedling planting portion 4 connected to the lifting link device 3 is moved up and down. .

The plan view of FIG. 3 shows a side clutch operation mechanism diagram of the rear wheel 11 interlocked with the steering operation of the riding type rice transplanter of FIG.
When the steering wheel 34 is turned, the operating roller 177 is interlocked with the pitman arm 175 that is operated by the operation of the steering wheel 34 via the output shaft 174, and the driven body 179 is interlocked with the operating roller 177 to interlock the left and right rear wheels 11. A clutch interlocking left and right rod 180 for operating the side clutch operating arm 86I of the transmission shaft is provided, and the left and right pull cylinders 217 are connected between the clutch interlocking left and right rod 180 and the side clutch operating arm 86I. It has become the composition.

  Further, FIG. 14 shows a hydraulic circuit including an electromagnetic valve 221 for clutch control for operating the pull cylinder 217. The left and right side clutch operating arms 86I are used for side clutch control for controlling the left and right pull cylinders 217 (FIG. 3) (pulling the cylinder 217 during turning and disengaging the side clutch of the transmission shaft of the rear wheel 11 inside the turning). Using the above configuration including the electromagnetic valve 221, after the handle 34 is rotated by a certain angle, one continuously controls the side clutch to be disengaged (A) and the other is to disengage the side clutch at a constant cycle. Switchable selection to control (B) to connect / disconnect. Control (A) is for standard use and control (B) is for wet paddy field.

The members 174, 175, 177, 179, 180, 217, 86I and the like shown in FIG.
In the embodiment described above, an example in which the side clutch (not shown) of the rear wheel 11 inside the turn is turned off by operating the steering handle 34 at a predetermined angle or more is shown. It may be provided on the panel 33 so that the side clutch can be manually turned off. Alternatively, the side clutch may be manually disengaged with the side clutch pedal.

  Next, the control structure which raises the seedling planting part 4 automatically at the time of reverse drive is demonstrated. First, as shown in FIG. 4, there is provided a backlift switch 191 that is turned on when a contact piece 190 provided at the base of the change lever 90 contacts when the change lever 90 (forward / reverse lever) is operated to reverse speed. The seedling planting unit 4 is controlled to the maximum position by the hydraulic cylinder 46 by controlling the electromagnetic solenoid that operates the electromagnetic hydraulic valve (elevating valve) 161 by the seedling planting device raising means of the control device 163 (FIG. 5). It is configured to raise.

  As described above, when the change lever 90 is operated to the reverse speed, the seedling planting part 4 is automatically raised to the maximum position, so that the aircraft can be turned to turn the aircraft at the edge of the field. Since the seedling planting part 4 is automatically raised to the maximum position when it is moved backward toward the cocoon, the seedling planting part 4 can be prevented from colliding with the cocoon and being damaged, and workability is good.

  Further, when the auto-lift switch 183 shown in FIG. 5 is turned on when the steering handle 34 is rotated 200 degrees to the left or right, an electromagnetic solenoid that operates the electromagnetic hydraulic valve 161 by the seedling planting part raising means of the control device 163. And the seedling planting portion 4 is raised to the maximum position by the hydraulic cylinder 46.

  As described above, when the steering handle 34 is rotated to the left or right as much as possible in order to turn the aircraft at the heel, the auto lift switch 183 is turned on, and the seedling planting unit 4 is automatically raised to the maximum position. Therefore, the operation of raising the seedling planting portion 4 during the turning of the body is unnecessary, and the body can be turned efficiently and the workability is good.

  On the other hand, the operation panel 33 is provided with an automatic lift changeover switch 192 (FIG. 5) for switching between a state in which the seedling planting unit 4 is automatically raised and a state in which it is not raised. When the back lift switch 191 is turned on or the auto lift switch 183 is turned on as described above, the seedling planting unit 4 is automatically raised by the seedling planting device raising means of the control device 163. . When the automatic lift changeover switch 192 is turned off, the seedling planting unit 4 is not automatically raised even if the backlift switch 191 is turned on or the autolift switch 183 is turned on.

  In this way, with one automatic lift changeover switch 192, the seedling planting part 4 can be in a state where it is not automatically raised even if the backlift switch 191 is turned on or the autolift switch 183 is turned on. The configuration is simpler than the configuration in which switches for turning on and off each of the backlift and the autolift are provided separately, and the state of both can be switched with one switch, so that operation errors are reduced and workability is good.

  If the automatic lift changeover switch 192 is turned OFF so that the seedling planting part 4 is not automatically raised even if the back lift switch 191 is turned ON or the auto lift switch 183 is turned ON, the aircraft is moved backward. Even if the change lever 90 is operated at a reverse speed when moving to a barn etc., the seedling planting part 4 does not automatically rise, so it can be moved backward with the seedling planting part 4 lowered, and the upper part of the barn entrance or in the barn It is possible to avoid a situation in which the seedling planting part 4 is hit against other members. In addition, when planting around a vine in a deformed field such as a fan shape or a gourd, a planting operation is performed while turning the steering handle 34 along a curved heel. At this time, an automatic lift changeover switch 192 is used. When the steering wheel 34 is turned to the automatic position, if the steering handle 34 is rotated more than 200 degrees to the left or right, the seedling planting part 4 is automatically raised and the planting operation cannot be performed. However, the automatic lift changeover switch 192 is turned off. Then, even if the steering handle 34 is rotated to the left or right by 200 degrees or more, the seedling planting part 4 does not rise, so that the planting operation can be performed, and the seedling planting operation can be appropriately performed even in the modified farm field.

  Further, in the rice transplanter 1 having the above-described configuration, the control device 163 of the present embodiment is based on the detection of the rotational speed of the drive shaft (transmission shaft) (not shown) of the rear wheel 11 inside the turning, and the seedling at the time of turning. Rotation interlocking control that automatically performs various operations such as planting can be performed. This control mode is sometimes referred to as an automatic planting start mode. In particular, when the rear wheel 11 inside the turn is steered by a predetermined angle or more, the turn interlock control can be performed.

  It is possible to set a control mode (automatic planting start mode) in which the planting start position of the seedling after turning is automatically set based on the number of rotations of the rear wheel. Detected by an angle (cutting angle) sensor 193, and measured the distance traveled from the start of turning detected by the turning angle sensor 193 based on the detection value of the rotational speed sensor 205 of the wheel (the transmission shaft of the rear wheel 11 inside the turning). When the travel distance reaches a predetermined value, it is an automatic planting start mode in which seedling planting is automatically started without operating the seedling planting lever 19 (FIG. 2).

The concept of this control is shown in FIG.

  That is, when the steering wheel 34 is turned off and the side clutch of the rear wheel 11 inside the turn is disengaged, the rotational speed of the left and right drive shafts is detected, and the transmission shaft speed of the inner rear wheel 7 during the turn is the set value N1. If it exceeds, seedling planting part 4 will be lowered. Thereafter, the steering wheel 34 is turned off after the transmission shaft rotational speed of the rear wheel 7 is set to the set value N2 and the operation of the seedling planting tool 126 enters the “cut” state (= the seedling planting device 52 moves up). This is a mechanism for making the planting “enter” when the rotational speed n of the transmission shaft of the rear wheel 11 until the start becomes equal to or greater than the total value.

FIG. 7 shows a flow of the turning interlock control.
First, the rotational speeds of the transmission shafts of the left and right rear wheels 11, 11 are detected by the transmission shaft rotational speed sensor 205, and the set value N1 (drive shaft of the rear wheels 11 inside the turn from the start of turning to 90 ° turn of the body ( (Transmission shaft) rotation signal setting value), N2 (the drive shaft rotation signal setting value from turning 90 ° of the fuselage to “engaging” planting clutch), θ1 (lower limit value of the steering wheel turning setting angle during straight running operation), θ2 (the upper limit value of the steering wheel turning setting angle during straight-ahead operation) is set.

  Next, setting dials 206a to 208b for adjusting the set values of the rotation speeds N1 and N2 and the handle cutting angles θ1 and θ2 in order to cope with differences in the field conditions such as the hardness and water depth of the field, the depth of the tillage, and the like. The correction value n0 is set according to FIG.

  Whether the seedling planting tool 126 of the seedling planting unit 4 is in a seedling planting state is detected in the state of the control device 163 in accordance with the operation of the finger lever 166, and the planting “on” is switched to planting “cut”. The rotation speed n of the transmission shaft of the rear wheel 11 from when the operation of the seedling planting tool 126 enters the “ON” state until the operation of the seedling planting tool 126 becomes the “OFF” state. The value (n) is detected and stored in 205. Next, when the turning angle (steering angle) θ of the steering handle 34 is detected by a steering angle sensor (potentiometer) 193 (FIG. 5) provided on the shaft of the steering handle 34, when the vehicle is not traveling straight (θ1 <θ <θ2) Detects whether the vehicle is turning in the left or right direction.

  When the left turn is in progress, the rotational speed of the transmission shaft of the left rear wheel 11 is detected, and when the rotational speed n1 is n1 ≧ N1 + n0, the aircraft has turned 90 degrees or more from the start of turning, so the seedling planting section 4 Lower. The headland is leveled as the seedling planting part 4 descends. Further, after turning the aircraft 90 degrees, the steering wheel 34 is advanced while loosening the turning degree, and when the rotational speed n2 of the left and right drive shafts of the left rear wheel 11 becomes n2 ≧ N2 + n + n0, the seedling planting tool 126 is operated. Start planting seedlings.

In the rice transplanter of this embodiment, only when the automatic planting start mode is set, the drive of the rear wheel 11 inside the turn is intermittently automatically driven according to the rotation speed of the rear wheel 11 outside the turn. Pumping brake turning (also called pumping clutch turning) that consists of transmission can be performed. By performing the pumping brake turning in this way, there is little impact caused by braking, and a braking cycle corresponding to the turning angle of the rear wheel 11 can be obtained without being affected by the engine rotation or the vehicle speed. In pumping brake turning for turning on / off the clutch of the rear wheel 11 on the inside of the turn, the slower the vehicle speed, the shorter the pumping cycle, and the faster the pumping cycle, the longer the pumping cycle. There can be no braking.
For example, at a vehicle speed of 0 m / s, the operating cycle (including on / off) of the side clutch (not shown: performed by the clutch operating arm 86I) of the transmission shaft of the rear wheel 11 inside the turn is 0.5 seconds, the vehicle speed is 0 The side clutch operating cycle (including on / off) is 1.0 second at 0.5 m / s, and the side clutch operating cycle (including on / off) is 1.5 seconds at a vehicle speed of 1.0 m / s. The side clutch operating cycle of the transmission shaft of the rear wheel 11 inside the turn is changed in a linear function according to the vehicle speed.

  When traveling at high speed, the impact is particularly great when the clutch of the transmission shaft of the rear wheel 11 is turned on or off. Therefore, as described above, in order to reduce the impact of the pumping brake, the ON / OFF cycle of the pumping brake (performed by the clutch operation arm 86I, etc.) is made longer as the vehicle travels at a higher speed.

  Like the 8-row rice transplanter of this embodiment, a large traveling vehicle needs to make a relatively large turn when turning. However, if the side clutch of the transmission shaft of the rear wheel 11 inside the turn is kept off during turning, the turn becomes too small. However, if the transmission shaft of the rear wheel 11 inside the turn is pumped brake controlled as in this embodiment, the operator can perform braking without feeling uncomfortable at the turn, and an appropriate turning radius desired by the operator can be 8 A relatively large turn suitable for a striped rice transplanter is possible.

  As shown in FIG. 12, the side clutch of the transmission shaft of the rear wheel 11 inside the turn is connected to the rear side inside the turn at the rotation speed (rotation angle) set by the pumping clutch adjustment dial 210 provided on the operation panel 33. This is done until the number of rotations of the wheel 11 is reached.

  The pumping clutch adjustment dial 210 adjusts between 11 degrees and 27 degrees in the rear wheel rotation angle (= the rotation angle of the transmission shaft of the rear wheel 11). It should be noted that the pumping clutch adjustment dial 210 is not the rotation angle of the rear wheel 11 (the transmission shaft of the rear wheel 11), but the operation time of the clutch (not shown) for operating the transmission shaft of the rear wheel 11, for example from 210 ms to 510 ms. The side clutch (not shown) of the transmission shaft of the rear wheel 11 inside the turn may be connected for the time set by the pumping clutch adjustment dial 210.

  In addition, when driving at high speeds such as on the road, if the pumping clutch turning is selected, it is easy to make a large turn, and therefore the handling is rather uncomfortable. It is unnecessary. Therefore, when the traveling vehicle is traveling at a high speed at a constant vehicle speed, for example, 1.0 m / s or more, pumping of the clutch is not performed.

  In the rice transplanter of this embodiment, when turning by turning the steering handle 34, the rotation speed (b1; b1 <a1) of the rear wheel 11 inside the turn according to the rotation speed (a1) of the rear wheel 11 outside the turn. The pumping clutch control may be performed so as to determine the above.

  FIG. 8 shows a specific example of this control flow. When turning by turning the steering handle 34, if the number of revolutions of the rear wheel 11 outside the turn reaches a predetermined value (a0) after the turn is started (during this time) The side clutch of the turning “inside” side rear wheel 11 is “off”), the side clutch of the rear wheel 11 of the turning “inside” side is “on”, and then the rear wheel 11 of the turning “outside” side is set to a predetermined level. The side clutch of the rear wheel 11 on the turning “inside” side is set to “ON” until the rotational speed (a1) is reached.

Further, although the control device 163 automatically sets the timing of “on” and “off” of the side clutch of the rear wheel inside the turning, as shown in the time chart of FIG. The rotational speed (a0) of the rear outer wheel 11 corresponding to “off” and the rotational speed (a1) of the rear outer wheel 11 corresponding to “on” of the inner clutch on the inner side of turning are manually controlled by the pumping clutch adjustment dial 210. You can also set it with.
When the control shown in the flow of FIG. 8 is performed, the workability in the wet field is improved as compared with the conventional method.

  Also, the control flow setting value N1 (drive shaft (transmission shaft) rotation signal setting value of the rear wheel 11 inside the turn from the start of turning until the turn of the body 90 °), N2 (planting from the turn of the body 90 ° shown in FIG. 7) The lower the drive shaft rotation signal set value until the clutch is “entered”, the lowering of the seedling planting device 52 at the time of seedling planting occurs, for example, when the rear wheel 11 on the inside of the turn is deeply submerged in a deep field or the like. This is effective when you want to perform

  When the rear wheel 11 is deeply submerged in the field, it is detected by a lifting link sensor 48 that detects the degree of lifting of the upper link 40 and the lower link 41 that are connected to the traveling machine body so as to be lifted and lowered.

  The control flow in this case is shown in FIG. 10 (a), and FIG. 10 (b) shows the drive shaft (transmission shaft) rotation signal set value N1 of the rear wheel 11 inside the turn from the start of turning to the turning of the body 90 ° or the body 90. The relationship between the value of the drive shaft rotation signal setting value N2 on the inner side of turning from turning to planting clutch “on” and the detection value of the lifting link sensor 48 is shown.

Further, in the automatic planting control mode shown in FIG. 7, the steering wheel 34 operating angle θ1 (the lower limit value of the steering wheel cut angle during straight running operation), θ2 (the steering wheel cut setting angle during straight driving operation) upper limit The raising timing of the seedling planting part 4 according to the value) can be arbitrarily changed by the setting dials 206a and 206 for the θ1 and θ2.
With the above configuration, the operator can arbitrarily set the raising timing of the seedling planting unit 4 during the turning control, so that workability matched to his / her pace can be performed.

In this way, even a riding type working machine for multi-row planting such as 8-row planting can be turned in the field without fear of planting seedlings in a state of partially overlapping the previous planting strip.
In the case of a right turn, the same control is performed as in the case of a left turn.

  In this way, the method of detecting the rotational speed of the transmission shaft (drive shaft) of the rear wheel 11 with the side clutch disengaged is more susceptible to slipping and the like than the method of detecting the rotational speed of the rear wheel 11 to which power is transmitted. There are features that are difficult to receive. Further, since the rotational speed of the drive shaft that rotates faster than the rear wheel 11 is detected, the measurement accuracy can be easily increased. As a result, there is an effect that the planting start of the seedlings for each planting line becomes substantially constant (the headland width (D) is constant).

  In addition, the start button (switch) 184 for turning control that performs various operations of the turning control shown in FIG. 7 may be used as a button for setting the start position for seedling planting.

  In this way, forgetting to operate the button by combining the button for starting the seedling and setting the start position for seedling planting and the start button (switch) 184 for turning control for performing the series of turning control operations. Can be prevented.

  In addition, when planting seedlings using a rice planter with a short foil base that can perform seedling planting work in one step, the descending timing of the seedling planting unit 4 is early when the rice transplanter turns. , The turning outer end of the seedling planting part 4 may ride on the heel. In such a case, when the inclination of the seedling planting unit 4 is detected, the set time of the start of descending of the seedling planting unit 4 at the time of turning is self-corrected, and from the next time, for example, the seedling planting unit 4 automatically for several seconds. By controlling so as to delay the descent start time, it is possible to prevent an unexpected breakage accident by riding on the turning outer end of the seedling planting portion 4 on the heel.

Further, when the descent link sensor 48 detects that the descent start is too late and the descent of the seedling planting part 4 is not in time to reach the seedling planting start position, it can notify the operator with an alarm. At this time, control may be performed to end the work without lowering the seedling planting unit 4.
In addition, it can detect with the seedling planting part rolling sensor 54 that the turning outer end of the seedling planting part 4 got on the cocoon. A control flow in this case is shown in FIG.
Thus, the turning control can prevent the seedling planting position from shifting to the field.

  Note that during the turning control, the hydraulic sensitivity of the hydraulic cylinder 46 of the seedling planting unit 4 is insensitive (not switched to the rising side) between “lowering” of the seedling planting unit 4 and “entering” the seedling planting unit 4. It is desirable to set the center float 55 and the like to the front rising state by setting the state. This can be done by setting the control target of the center float sensor 169 so that the center float 55 is in the forwardly raised state. By turning the center float 55 in the forwardly raised state, the turning trace can be leveled, Ground treatment can be performed easily and accurately.

The automatic planting start mode is set by the planting start adjustment dial 212 (FIG. 13). The travel distance from the start of turning to the start of planting of the seedling is determined by turning the planting start adjustment dial 212 shown in FIG. Set.
Although the travel distance can be appropriately selected according to the rotation angle of the planting start adjustment dial 212, a dial turning angle region outside the travel distance adjustment range of the dial 212 (and enters an automatic planting start mode). An auto lift function that can select a control mode for automatically raising the seedling planting device 4 at the start of turning of the vehicle in the previous dial turning angle region) and automatically raising the seedling planting device 4 when the vehicle reverses The back lift function that can select the control mode is also used.

  Then, when the dialing operation of the planting start adjustment dial 212 reaches the position corresponding to the auto lift function at the position where the indication unit of the planting start adjustment dial 212 indicates “auto lift”, the auto lift function is turned on. Therefore, it is possible to employ a control mode in which the pumping clutch control is started at the same time as the autolift control mode is started.

This is because the wheels 10 and 11 are likely to slip during turning in the wet field, and the planting start position of the seedling is unlikely to be the planned position in the automatic planting start mode. Only in conjunction with the pumping clutch control.
Thus, it becomes possible to easily perform the turning traveling of the vehicle under the condition of easily slipping.

  Further, when the automatic planting start mode is not set, for example, when driving on the road, the pumping clutch is not turned, and the normal turning is performed while turning off the side clutch of the transmission shaft of the wheel (rear wheel 11) inside the normal turning. A swivel mode can also be set.

  The following configuration can be employed as a countermeasure against noise during lowering PWM (Pulse Wide Modulation) control of the lift valve 161. That is, in the hydraulic circuit diagram shown in FIG. 14, the damper is configured to close the spool port when the spool strokes too much using the hydraulic oil that comes from the back of the spool of the check valve 162 on the lift cylinder 46 side of the lift valve 161. In order to obtain an effect, noise during the lowering PWM control of the lift valve 161 is reduced.

  In the current check valve 162, noise is generated when the spool hits the plug or the like at high speed during PWM control for lowering the lift valve 161. There is a problem that there may be a loud sound due to differences in the accuracy of individual parts, but this is a problem, but the noise is generated when the spool of the check valve 162 hits the plug that is the stopper. As a result, it was possible to prevent the generation of noise by closing the port before the spool of the check valve 162 hits the plug so as not to hit the plug due to the damper effect.

  The transmission of the rice transplanter of this embodiment includes a hydraulic continuously variable transmission 23 in which a conventionally known variable displacement hydraulic pump 91 and a hydraulic motor 92 are connected by a hydraulic circuit in which oil circulates in a closed circuit. The hydraulic circuit configuration is shown in FIG.

  In FIG. 15, the hydraulic continuously variable transmission 23 includes a variable displacement hydraulic pump 91 with a movable swash plate 95 and a constant displacement hydraulic motor 92, and the hydraulic continuously variable transmission 23 includes an output from the engine 20. Enters the hydraulic pump 91 via an input shaft (not shown), and the amount of hydraulic oil discharged from the hydraulic pump 91 is controlled by adjusting the inclination angle of the movable swash plate 95 of the hydraulic pump 91. The hydraulic oil discharged by rotating the movable swash plate 95 of the hydraulic pump 91 is sent to the hydraulic motor 92 through a closed circuit including circuits 96 and 97. In the closed circuit, depending on the inclination angle of the swash plate 95 of the hydraulic pump 91, one of the circuits 96 and 97 becomes a high pressure side oil passage, and the other becomes a low pressure side oil passage.

  The bypass oil passage 99 is provided between the circuit 96 and the circuit 97. The bypass oil passage 99 is provided with a switching valve 101 for connecting or blocking the high-pressure side oil passage and the low-pressure side oil passage. Further, an oil passage 105 passing through the one-way valve 105 is provided in the circuit 96, and an oil passage 110 passing through the one-way valve 109 is provided in the circuit 97, and the oil passage 107 or the oil passage 110 is supplemented with lubricating oil from the oil tank 102. For this purpose, a charge pressure oil passage 113 having a hydraulic pump 112 is provided.

  The hydraulic continuously variable transmission 23 shown in FIG. 15 is provided with a swash plate 95 by changing an inclination angle for controlling the discharge hydraulic pressure of the hydraulic pump 91, but a variable having a trunnion shaft integrated with the swash plate 95. A hydraulic continuously variable transmission closed circuit is formed between the displacement type hydraulic pump 91 and the constant displacement type hydraulic motor 92, and an operation cylinder 117 for operating the trunnion shaft of the hydraulic continuously variable transmission 23 The rotation angle can be set.

  The operating cylinder 117 controls the driving of the cylinder 117 by adjusting the operating hydraulic pressure of the cylinder piston 117a by the hydraulic control valve 118.

  The direction in which the hydraulic oil is circulated and supplied to the closed circuit of the hydraulic continuously variable transmission 23 at the parallel position of the variable displacement hydraulic pump 91 and the hydraulic motor 92 in the closed circuit of the hydraulic continuously variable transmission 23 is indicated by the arrow A direction. Or the oil path 121 which has the shuttle valve 120 switched to the reverse direction of A direction is provided. When the spool of the shuttle valve 120 is in the neutral position, the oil passage 121 is opened and hydraulic oil is not discharged from the hydraulic motor 92.

  The shuttle valve 120 is configured such that the valve 120 is switched in conjunction with the operation position of the forward / reverse switching lever 123. That is, one end of the spring 124 is attached to the end of the extension of the rotation fulcrum 123 a of the forward / reverse switching lever 123 so that the tension changes according to the rotation angle of the lever 123. A lever 125 is fixed to the other end of the spring 124, and a piston pressing portion of the load cylinder 127 is connected to a lever end opposite to the lever fixing portion with a fulcrum 125a provided at the center of the lever 125 as a center. ing. An oil passage 129 connected to the shuttle valve 120 via a sequence valve 128 is provided on the wall surface of the load cylinder 127 on the side from which hydraulic oil is discharged by the piston 127a.

  The sequence valve 129 is configured not to operate the load cylinder 127 unless the hydraulic pressure in the circuit of the hydraulic continuously variable transmission 23 exceeds a certain level. Further, the length of the lever 125, the position of the fulcrum 125a of the lever 125, the operating pressure of the load cylinder 127, the urging force of the spring 124, etc. are determined so that the operation load of the forward / reverse lever 123 is constant in the entire region.

  In the load control mechanism configured as described above, when the trunnion shaft operating cylinder 117 of the hydraulic continuously variable transmission 23 holds the trunnion shaft (swash plate) in the neutral position, the shuttle valve 120 is also held in the neutral position. The hydraulic oil is not supplied to the forward / reverse switching lever 123 from the hydraulic continuously variable transmission 23. On the other hand, when the operating cylinder 117 for operating the trunnion shaft / swash plate 95 tilts the trunnion shaft / swash plate 95 from the neutral position to the forward side or the reverse side, the hydraulic oil in the closed circuit of the hydraulic continuously variable transmission 23 is shut off. When the sequence valve 128 is opened, hydraulic oil is supplied into the load cylinder 127, and the lever 123 swings around the fulcrum 123a by the pressure from the load cylinder 127, so that the forward / reverse switching lever 123 moves forward. A predetermined load is applied to the operation to the side or the reverse side.

  In a hydraulic continuously variable transmission vehicle speed control mechanism by an electric servo control that operates a shift lever 16 for controlling the operation of the hydraulic continuously variable transmission 23 to a cylinder, a spring is applied to a forward / reverse switching lever 123 having an angle sensor (not shown). By applying an appropriate travel load to the forward / reverse switching lever 123 provided with a cylinder 127 that operates to the forward / reverse travel pressure via 124, the operating force of the lever 123 is transmitted to the operator, and the machine is overloaded. Can do. The feeling during speed adjustment is improved.

  The hydraulic continuously variable transmission 23 used in the rice transplanter of the embodiment of the present invention is a hydraulic continuously variable transmission including a piston shoe, and is a constituent member of the hydraulic continuously variable transmission including the piston shoe. A part of the piston pump 91 provided with the piston shoe 131 has a mortar-shaped thrust plate 130 as shown in a sectional view of FIG. 16A and an enlarged view of the thrust plate portion of the piston pump 91 of FIG. Use.

  The sectional view of FIG. 17 is a flat plate as shown by the thrust plate 130 ′ on which the piston shoe 131 of the current product slides, and the centrifugal force as shown by the arrow B is applied to the piston 132 by the rotation shown by the arrow A of the cylinder block. This causes a decrease in efficiency.

  Therefore, in this embodiment, when a concave mortar shape is used as the thrust plate 130 as shown in the sectional views of FIGS. 16 (a) and 16 (b), the centrifugal force generated in the piston 132 by the rotational movement of the cylinder block. Can be absorbed inside the block as indicated by an arrow C to improve efficiency.

  Further, as shown in the engine power transmission mechanism diagram for the hydraulic continuously variable transmission 23 and the gear meshing transmission 135 in FIG. 18B, the driving force from the current engine 20 is applied to the hydraulic continuously variable transmission 23. In the power transmission mechanism for transmitting to the gear meshing transmission 135 via the transmission, the driving force from the engine 20 is transferred from the hydraulic pump 91 of the hydraulic continuously variable transmission 23 to the link gear mechanism 140 of the gear meshing transmission 135. There is known a configuration of an HMT that is transmitted to the planetary gear 136 from the hydraulic motor 92 of the hydraulic continuously variable transmission 23 to the sun gear 137 of the gear meshing transmission 135.

  In the conventional HMT, the input shaft from the engine 20 of the hydraulic continuously variable transmission 23 rotates even when the hydraulic continuously variable transmission 23 which is the highest efficiency is neutral, and the hydraulic pressure of the hydraulic continuously variable transmission 23 is Horsepower loss due to rotation of the cylinder blocks on the pump 91 side, oil temperature increase of the hydraulic continuously variable transmission, and wear of the sliding parts have progressed.

Therefore, in this embodiment, as shown in the engine power transmission mechanism diagram for the hydraulic continuously variable transmission 23 and the gear meshing transmission 135 in FIG. 18A, the input of the hydraulic continuously variable transmission 23 in the HMT is shown. A clutch 139 is provided between the shaft and the engine output shaft. When the HMT efficiency is maximum, that is, when the hydraulic continuously variable transmission is neutral, the clutch is disengaged by a sensor provided on the trunnion shaft of the hydraulic continuously variable transmission. The horsepower loss caused by rotating the cylinder block on the hydraulic pump side of the transmission can be prevented, the oil temperature of the hydraulic continuously variable transmission can be prevented, the wear of sliding parts, and the wear of oil seals can be prevented, improving durability. It also leads to. Further, since the hydraulic continuously variable transmission input shaft is not rotated, there is also an effect of reducing noise.
Further, the clutch may be turned on and off by a rotation sensor provided on the output shaft of the hydraulic continuously variable transmission instead of the sensor provided on the trunnion shaft.

  INDUSTRIAL APPLICABILITY The present invention can be used for a riding type work machine such as a riding type rice transplanter because the operability when turning a multi-row seedling planting work machine such as 8-row planting is good.

It is a side view of the riding type rice transplanter of the Example of this invention. It is a top view of the riding type rice transplanter of FIG. It is a clutch operation | movement mechanism of the rear wheel interlock | cooperated with steering operation of the riding type rice transplanter of FIG. It is a perspective view of the change lever part of the riding type rice transplanter of FIG. It is a control block diagram of the riding type rice transplanter of FIG. It is a figure which shows the view of the turning interlocking control of the riding type rice transplanter of FIG. It is a flowchart of the turning interlocking control of FIG. It is a flowchart of the turning interlocking control of the riding type rice transplanter of FIG. FIG. 9 is a time chart of an on / off cycle of a side clutch of a wheel outside the turn at the time of the turn interlock control of FIG. 8. A flowchart (FIG. 10 (a)) for speeding up the descent of the seedling planting device and setting the number of rotations of the wheels inside the turn, such as when the vehicle body is sinking deep during the turn interlock control of the riding type rice transplanter of FIG. It is a graph (FIG.10 (b)) which shows the relationship of the value with respect to the detected value of the raising / lowering link sensor of value N1 or setting value N2. It is a flowchart of turning interlocking control, such as when the riding type rice transplanter of FIG. It is a top view of the pumping clutch adjustment dial part of the operation panel of the riding type rice transplanter of FIG. It is a top view of the planting start adjustment dial part of the operation panel of the riding type rice transplanter of FIG. FIG. 2 is a hydraulic circuit diagram for clutch operation of a rear wheel interlocked with a steering operation of the riding type rice transplanter of FIG. 1. It is a hydraulic circuit block diagram of the hydraulic continuously variable transmission of the riding type rice transplanter of FIG. FIG. 16 is a partial sectional view (FIG. 16A) of the shoe type piston pump of the hydraulic continuously variable transmission of the riding type rice transplanter of FIG. 1 and an enlarged view of the thrust plate portion of the piston pump (FIG. 16B). is there. It is a partial cross section view of the shoe type piston pump of the hydraulic continuously variable transmission of the current riding rice transplanter. FIG. 18A is a diagram showing an engine power transmission mechanism (FIG. 18A) to the hydraulic continuously variable transmission of the hydraulic continuously variable transmission and the gear meshing transmission of the riding type rice transplanter of FIG. FIG. 18 is an engine power transmission mechanism diagram (FIG. 18B) to the transmission and the gear meshing transmission.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Riding type rice transplanter with fertilizer 2 Traveling vehicle body 3 Elevating link device 4 Seedling planting part 5 Powder body feeding device 10 Front wheel 11 Rear wheel 12 Mission case 13 Front wheel final case 15 Main frame 16 Shift lever 17 Sub shift lever 18 Rear Wheel gear case 19 Seedling planting lever 20 Engine 21 Belt transmission device 22 Stock lever 23 Hydraulic stepless transmission 25 Planting clutch case 26 Planting transmission shaft 27 (27a, 27b) Rotor 28 Fertilizer transmission mechanism 29 Center mascot 30 Engine cover 31 Seat 32 Front cover 33 Operation panel 34 Handle 35 Floor step 36 Rear step 38 Spare seedling stage 40 Upper link 41 Lower link 42 Link base frame 43 Vertical link 44 Connecting shaft 45 Cable 46 Lift hydraulic cylinder 47 Vehicle speed restriction plate 0 Seedling planting transmission case 50a Transmission shaft 51 Seedling stage 51a Seedling outlet 51b Seedling feeding belt 52 Seedling planting device 53 Blower electric motor 55 Center float 56 Side float 57 Middle float 58 Blower 59 Air chamber 60 Fertilizer hopper 61 Feeding out Part 62 Fertilizer hose 63 Spreading device 65 Support frame body 65a Support roller 65b Side member 66 Beam member 66a Projection part 67 Support arm 68 Rotor support frame 70 Drive shaft 71 Connecting member 76, 77 Link member 78 Spring 81 Rotor vertical position adjustment lever 82 Folding piece 85J Left / right shifter 86I Left / right clutch operating arm 90 Change lever (forward / reverse lever)
95 Movable swash plate 91 Variable displacement hydraulic pump 92 Constant displacement hydraulic motor 96, 97 Hydraulic closed circuit 99 Bypass oil passage 101 Switching valve 102 Oil tank 105, 109 One-way valve 107, 110, 113 Oil passage 112 Hydraulic pump 104 Pilot Oil path 115 Switching valve 117 Actuating cylinder 118 Hydraulic control valve 120 Shuttle valve 121, 129 Oil path 123 Forward / reverse switching lever 124 Spring 125 Lever 127 Load cylinder 128 Sequence valve 130 Thrust plate 131 Piston shoe 132 Piston 135 Gear meshing type gear shifting Device 136 Planetary gear 137 Sun gear 139 Clutch 140 Link gear mechanism 161 Lift valve 162 Check valve 166 Finger lever 169 Center float sensor 170 Centers shaft 171 start arm 172L · 172R lateral connecting rod 174 output shaft 175 pitman arm 177 actuating roller 179 follower 180 lateral rods 182 left sensor pressing piece 183 auto lift switch 184 turning control button (switch)
186 Buzzer 190 Contact piece 191 Back lift switch 192 Automatic lift changeover switch 193 Steering angle sensor 205 Transmission shaft speed sensor 206a-208b Setting dial 210 Pumping clutch adjustment dial 212 Planting start adjustment dial 217 Pull cylinder 221 Electromagnetic valve for clutch control
A swivel linkage mechanism

Claims (4)

A traveling vehicle body (2) having left and right front wheels (10) and left and right rear wheels (11) , and steering means (34) for determining a steering direction provided in a cockpit (31) of the traveling vehicle body (2) A steering mechanism (175, 180, etc.) that can change the direction of the front wheel (10) in conjunction with the operation of the steering means (34), and a side clutch in conjunction with the steering mechanism (175, 180, etc.) A turning interlocking mechanism (A) for intermittently turning on / off the driving force of the traveling propulsion body (11) inside the turning;
Each transmission shaft rotational speed sensor (205) for detecting the rotational speed of the transmission shaft of the left and right rear wheels (11) ,
During turning of the traveling vehicle body (2), control for intermittently turning on / off the driving force of the rear wheel (11) inside the turning by the turning interlocking mechanism (A) is performed on the transmission shaft rotational speed detection means (205a ) To determine the set rotational speed of the rear wheel (11) inside the turning, and the rotational speed detected by the transmission shaft rotational speed sensor (205) inside the turning is the set value. A traveling vehicle comprising: a control device (163) that is executed so as to have a rotational speed and continuously drives the rear wheel (11) inside the turn by a side clutch in a driving state until a predetermined rotational angle is reached. . The traveling vehicle according to claim 1, further comprising an adjustment dial (210) capable of manually changing a predetermined rotation angle . The seedling planting part (4) is mounted so as to be movable up and down via the lifting link device (3), and the seedling planting part (4) is automatically raised based on the rotation of the steering means (34), An automatic lift changeover switch (192) that automatically switches the seedling planting part (4) to a state where it does not rise is provided, a planting clutch that turns on and off the transmission to the seedling planting part (4) is provided, and a control device (163 ) Indicates the number of rotations of the transmission shaft of the rear wheel (11) inside the turning after the side clutch is turned off when the side clutch of the rear wheel (11) inside the turning is turned off and the vehicle body is turned. When the rotational speed detected by the rotational speed sensor (205) and the rotational speed detected by the transmission shaft rotational speed sensor (205) reaches the first set value, the seedling planting part (4) is lowered, and then the transmission shaft rotational speed sensor ( When the number of rotations detected in step 205) reaches the second set value, Rotation interlocking control that automatically activates the seedling planting part (4) is performed, and when traveling at high speed, the rear wheel (11) inside the turning is continued in a non-driven state. The traveling vehicle according to claim 1. A pitman arm (175) that is operated by operation of the steering means (34), an operating roller (177) that is linked to the pitman arm (175), a driven body (179) that is linked to the operating roller (177), and a driven body (179), the left and right rods (180) for operating the left and right side clutch operation arms (86I), the pull cylinder (217) provided between the rod (180) and the side clutch operation arms (86I), An electromagnetic valve (221) for hydraulically actuating the cylinder (217) is provided, and the control for continuously turning off the side clutch inside the turning by the operation of the pull cylinder (217) and the side clutch inside the turning are intermittently turned on. The traveling vehicle according to claim 1, wherein the traveling vehicle is configured to execute control to turn off / on.

Images