JP5149699B2 - Transplanter - Google Patents

Description

  The present invention relates to a riding type rice planting in which a planting machine is connected to the rear part of the machine body so as to be movable up and down, and at the bottom of the planting machine is provided with a float serving as a leveling body that swings up and down around a rear fulcrum and a detection body. The present invention relates to a transplanter such as a machine.

Conventionally, when riding over a riding-type rice transplanter, which is an example of a transplanting machine, first, an operator who has boarded the riding-type rice transplanting machine operates a sub-shift lever provided on the left side of the steering handle to a low speed position, and a belt transmission device The sub-transmission device is switched to the low-speed transmission state, the main transmission lever is operated to the working speed position, the main transmission device in the transmission case is switched to the low-speed transmission state, and then the operator gets off the riding rice transplanter Then, the deceleration lever provided on the left side of the fuselage is operated to the deceleration position to switch the speed reducer for overgoing in the transmission case to the deceleration side, and then the clutch lever provided on the left side of the fuselage in the same manner as the deceleration lever Is operated from the transmission cut-off position to the transmission start position, and the subtransmission device is set in the transmission state to advance the riding type rice transplanter at an extremely low speed. Is known to hold the heel over arm from the front side of the machine body to prevent the front part of the machine body from being lifted, and to make the riding type rice transplanter work over the ridge safely and easily (for example, Patent Document 1).
JP 2007-148 A (page 4-5, FIGS. 1 to 3)

  However, although the thing of the patent document 1 mentioned above is employ | adopted for the small and lightweight riding type rice transplanter whose number of planting strips is about four, the number of planting strips which the total weight of an airframe becomes heavy is six or more. In this type of rice-type rice transplanter, it is necessary to use a proper arm force to hold the arm over the heel so as to prevent the front part of the machine from lifting up, and it is actually not used. In addition, the structure of the speed reducer for the heel crossing linked to the speed reduction lever and the structure of the heel crossing lever become complicated and costly. When the speed crossing work has to be performed frequently, the operator must ride many times. I had to get on and off the type rice transplanter and there was room for improvement in terms of workability.

An object of the present invention is to solve the above-mentioned problem, and includes a float that swings up and down around the rear fulcrum at the bottom of the planting work machine that is connected to the rear part of the machine so as to be movable up and down. in transplanter but to self DoNoboru descending controlling planting work machine so that the reference attitude, the pitching sensor for detecting a longitudinal direction of the inclination of the aircraft detects the forwardly upward slope of the predetermined angle of inclination over airframe when, continuing the planting work by automatic elevation control with the posture change from the reference value the float of the reference posture condition that the state contains the planting clutch Maekudari state, that it is not state contains the planting clutch float is a feature in that a control means for stopping by elevating the planting working machine in a predetermined low position not grounded to a predetermined position as a condition.
Further, the control means is configured to change a float reference posture from a reference value to the front lowering state when the forward rising inclination of the airframe detected by the pitching sensor detects a predetermined inclination angle. When the planting work by the automatic lifting control is continued, if the change of the lift angle of the planting machine exceeds the predetermined value by the automatic lifting control, the reference posture of the float is returned to the reference value. The transplanter according to claim 1, wherein the transplanter is provided.

According to the present invention, when the pitching sensor for detecting a longitudinal direction of the inclination of the aircraft detects the forwardly upward slope of the predetermined angle of inclination over the aircraft, it provided that the state contains the planting clutch Change the reference position of the float from the reference value to the forward and downward state, continue the planting work by automatic lifting control , and plant at a predetermined low position where the float does not touch on the condition that the planting clutch is not engaged By providing a control means for raising and lowering the work machine and stopping it at a predetermined position, even if the forward rising inclination of the machine body exceeds a predetermined inclination angle, for example, when moving the transplanter over the heel, The planting operation can be continued until the machine escapes from the field (the end of planting), and when the planting machine is stopped and the planting machine is stopped, the pitching sensor is used. If it is detected that the forward tilt of the aircraft is greater than or equal to the predetermined inclination angle, the planting machine is automatically raised and lowered to a predetermined low position where the float does not touch the ground, and the center of gravity of the rear part of the aircraft is lowered to break the float. As a result, it is possible to escape from a safe field while preventing the front part of the aircraft from being lifted. In addition, the workability is improved because the operator can carry out the crossing work without getting off the transplanter.
Further, when the forward rising inclination of the airframe detected by the pitching sensor detects a predetermined inclination angle, the float reference posture is changed from the reference value to the forward falling state, and planted by automatic lifting control. If the change in the lift angle of the planting machine exceeds a predetermined value by the automatic elevation control while the attachment work is continued, the reference posture of the float is restored to the original state set in advance. The planting machine is controlled to move up and down so that the bottom surface of the float is grounded.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a riding type rice transplanter 1 which is an example of a transplanting machine being planted in a field F, and a hydraulic cylinder as an actuator is disposed at a rear portion of a body frame 2 of the riding type rice transplanter 1. 3 is provided, and a planting work machine 5 as a work machine is connected via the lift link mechanism 4 so as to be able to move up and down, and a pair of left and right front wheels are provided at the lower part of the body frame 2. 6 and a rear wheel 7 are provided.

  A bonnet 8 that covers the engine E and the like is provided at the front portion of the body frame 2, and the power output from the engine E is supplied to the hydraulic continuously variable transmission H (see FIG. 2) and the transmission case T. The power transmission device is configured to be branched into a traveling transmission system and a planting transmission system and transmitted to the pair of left and right front wheels 6 and rear wheels 7 and the planting work machine 5. A hydraulic pump (not shown) that is driven by the power of the engine E is provided on one side of the transmission case T. A hydraulic control valve 53 (see FIG. 4), which will be described later, is provided by pressure oil supplied from the hydraulic pump. The expansion / contraction operation of the hydraulic cylinder 3 is controlled via

  In addition, a seat 9 on which an operator is seated is provided above the rear part of the body frame 2, and an operation panel 11 for displaying various monitors is provided in front of the seat 9, and a steering is provided above the operation panel 11. Below the steering wheel 12 and the steering handle 12, a step 14 for forming a floor surface of the control unit 13 is provided.

  More specifically, a link holder 15 is attached to the rear end of the elevating link mechanism 4, and a square pipe-shaped planting that supports the planting work machine 5 in a rolling manner on a rolling shaft (not shown) provided in the link holder 15. Attached frame 16 is provided horizontally. A pair of left and right seedling stage support frames 17 erected on the planting frame 16 support the seedling stage 18 so as to be able to reciprocate left and right in a front and rear low-tilt posture.

  A plurality of planting transmission cases 19 are attached to the rear lower portion of the planting frame 16 at a predetermined interval, and a chain transmission mechanism (not shown) and a planting drive are installed in the planting transmission case 19. A pair of left and right transplanting rods 22 provided at both ends of a planting device (rotary case) 21 assembled at the rear end of the planting transmission case 19 is rotationally driven via a shaft or the like. That is, the planting device 21 is equipped with a planetary gear mechanism (not shown) that can rotate the transplantation cage 22 along a predetermined locus along with its own rotation. One seedling is scraped from the mat seedlings arranged side by side and can be continuously transplanted to the field F.

  Further, below the planting transmission case 19, it acts as a hydraulic pressure sensing float (detecting body) for controlling the planting work machine 5 to a desired height and leveling float (leveling body) for leveling the field scene. A center float 23 (see FIG. 6) that also functions as a side float 24 and a side float 24 that is a leveling float for leveling the farm scene by removing the wheel marks of the left and right front wheels 6 and the rear wheel 7 are supported. After the planting work machine 5 is lowered to the state where the lower surface of the float 24 is in contact with the field scene and slides, the transplanting work can be performed while the machine body is running. The center float 23 and the side float 24 are supported so as to be swingable up and down around the bottom portion of the planting work machine 5, that is, around the rear fulcrum P below the planting transmission case 19.

  A plurality of leveling rotors 25 are disposed in the front and rear space S between the rear wheel 7 and the center float 23 (side float 24) described above, that is, in front of the planting work machine 5, over substantially the entire width of the planting work machine 5. 26, a ground leveling device 27 pivotally supported is provided, and the ground leveling rotor is driven to rotate in a state where the leveling rotor is in contact with the field scene. It has become possible to level the rough farm scene.

  Further, as shown in FIGS. 1 and 2, a main transmission lever 31 is provided through the lever guide 32 on the left side of the operation panel 11, and a transmission case T is disposed below the main transmission lever 31. Yes. A hydraulic continuously variable transmission H is attached to the left side surface of the transmission case T, and the traveling speed of the airframe is the main transmission by the hydraulic continuously variable transmission H and the auxiliary transmission configured in the transmission case T. It is determined by sub-shifting by gear switching (sub-transmission mechanism).

  More specifically, a main shift lever potentiometer 33 for detecting a shift operation position from the forward side to the reverse side of the main shift lever 31 is provided at a base end portion of the main shift lever 31, and the main shift lever potentiometer 33 is provided. In order to operate the operating arm 34 of the hydraulic continuously variable transmission H in conjunction with the detection result of the shifting operation position of the main transmission lever 31 by the rod, the rod of the electric cylinder 36 is connected to the operating arm 34 via the rod 35. While connecting the side 36a, the motor unit side 36b of the electric cylinder 36 is supported by the mounting member 37 of the lever guide 32 described above.

  Then, as shown in FIG. 3, the transmission operation of the hydraulic continuously variable transmission H is performed by swinging the main transmission lever 31 back and forth and right and left along the guide groove 32 a formed in the lever guide 32. Can be done. That is, the main transmission lever 31 operates the hydraulic continuously variable transmission H to the forward side to increase the forward speed by operating from the neutral position N where the hydraulic continuously variable transmission H is neutral to the front side F. On the other hand, by operating the main transmission lever 31 from the neutral position to the rear side R, the hydraulic continuously variable transmission H is operated backward to increase the reverse speed.

  On the other hand, on the right side of the operation panel 11, a sub-transmission lever 38 for switching the sub-transmission mechanism configured in the transmission case T, and an engine E rotation speed on the outer side substantially parallel to the sub-transmission lever 38. A throttle lever 39 for adjusting the angle is provided through a lever guide 41.

  Further, in the vicinity of the right side of the steering handle 12, as an operation tool capable of swinging up and down and back and forth, which can perform the lifting operation of the planting work machine 5 and the on / off operation of the planting clutch, when the hand is released, the original position is obtained. A quick-up lever 42 that automatically returns to the (neutral position) is provided. By operating the quick-up lever 42 in the vertical direction, the planting work machine 5 is raised and lowered, and a planting clutch (not shown) is turned on and off. By operating the quick-up lever 42 in the front-rear direction, the swing-out direction (operation start order) of the left and right drawing markers 43L, 43R can be selected.

  Then, as shown in FIG. 4, in the vicinity of the hydraulic control valve 53 that controls the expansion / contraction operation of the hydraulic cylinder 3 that moves the planting work machine 5 up and down, the above-described operation of the quick up lever 42 above or below is detected. A lifter cam motor 54 that is rotationally driven based on a turning-on operation of a quick up lever raising switch 42a (see FIG. 5) and a quick up lever lowering switch 42b (see FIG. 5) is disposed. The first pinion gear 54a fixed to the output shaft and the sector gear 55a formed on one side of the lifter cam 55 are engaged with each other, and a first cam portion that engages with an engagement pin of a valve operation plate (not shown) is provided on the lifter cam 55. With the first cam portion engaged with the engagement pin of the valve operating plate, the lifter cam 55 is centered on the sleeve shaft 56. By configuring to movement, the Rifutakamu 55 in accordance with the rotation of the lifter cam motor 54, it is configured to be controlled to move 4 positions up and fixed-automatic (descending) planting. That is, the hydraulic control valve 53 is raised / fixed / automatically controlled by rotating the lifter cam 55 to each position, and at the lowered position of the hydraulic control valve 53, the quick up lever up switch 42a or the quick up lever down switch The planting clutch can be turned on and off by the turning operation of 42b.

  Further, the riding type rice transplanter 1 includes a control unit 61 as shown in the block diagram of FIG. 5 as control means for controlling the hydraulic control valve 53 described above to be raised, fixed, and automatically positioned. The control unit 61 includes a CPU, a ROM, a RAM, and the like. Various sensors and switches connected to the input side of the control unit 61 and an output device connected to the output side will be described below. .

  On the input side of the control unit 61, a quick up lever raising switch 42a and a quick up lever lowering switch 42b for detecting an upward or downward operation of the quick up lever 42 for raising and lowering the planting work machine 5, planting work Working machine preparation switch 62 that enables on / off operation of the planting clutch that transmits power to the machine 5, lifter (work machine operation) cam potentiometer 63 that detects the rotation angle of the lifter cam 55, and raising of the planting machine 5 Lifter angle potentiometer 64 for detecting the height, alarm stop switch 65, a forehead switch 66 for enabling the control (passing over) described later in detail, and a reference for setting a reference posture of the center float 23 which is a hydraulic pressure sensing float The number of revolutions of the engine E can be adjusted by counting the output pulses of the value adjusting dial 67 and an alternator (not shown) A predetermined input interface circuit includes a known engine rotation pulse unit 68, a pitching sensor 69 for detecting the inclination of the aircraft in the front-rear direction, and a sensing wire potentiometer 71 for detecting the reference posture of the center float 23 adjusted by the reference value adjustment dial 67. Connected through.

  On the other hand, on the output side of the control unit 61, the planting monitor 72 for displaying that the planting work by the riding type rice transplanter 1 is being performed, and that the horizontal automatic control of the planting work machine 5 is being executed. The horizontal automatic monitor 73 to be displayed, the Banetsu monitor 74 to display that the overpass work by the riding type rice transplanter 1 is being performed, and the forward rising inclination of the machine body exceeded a predetermined inclination angle during the overpass work. A sensing wire motor that adjusts the amount of output of the center float 23 (float sensitivity adjustment wire 86) in conjunction with a change in the settings of the alarm buzzer 75 that alerts the operator, the above-described lifter cam motor 54, and the reference value adjustment dial 67 87 (see FIG. 6) is connected via a predetermined output interface circuit.

  Incidentally, a mounting bracket 82 for the hydraulic control valve 53 is provided on one side of the body frame 2 below the seat 9. A plate-like base 83 is extended rearward from the mounting bracket 82. The base 83 is linked to the lifter cam motor 54 and the setting change of the reference value adjustment dial 67 as shown in FIG. Then, a sensing wire motor 87 for adjusting the amount of the center float 23 (float sensitivity adjusting wire 86) is mounted, and a sector gear 89 that meshes with a pinion gear 88 included in the sensing wire motor 87 is pivotally attached. ing. Further, pins 91 and 92 are fixed at both ends in the rotational direction of the sector gear 89, and the hydraulic pressure control valve interlocking wire 93, the linkage link 94, the return spring 95 and the like are connected from the rear pin 91 to the hydraulic pressure. The hydraulic pressure sensing mechanism D is formed by connecting to the operating arm 96 of the control valve 53 and connecting to the center float 23 from the front pin 92 via the float sensitivity adjusting wire 86, the sensing plate 97 and the like.

  More specifically, in the automatic position of the hydraulic control valve 53 described above, the center float 23 is operated by operating the hydraulic control valve 53 in conjunction with the hydraulic float sensing mechanism D to the center float 23 that swings up and down following the farm field. The planting work machine 5 is configured to move up and down in order to keep the posture of the machine constant. That is, if the hydraulic control valve 53 is in the automatic position and the center float 23 is not in contact with the field, the front portion of the center float 23 swings downward and the planting work machine 5 is lowered. The lowering of the planting work machine 5 from the non-grounded state utilizes the lowering operation at the automatic position of the hydraulic control valve 53.

  Next, the coasting (crossing over) control of the riding type rice transplanter 1 by the control unit 61 described above will be described based on the flowcharts shown in FIGS.

  FIG. 7 is a flowchart showing a first embodiment of the dredging (crossing over) control. First, in step S1, an on / off operation of a planting clutch for transmitting power to the planting work machine 5 is enabled. It is determined whether the work implement preparation switch 62 is in the on state or in the off state. If it is in the off state, the process returns to the original state, and if it is in the on state, the process proceeds to step S2.

  In Step S2, it is determined whether the Banetsu switch 66 that enables the coasting (crossing over) control is in the on state or in the off state. If it is in the off state, the process returns to the original state. Proceed to

  In step S3, it is determined whether the forward rising inclination of the airframe detected by the pitching sensor 69 is smaller than a predetermined inclination angle (predetermined value) or larger than a predetermined inclination angle (predetermined value). If it is smaller than the angle (predetermined value), the process returns to the original, and if it is equal to or greater than the predetermined inclination angle (predetermined value), the process proceeds to step S4.

  In step S4, it is determined by the lifter cam potentiometer 63 whether or not the planting work machine 5 is in the planting work state. If the planting work machine 5 is not in the planting work state, the process proceeds to step S5, as shown in FIG. If it is in the planting work state inclined upward, the process proceeds to step S10.

  In step S5, it is determined whether or not the height of the planting work machine 5 detected by the lifter angle potentiometer 64 is a predetermined height, that is, a predetermined height at which the center float 23 is not grounded as shown in FIG. If it is at a predetermined height, the process proceeds to step S6, the planting work machine 5 is fixed at the height position and returned to the original position, and if not, the process proceeds to step S7.

  In step S7, it is determined whether the height of the planting work machine 5 detected by the lifter angle potentiometer 64 is higher or lower than the predetermined height described above. If it is higher, the process proceeds to step S8. Then, the planting work machine 5 is returned to the original ascending / descending control state, and if it is at a low position, the planting work machine 5 is raised and returned to its original state.

  On the other hand, in step S10, the reference posture of the center float 23 acting as the detection body is changed to the forward and downward state by the sensing wire motor 87 that adjusts the amount of the float sensitivity adjustment wire 86, and the process proceeds to step S11.

In step S11, it is determined whether the upward change amount (lift angle) of the planting work machine 5 detected by the lifter angle potentiometer 64 is smaller than a predetermined value or larger than a predetermined value. If it is greater than or equal to the predetermined value, the process proceeds to step S12. Further, the raising / lowering control of the planting work machine 5 of the present application is based on the detected value of the upward swing of the center float 23 detected using a sensing body such as a potentiometer, and is a hydraulic pressure that is an actuator for raising and lowering the planting work machine 5. The cylinder 3 may be configured to be operated via an electromagnetic valve. In this case, the upward swing of the center float 23 that contacts the field scene is directly detected using a sensing body such as a potentiometer, What is necessary is just to judge the upward change amount (rise height) of the planting work machine 5 by the detection value of detection bodies, such as a potentiometer.

  In step S12, the heel (cross over) control is configured so as to execute control for returning the reference posture of the center float 23 acting as the detection body to the original state previously set by the reference value adjustment dial 67. doing.

  According to the first embodiment of the drooping (crossing over) control described above, when the pitching sensor 69 for detecting the front / rear direction inclination of the airframe detects a forward rising inclination of the airframe greater than a predetermined inclination angle, If the planting operation is in progress, the planting operation is continued. If the planting operation is not in progress, the center float 23 is not in contact with the ground at a predetermined low position (at least below a half of the range in which the planting work machine 5 can be raised and lowered and the center float 23 By providing the control means 61 for positioning the planting work machine 5 at a height that does not contact the ground, the forward rising inclination of the machine body is greater than a predetermined inclination angle, for example, when the riding type rice transplanter 1 is passed over. Even if it becomes, the planting work can be continued until the riding type rice transplanter 1 escapes from the field (at the end of planting), and the riding type rice transplanter 1 is suspended with the planting work stopped. If you want to exceed When it is detected by the stitching sensor 69 that the forward tilt of the aircraft is greater than or equal to a predetermined inclination angle, the planting work machine 5 is positioned at a predetermined low position where the center float 23 does not come into contact with the center of gravity of the rear portion of the aircraft to be lowered. Since breakage of the center float 23 (side float 24) can be prevented, it is possible to escape from a safe field while preventing the front part of the machine body from being lifted. Moreover, since the operator can perform the crossing work without getting off the riding type rice transplanter 1, workability is also improved.

  FIG. 10 is a flowchart showing a second embodiment of the saddle (cross over) control. First, in step S1, a planting clutch for transmitting power to the planting work machine 5 can be turned on and off. It is determined whether the work implement preparation switch 62 to be turned on is in the on state or in the off state. If it is in the off state, the process returns to the original state, and if it is in the on state, the process proceeds to step S2.

  In Step S2, it is determined whether the Banetsu switch 66 that enables the coasting (crossing over) control is in the on state or in the off state. If it is in the off state, the process returns to the original state. Proceed to

  In step S3, it is determined whether the forward rising inclination of the airframe detected by the pitching sensor 69 is smaller than a predetermined inclination angle (predetermined value) or larger than a predetermined inclination angle (predetermined value). If it is smaller than the angle (predetermined value), the process returns to the original, and if it is equal to or greater than the predetermined inclination angle (predetermined value), the process proceeds to step S4.

  In step S4, it is determined by the lift cam potentiometer 64 whether or not the planting work machine 5 is in the planting work state. If the planting work machine 5 is not in the planting work state, the process proceeds to step S5, and as shown in FIG. If it is in the planting work state inclined upward, the process proceeds to step S7.

  In step S5, whether or not the planting work machine 5 is in the automatic lift control state based on the detection value of the lifter (work machine operation) cam potentiometer 63 that detects the rotation angle of the lifter cam 55, or is the planting work machine 5 in the fixed position? It is determined whether the ascending operation is being performed, and if the planting work machine 5 is in the automatic ascending / descending control state, the operation returns to the original state. The machine 5 is returned to the original state with the automatic elevation control state.

  On the other hand, in step S7, the reference posture of the center float 23 acting as the detection body is changed to the forward and downward state by the sensing wire motor 87 that adjusts the amount of the float sensitivity adjustment wire 86, and the process proceeds to step S8.

In step S8, it is determined whether the upward change amount (lift angle) of the planting work machine 5 detected by the lifter angle potentiometer 64 is smaller than a predetermined value or larger than a predetermined value. If it is equal to or greater than the predetermined value, the process proceeds to step S9.

  In step S9, the heel (cross over) control is configured so as to execute a control for returning the reference posture of the center float 23 acting as the detection body to the original state previously set by the reference value adjustment dial 67. doing.

  According to the second embodiment of the drooping (crossing over) control described above, when the pitching sensor 69 for detecting the inclination of the aircraft in the front-rear direction detects a forward rising inclination of the aircraft that exceeds a predetermined inclination angle, If the planting operation is in progress, the planting operation is continued. If the planting operation is not in progress, the control means 61 for executing automatic elevation control of the planting work machine 5 with the center float 23 grounded in a state where the planting is stopped is provided. By providing, for example, when the riding-type rice transplanter 1 is passed over the ridge, the riding-type rice transplanter 1 is in a state of being able to escape from the field even if the forward rising inclination of the aircraft exceeds a predetermined inclination angle ( The planting operation can be continued until the planting operation is completed, and when the riding type rice transplanter 1 is to be passed over with the planting operation stopped, the pitching sensor 69 causes the forward rising inclination of the aircraft to be a predetermined inclination angle. Detect that Then, even if the planting work machine 5 is not grounded, the center float 23 that is automatically grounded and grounded to the field can support the lifting of the front part of the body, thereby lifting the front part of the body. It is possible to escape from a safe field while preventing this. Moreover, since the operator can perform the crossing work without getting off the riding type rice transplanter 1, workability is also improved.

Further, in the case where the riding type rice transplanter 1 is to be passed over the cage when the forward rising inclination of the machine body detected by the pitching sensor is equal to or greater than a predetermined inclination angle, the state in which the riding type rice transplanter 1 escapes from the field (the end of planting). If you try to continue working planting to have), the tip of the center float 23 is extremely front rising state beyond the center float 23 is the reference posture at the moment it reaches the inclined surface when ridge.

At this time, when the amount of upward change of the planting work machine 5 detected by the lifter angle potentiometer 64, that is, the lift angle of the lifting link mechanism 4 that lifts and lowers the planting work machine 5, becomes a predetermined value or more. In (Step S12) and the second embodiment (Step S10), the reference posture of the center float 23 acting as the detection body is returned to the original state previously set by the reference value adjustment dial 67, so that FIG. planting working machine 5 is elevation control as the bottom surface of the center float 23 and the side float 24 as shown is grounded.

  FIG. 12 is a flowchart showing the over-warning warning control. First, in step S1, a work implement preparation switch 62 that enables on / off operation of a planting clutch that transmits power to the planting work machine 5 is provided. It is determined whether it is in the entering state or the cutting state. If it is in the entering state, the process proceeds to step S2, and if it is in the cutting state, the process proceeds to step S3 to determine whether the overriding control by the riding type rice transplanter 1 is performed. Is output to the Banetsu monitor 74 that displays the message, and then returns.

  In step S2, it is determined whether the heel switch 66 that enables the coasting (crossing) control is in the on state or in the off state. If it is in the on state, the process proceeds to step S4. Proceeding to S3, the light is output to the Banetsu monitor 74, and the process returns.

  In step S4, it is determined whether or not the pitching sensor 69 has detected a forward rising inclination of the aircraft. In this case, the upward tilt of the aircraft is a value smaller than the predetermined inclination angle (predetermined value) detected in the first embodiment and the second embodiment of the above-described drooping (crossing over) control. If a forward rising inclination is detected, the process proceeds to step S5, and if not detected, the process proceeds to step S6 to turn on and output to the Banetsu monitor 74 and return to the original state.

  On the other hand, in step S5, the flashing output is output to the Banetsu monitor 74, the alarm buzzer 75 is output, and the process proceeds to step S7. That is, in step S5, the operator can be informed by the blinking of the overpass monitor 74 and the output of the alarm buzzer 75 that the overside (overpass) operation is in progress. Safe work can be performed while preparing for the automatic lifting operation of the planting work machine 5 inside.

  In step S7, it is determined whether the alarm stop switch 65 is in the on state or in the off state. If the alarm stop switch 65 is in the on state, the process proceeds to step S8 to stop the alarm output to the alarm buzzer 75. If the alarm stop switch 65 is in the off state, the control for returning to the original state is executed.

The side view of the riding type rice transplanter of a planting work state. The side view which shows the linkage structure of the main transmission lever. FIG. 3 is a plan view around the operation panel. The side view which shows the structure of a hydraulic control valve periphery. The block diagram of a control part. The side view which shows the structure of a hydraulic pressure sensing mechanism. The flowchart which shows the 1st Example of the shore (cross over) control. The side view of the riding type rice transplanter which goes over a ridge in a planting work state. A side view of a riding type rice transplanter that crosses the pass. The flowchart which shows the 2nd Example of the shore (cross over) control. The side view of the riding type rice transplanter which crosses a ridge with the float grounded. The flowchart which shows a heel over alarm control.

Explanation of symbols

5 Planting work machine 23 Float 61 Control means 69 Pitching sensor P Rear fulcrum

Claims (2)

A float (23) that swings up and down around the rear fulcrum (P) is provided at the bottom of the planting work machine (5) that is connected to the rear part of the machine so as to be movable up and down, and the vertical swing position of the float (23) is the reference posture. in a so as to planting work equipment (5) self DoNoboru descending control transplanting machine (1), up before pitching sensor for detecting a longitudinal direction of the inclination of the body (69) is in a predetermined tilt angle or more airframe when detecting an inclination to continue the planting work by automatic elevation control to position change in Maekudari state reference posture of the float (23) from a reference value on condition that the state contains the planting clutch, Provided with a control means (61) for raising and lowering the planting work machine (5) to a predetermined low position where the float (23) is not grounded on the condition that the planting clutch is not engaged. A transplanter characterized by. When the control means (61) detects a predetermined inclination angle when the aircraft body ascends as detected by the pitching sensor (69) detects a predetermined inclination angle, the reference posture of the float (23) is determined from the reference value. When the change of the lift angle of the planting work machine is greater than or equal to a predetermined value by the automatic lifting / lowering control while continuing the planting work by the automatic lifting / lowering control after changing the posture to the lowered state, the float (69) The transplanter according to claim 1, wherein the reference posture is returned to a reference value.

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