JP5561316B2 - 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 of the traveling direction of the work vehicle are turned by turning a steering lever by turning on / off a side clutch or a side brake of the wheel corresponding to the operation of the lever.
In Patent Document 1 (Japanese Patent Application Laid-Open No. 2004-196000), a side clutch that intermittently transmits power to the left and right rear wheels, and a turn in conjunction with the front wheels being steered from a straight traveling posture beyond a set angle. It is equipped with a mechanical automatic steering mechanism that operates to cut the inner side clutch, 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 A configuration that automatically and intermittently controls by an actuator 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 described in claim 1 includes a traveling vehicle body (2), steering means (34) for determining a steering direction provided in a cockpit (31) of the traveling vehicle body (2), and the steering means (34). The steering mechanism (175, 180, etc.) that can change the direction of the traveling propulsion bodies (10, 11) provided on the left and right in the direction of travel in conjunction with the operation of the steering wheel, and the steering mechanism (175, 180, etc.) Then, the turning interlock mechanism (A) for cutting off or braking the driving force of the traveling propulsion body (11) inside the turning, the transmission shaft rotational speed detection means (205) of the traveling propulsion body (11), and the traveling vehicle body (2) Based on the rotational speeds of the left and right traveling propulsion bodies (11) detected by the transmission shaft rotational speed detecting means (205), the rotational speed of the traveling propulsion bodies (11) on the inner side of the turning is the traveling propulsion body ( 11) the traveling propulsion body on the outer side of the turn which is smaller than the rotational speed of (11) If below a predetermined ratio the rotational speed of the 1), a traveling vehicle is characterized in that a control device (163) for executing control for driving traveling propellant inner side of the turning (11).

  The invention described in claim 2 is provided with an adjustment dial (210) for setting the set rotational speed of the traveling propulsion body (11) inside the turning, and the control device (163) is capable of traveling inside the turning in the intermittent control. A configuration is adopted in which the side clutch of the propulsion body (11) is connected and the driving propulsion body (11) on the inner side of the turning is continuously driven until the set rotational speed is reached and then the driving force is cut off or braked. The traveling vehicle according to claim 1.

According to the third aspect of the present invention, the seedling planting part (4) is mounted so as to be able to move up and down, and is operated at a shift position including a planting work traveling speed and a road traveling speed that is higher than the planting work traveling speed. A normal shift mode in which a shift lever (17) is provided, and the control device (163) always disconnects the side clutch of the travel propulsion body (11) inside the turn when the shift lever (17) is operated on the road traveling speed. a traveling vehicle according to claim 1 or claim 2, characterized in that a configuration in which the.

  According to the fourth aspect of the present invention, the left and right side clutch operation arms (86I) are operated from the follower (179) interlocked with the operation of the handle (34) via the left and right rods (180). ) And the side clutch operation arm (86I), the pull cylinder (217) is connected, and the control device (163) is configured to execute intermittent control by operating the pull cylinder (217). It is a traveling vehicle of any one of Claims 1-3 characterized by the above-mentioned.

According to a fifth aspect of the present invention, left and right brake pedals for manually operating the left and right side clutches are provided, and the control device (163) is configured to drive the traveling propulsion body (11) inside the turn when the left and right brake pedals are connected. The traveling vehicle according to any one of claims 1 to 4, characterized in that a normal turning mode in which the side clutch is always disengaged is employed .

According to the first aspect of the present invention, when the traveling vehicle body (2) is turning, traveling propulsion inside the turning is performed based on the rotational speeds of the left and right traveling propulsion bodies (11) detected by the transmission shaft rotation number detecting means (205). if the rotational speed of the body (11) is below a predetermined percentage of the number of rotations of the driving propellant small orbiting outward than the rotational speed (11) of the running propellant of the turning outer side (11), the inside of the turn by the side clutch The traveling propulsion body (11) can be driven.

  According to the second aspect of the present invention, in addition to the effect of the first aspect of the invention, the set rotation speed for continuously driving the traveling propulsion body (11) inside the turn can be adjusted by the adjustment dial (210). .

According to the invention described in claim 3, in addition to the effect of the invention described in claim 1 or 2 , the traveling propulsion body on the inside of the turn during the traveling on the road in which the traveling speed on the road is selected by the speed change lever (17). The turning can be smoothly performed by always disconnecting the side clutch of (11) .

According to the invention described in claim 4, in addition to the effect of the invention described in any one of claims 1 to 3, it is possible to continuously switch between the control of disengaging the side clutch and the intermittent control.
According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the side clutch can be manually engaged / disengaged by a brake pedal, and the left and right brakes When traveling on the road with the pedal connected, turning can be performed smoothly by always disconnecting the side clutch of the traveling propulsion body (11) inside the turning.

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 top view which shows the structure of front-wheel steering operation by the steering handle of the riding type rice transplanter of FIG. FIG. 3 is a perspective view showing a configuration of a front wheel steering operation by a steering handle of the riding type rice transplanter of FIG. 1. 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 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. It is a clutch operation | movement mechanism of the rear wheel interlock | cooperated with steering operation 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.

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 the belt transmission device 21 and the HST 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 the hydraulic transmission HST23 via a belt transmission 21 or the like, and the output from the hydraulic transmission HST23 is an input shaft (not shown) of the transmission case 12 via a belt (not shown). To be told.

  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. .

Here, the configuration of a portion where the steering wheel 34 steers the front wheels 10 will be described with reference to FIGS.
The steering handle 34 is fixed to the upper part of the steering shaft provided in the front cover 32, and the rotation of the steering shaft is decelerated via a steering transmission gear provided in the transmission case 12 and transmitted to the output shaft 174. The And the lower end of the output shaft 174 protrudes from the bottom face of the mission case 12, and the pitman arm 175 is fixed. The front left and right sides of the pitman arm 175 and the left and right front wheel final cases 13 and 13 (FIG. 1) are connected by left and right rods 176 and 176 (FIG. 4).

  Accordingly, when the steering handle 34 is rotated, the steering wheel 34 is transmitted to the steering shaft, the steering transmission gear, the output shaft 174, the pitman arm 175, the left and right rods 176 and 176, and the left and right front wheel final cases 13 and 13, and the left and right front wheels 10 and 10 are transmitted. Is steered from side to side.

  Further, a right arm 171R that is operated by depressing a pedal (not shown) is fixed to the right end portion of the counter shaft 170 by welding. A left arm 171L is fixed to the left end portion of the counter shaft 170 by welding. Further, left and right connecting rods 172L and 172R are provided from the lower portions of the right arm 171R and the left arm 171L toward the rear, and the rear ends of the left and right connecting rods 172L and 172R operate left and right rear wheel brake devices (not shown). Are connected to left and right brake operation arms 86J and 86J for operating the left and right shifters 85J and 85J.

  On the other hand, an operating roller 177 is rotatably provided on the upper surface of the rear part of the pitman arm 175, and a notch 178 cut out in a U shape in plan view so as to surround the left and right sides of the operating roller 177 is provided. A follower 179 having the transmission case 12 is rotatably supported on the bottom surface of the mission case 12. The left and right side portions of the driven body 179 are connected to the front portions of the left and right rods 180 and 180 connected to the left and right clutch operating arms 86I and 86I. Accordingly, when the steering handle 34 is turned to the right by a predetermined amount (the amount that the operator turns to the right with the intention of turning the aircraft to the right), the pitman arm 175 is also turned to the right, and the operation roller 177 is moved in the (c) direction. In order to push the left side surface 178a of the notch 178 of the driven body 179, the driven body 179 is rotated in the direction (D), the right rod 180 is pulled, and the right clutch operating arm 86I is operated to the right. Because the side clutch is disengaged and the right rear wheel 7 on the turning center side is in a free-wheeling state, the right rear wheel 7 does not damage the cultivator, and the mud surface is roughened by lifting a large amount of mud. The right turn is smooth and clean.

  On the contrary, when the steering handle 34 is turned to the left by a predetermined amount or more, the pitman arm 175 is also rotated to the left, the operation roller 177 is rotated in the opposite (C) direction, and the right side surface 178b of the notch 178 of the driven body 179 is rotated. In order to push, the driven body 179 is rotated in the opposite (d) direction, the left rod 180 is pulled, the left clutch operating arm 86I is operated, the left side clutch is disengaged, and the left rear wheel 11 on the turning center side is idle. Since it is in a rolling state, the left rear wheel 11 does not damage the cultivator, and the mud surface is not roughened by lifting a large amount of mud, making the left turn smooth and clean.

  Further, left and right sensor pressing pieces 182 and 182 are provided on the upper surface of the front portion of the pitman arm 175. When the steering handle 34 is rotated 200 degrees to either the left or right, an auto lift fixed to the bottom surface of the mission case 12 is provided. The switch 183 is turned ON (the steering handle 34 rotates up to 360 to 400 degrees to the left and right).

These members 175 to 183 shown in FIG. 3 and 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. 5, when the change lever 90 (forward / reverse lever) is operated to reverse speed, there is provided a backlift switch 191 that comes into contact with a contact piece 190 provided at the base of the change lever 90 and is turned on. The electromagnetic solenoid that operates the electromagnetic hydraulic valve 161 is controlled by the seedling planting device raising means of the control device 163 (FIG. 6), and the seedling planting unit 4 is raised to the maximum position by the hydraulic cylinder 46. It is configured.

  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. 6 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. 6) for switching between a state in which the seedling planting unit 4 is automatically raised and a state in which the seedling planting unit 4 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 automatically rises automatically by the seedling planting device raising means of the control device 163. Is done. 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.

  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. 8 shows the flow of the turning interlock control.
First, the rotational speeds of the transmission shafts of the left and right rear wheels 11 and 11 are detected by the transmission shaft rotational speed sensor 205, and set value N1 (inner drive shaft (transmission shaft) rotation signal setting from turning start to turning 90 ° of the vehicle body) is set. Value), N2 (drive shaft rotation signal setting value from turning 90 ° of the fuselage to “engaging” planting clutch), θ1 (lower limit value of steering wheel cut angle during straight operation), θ2 (in straight drive operation) Set the upper limit value) of the steering wheel setting angle.

  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 handle turning angle sensor (potentiometer) 193 (FIG. 6) 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.

In addition, it is good also as a structure which controls the side brake which brakes the rear-wheel 11 instead of controlling the said side clutch.
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 caused by the pumping brake, the ON / OFF cycle of the pumping brake (performed by the clutch operation arm 86I or the brake operation arm 86J) 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, when the transmission shaft of the rear wheel 11 on the inside of the turn is controlled by pumping brake as in this embodiment, the operator can perform braking without feeling uncomfortable at the time of turning, 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 another example, the number of rotations of the left and right rear wheels 11 is detected every 0.5 seconds, and the number of rotations of the rear wheel 11 inside the turn is one fifth or less of the number of rotations of the rear wheel 11 outside the turn. If it becomes, it is good also as a structure which connects the side clutch of the transmission shaft of the rear wheel 11 inside turning.

  As shown in FIG. 9, the side clutch of the transmission shaft of the rear wheel 11 inside the turning is connected to the rear side inside the turning 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 side brake may be controlled instead of the side clutch control.

  The pumping clutch control has a braking action by resistance from the ground when the side clutch is disconnected, so “pumping clutch” is synonymous with “pumping brake” described above.

  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 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.

  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-up 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.

  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, a start button (switch) 184 for turning control that performs various operations of the turning control shown in FIG. 8 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 the rice transplanter of the present embodiment, as described above, 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 rotational speed of the rear wheel. It has. In this control mode setting, the turning start timing is detected by the turning angle (cutting angle) sensor 193 of the handle 34, and the travel distance from the start of turning detected by the turning angle sensor 193 is determined as the transmission distance of the rear wheel 11 inside the turning. Based on the detected value of the rotation sensor 205 of the shaft), when the travel distance reaches a predetermined value, planting of the seedling is automatically started without operating the seedling planting lever 19 (FIG. 2). Automatic planting start mode.

  The automatic planting start mode is set by the planting start adjustment dial 212 (FIG. 10). 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.

  Further, in the rice transplanter of the present embodiment, when the auxiliary transmission lever 17 (FIG. 1) is selected to travel on the road or by connecting the brake pedals (not shown) of the left and right wheels, When operating simultaneously (by this brake pedal connection, it is possible to avoid problems due to sudden steering due to only one of the left and right side brakes operating) of the wheel (rear wheel 11) inside the turn Turning can be performed smoothly by using the normal turning mode in which the side shaft of the transmission shaft is disengaged.

  The plan view of FIG. 11 shows a side clutch (without a side brake) of the rear wheel 11 having a different configuration from the side clutch operating mechanism diagram of the rear wheel 11 interlocked with the steering operation of the riding type rice transplanter shown in FIG. ) The operation mechanism diagram is shown.

  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.

  FIG. 12 shows a hydraulic circuit including an electromagnetic valve 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 the left and right pull cylinders 217 (FIG. 12) (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 setting of the planting start position of the seedling after turning is performed automatically based on the number of rotations of the transmission shaft of the rear wheel 11. During the setting of the automatic planting start mode, the side of the transmission shaft of the rear wheel 11 inside the turning is set. When a mechanism for manually engaging / disengaging the clutch with a brake pedal or the like is operated and the differential lock of the left and right front wheels 10 is operated manually by the side clutch, the turning performance in Fukada is improved.

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 .

Claims (5)

A traveling body (2), steering means (34) for determining a steering direction provided in a cockpit (31) of the traveling body (2), and a traveling direction in conjunction with the operation of the steering means (34) Steering mechanism (175, 180, etc.) capable of changing the direction of the traveling propulsion bodies (10, 11) provided on the left and right sides toward the vehicle, and the traveling propulsion body on the inside of the turn in conjunction with the steering mechanism (175, 180, etc.) The turning interlock mechanism (A) that cuts off or brakes the driving force of (11), the transmission shaft rotational speed detection means (205) of the traveling propulsion body (11), and the transmission shaft rotational speed when the traveling vehicle body (2) turns. Based on the number of rotations of the left and right traveling propulsion bodies (11) detected by the detection means (205), the number of rotations of the traveling propulsion body (11) inside the turning is smaller than the number of rotations of the traveling propulsion body (11) outside the turning. traveling propellant of the revolving outer rotating speed of a predetermined (11) If the case below, the traveling vehicle characterized by comprising a control device (163) for executing control for driving traveling propellant inner side of the turning (11). An adjustment dial (210) for setting the set rotational speed of the traveling propulsion body (11) inside the turning is provided,
In the intermittent control, the control device (163) connects the side clutch of the traveling propulsion body (11) inside the turn and continues the driving propulsion body (11) inside the turning until the set rotational speed is reached. 2. The traveling vehicle according to claim 1, wherein the driving vehicle is switched from a driving state to a state in which the driving force is cut off or braked. Mount the seedling planting part (4) so that it can be raised and lowered,
A shift lever (17) operable at a shift position including a planting work traveling speed and a road traveling speed that is higher than the planting work traveling speed;
The control device (163) is configured to be in a normal turning mode in which the side clutch of the traveling propulsion body (11) inside the turning is always disconnected when the road running speed is operated by the speed change lever (17). The traveling vehicle according to claim 1 or 2. The left and right side clutch operation arms (86I) are actuated from the follower (179) linked to the operation of the handle (34) via the left and right rods (180).
A pull cylinder (217) is connected between the rod (180) and the side clutch operating arm (86I),
The traveling vehicle according to any one of claims 1 to 3, wherein the control device (163) is configured to perform intermittent control by operating a pull cylinder (217). Provide left and right brake pedals to manually operate the left and right side clutches,
The control device (163) is configured to be in a normal turning mode in which the side clutch of the traveling propulsion body (11) inside the turning is always disconnected when the left and right brake pedals are connected. The traveling vehicle according to claim 4.