JP5851117B2 - Working machine - Google Patents

Description

  The present invention relates to a work machine provided with an operating unit that can be switched between an operating state and a non-operating state by operating an actuator.

Conventionally, a riding rice transplanter as an example of the working machine has been configured as follows.
That is, a seedling planting device as a working device is provided on the machine body so as to be movable up and down, and a fertilizer device as an example of an operation unit is provided, and a fertilizer clutch that performs on / off of transmission to a feeding portion of the fertilizer device as an actuator It is comprised so that switching operation may be carried out with an electric motor, and it is comprised so that the fertilizer as a granular material paid out from the delivery part may be guided in the groove | channel formed in a rice field through a flow-down hose. Then, with the start of turning of the aircraft at the shore, the fertilizer clutch is turned off to stop the feeding of fertilizer from the feeding part, and when the turning is finished, the fertilizer clutch is switched to the transmission state and the feeding part is turned off. There was one configured to start feeding of the fertilizer (see Patent Document 1, for example).

JP 2010-193964 A

  In the above conventional configuration, when the aircraft has finished turning, the operation unit is automatically switched to the operating state to eliminate the troublesome operation of the driver. The fertilizer fed from the feeding unit of the fertilizer application is configured to flow down to the paddy field through a long hose, and even if fertilizer is supplied from the feeding unit, the fertilizer is supplied until the fertilizer is supplied to the paddy field. However, there were the following disadvantages.

  When the work in one work process is completed in the field, turning at the shore and entering the next work process, the fertilizer can be turned even if the turning is finished and the actuator is switched to the operating state. There is a predetermined delay time from when the fertilizer is fed until the fertilizer is supplied to the field, and the fertilizer application device does not enter the field (operating state) while the delay time elapses. Even if the work machine starts work traveling in the next work process, fertilizer is not supplied to the start side portion of the work process.

  In other words, there is a delay time between the end of the turning of the machine and the start of the work machine in the next work process until the operating part enters the operating state. However, there is a disadvantage that the desired work is not performed.

  Therefore, when the operation unit is configured to automatically switch to the operating state when the aircraft has finished turning, a predetermined time is required from when the operating unit switches the actuator to the operating state until it switches to the operating state. In such a case, it has been desired that the operating portion be brought into an operating state without a time delay when the turning of the airframe is finished and the work travels in the next work process.

  An object of the present invention is to provide a work machine capable of setting an operating part in an operating state without a time delay when a turning operation of a machine body is completed and a work travel is performed in the next work process.

The work machine according to the present invention is provided with an operating portion that can be switched between an operating state and a non-operating state by operating an actuator, and the first characteristic configuration thereof is as follows:
The operating unit is configured to switch to the operating state after the time required for starting has elapsed since switching the actuator to the operating state side.
Airframe position detecting means for detecting the position of the airframe during the turning stroke with the start of the turning of the airframe;
Vehicle speed detection means for detecting the traveling speed of the aircraft ,
A working device for planting seedlings in the field or supplying seed pods to the field as the machine travels is provided, and is configured to be switchable between a working state in which the working device performs work and a work stopped state in which work is stopped. ,
The operating part is switchable between a granular material storing means for storing the granular material, a feeding state in which the granular material is fed out from the granular material storing means by an operation of the actuator, and a feeding stopped state in which the feeding is stopped. It comprises a powder body feeding means and a guiding means for guiding the fed powder body toward the field,
When the machine body starts turning, the work device is switched from the work state to the work stop state, and the powder body feeding means is switched from the feed state to the feed stop state, and the machine body Based on the detection information of each of the position detection means and the vehicle speed detection means, a time point that is a time corresponding to the time required for the start-up from the time point when the airframe is predicted to reach the turn end position after starting the turning travel The timing at which the machine body position is predicted to be obtained is determined.When the timing is reached, the powder body feeding means is switched to the feeding state, and then the machine body is predicted to reach the turning end position. An operating unit operating means configured to switch the working device to the working state ;
There is provided an artificially operated timing correcting means for correcting the timing at which the operating section operating means switches the actuator to the operating state side .

According to the first characteristic configuration, when the work in one work process is completed on the farm field and the machine body is turned on the shore, the machine body position detection means is in the turning process with the start of the turning process. Detect the position of the aircraft. The working unit operating means, on the basis of the vehicle body position detecting means and the vehicle speed detecting means, respectively the detection information, the required time for start than the time the aircraft is expected to lead to the turning end position after started cornering A timing that is predicted to reach the body position at a time point before the corresponding time is obtained, and the actuator is switched to the operating state side at that timing.

  In other words, the operating part switches to the operating state after the time required for starting has elapsed since the actuator was switched to the operating state side. The distance traveled by the airframe before the time elapses becomes longer if the speed of the airframe is high, and short if the speed of the airframe is low. In other words, even if the start required time required for the actuator to switch to the operating state after switching the actuator to the operating state side is always the same, the timing deviates from the appropriate timing if the traveling speed of the aircraft changes. May end up.

Therefore, according to the first feature configuration, information on the position of the aircraft during the turning stroke detected by the aircraft position detection means, and information on the traveling speed of the aircraft during the turning stroke detected by the vehicle speed detection means, from seeking timing which is predicted to reach the aircraft position at the time earlier by time the aircraft corresponds to the time required for start than the time it is expected to reach the turning end position After starting the cornering, the Since the actuator is switched to the operating state at the timing, even if the traveling speed of the aircraft changes, it becomes possible to switch the operating portion to the operating state almost simultaneously when the aircraft reaches the turning end position. When the vehicle turns and finishes the work in the next work process, the operating unit can be put into an operating state without a time delay.

  As described above, since the operating unit operating means switches the actuator to the operating state side, the operating unit is automatically switched to the operating state, and the driver who operates the aircraft is not able to perform an operation for switching the operating unit to the operating state. It is unnecessary and can be operated easily.

By the way, when the required time for starting required for the operating unit to switch to the operating state after switching the actuator to the operating state side is always constant or substantially constant, as described above, Although it is possible to accurately determine the timing based on the detection information of each vehicle speed detection means, in an actual work machine , it is conceivable that the required start time varies depending on the difference in the work situation at that time.

  For example, as an example of the operation unit, in a case where a fertilizer configured to guide fertilizer as a granular material fed from a feeding unit into a groove formed on a rice field through a flowing hose is provided, When the flow resistance when passing through the flow down hose is different due to different types of (fertilizer), or the relative height between the airframe and the fertilizer application changes due to the difference in depth from the field surface to the cultivator in the field As a result, there are cases where the inclination of the flow hose changes and the flow resistance changes, and the required start time may change depending on the work situation.

Therefore, according to the first characteristic configuration, the manually operated timing correction means for correcting the timing at which the operation unit operation means switches the actuator to the operation state side is provided.
When the timing for switching the actuator to the operating state side deviates from an appropriate timing due to various factors as described above, the driver can correct the timing by the timing correction means. As a result, even if the required time for activation may change due to a difference in work status, the operating unit can be switched to the operating state at the same time or substantially at the same time as the aircraft reaches the turning end position.

  Therefore, when the aircraft is turning, the operation unit is automatically switched to the operating state so that the operation can be easily performed. Occasionally, it has become possible to provide a working machine that allows the operating unit to be in an operating state without time delay.

  Further, according to the first characteristic configuration, when the actuator is switched to the operating state side, the operating part switches the powder body feeding means to the feeding state, and the powder body is fed out from the powder body storing means. The powdered particles are guided toward the field by the guide means. In such a configuration, it takes a predetermined time from when the powder is fed by the feeding means to when the granular material is guided to the field by the guiding means.

Thus, even if there is a predetermined delay time from when the actuator is switched to the operating state to when the granular material is supplied to the field (the operating unit is in the operating state), the aircraft turns. Since the actuator is switched to the operating state when it is in the position of the body at a time point corresponding to the time required for starting from the time point when it is predicted to reach the end position, the body reaches the turning end position. At the same time or substantially simultaneously, it becomes possible to supply the granular material to the field .

According to a second characteristic configuration of the present invention, in addition to the first characteristic configuration , the guide means guides the powder particles through the flow hose that guides the fed powder particles toward the field, and the flow hose. And a blower that generates wind for
The operating unit operating means is configured to switch the blower to the operating state at the same timing as or earlier than the timing of switching the powder and granular material feeding means to the extended state.

According to the second characteristic configuration , the granular material fed from the granular material feeding means is guided toward the field through the flow hose by the wind generated in the blower, but the blower is switched to the operating state. It may take some time before the air becomes stable.

  Therefore, since the blower is switched to the operating state at the same timing as or earlier than the timing at which the powder body feeding means is switched to the feeding state, the feeding of the powder body is started in a stable blowing state. Therefore, it is possible to satisfactorily supply the granular material to the field.

The third characteristic configuration of the present invention, in addition to the second feature structure, the working device is connected in a state of relative height changes for aircraft in accordance with the vertically movable and working conditions relative to the aircraft,
The powder body storing means and the powder body feeding means are supported on the machine body side,
The upper end of the lowering hose is connected to the powder body feeding means, and the lower end of the lowering hose is supported by the field grounding part of the working device,
A machine height detection means for detecting the machine height of the work device relative to the machine body is provided,
The operating unit operating means is configured to obtain the timing based on detection information of the airframe position detecting means, the vehicle speed detecting means, and the airframe height detecting means.

According to the third characterizing feature, the work in the state in which the relative height is change for the aircraft in accordance with the vertically movable and working situation with respect to the machine body unit are connected, and, feeding granular material storing means, and the granular material since means is supported on the body side, and changes depending on the working conditions relative height with respect to the machine body of the working device, when a large difference in height between the working device and the airframe, airframe falling hose The difference in height between the connection point on the work machine and the connection point on the work equipment side becomes large, so the falling hose is inclined so that the upper side end is high and the lower side end is low. It will be easy to guide. On the other hand, when the difference in height between the work device and the machine is small, the difference in height between the connection point on the machine side of the flow hose and the connection point on the work device side is small. May be deformed so as to be lifted upward, hindering the movement of the granular material, and it may be difficult to guide the granular material by the falling hose.

Therefore, according to the third feature configuration , a machine height detection unit that detects a machine height of the work device with respect to the machine body is provided, and the operation unit operation unit includes a machine body position detection unit, a vehicle speed detection unit, The timing is obtained based on detection information of the machine body height detection means.

  By configuring in this way, for example, when the difference in height between the work device and the machine body is small and it is difficult to guide the granular material by the flow hose, the timing for switching the actuator to the operating state side is set to an early timing. Thus, it is possible to set the timing to an appropriate timing based on the detection information of the height of the working device with respect to the machine body. As a result, it becomes possible to eliminate the delay in the supply of the granular material due to the change in the posture of the falling hose and to supply the granular material to the field well.

It is a whole side view of a riding type rice transplanter. It is a top view which shows the steering operation system of the right and left front wheels, the transmission system to the right and left front wheels, and the right and left rear wheels. It is a control block diagram. It is a top view which shows the operation | work form (an empty work process and a work process) of the riding type rice transplanter in a paddy field. It is a top view which shows the operation | work form (turning work process) of the riding type rice transplanter in a paddy field. It is a top view which shows the state of turning at the heel. (A) It is a top view which shows the state which detects the steering angle from the straight position of a wheel base, a front wheel, the turning center of an airframe, and the turning radius of an airframe. (B) It is a top view which shows the state which detects the position of the body in the advancing direction of the body of a work process by the turning radius and movement angle of a body. It is a flowchart of control operation. It is a flowchart of control operation. It is a flowchart of control operation. It is a flowchart of control operation. It is a figure which shows the operation structure of a planting clutch and a fertilization clutch.

  Hereinafter, a riding type rice transplanter as an example of a working machine according to the present invention will be described with reference to the drawings.

[1] Overall Configuration As shown in FIG. 1, the riding type rice transplanter is a link that can be driven up and down by a hydraulic cylinder 4 at the rear of a machine body supported by right and left front wheels 1 and right and left rear wheels 2. A seedling planting device 5 as a working device is provided via the mechanism 3, and a fertilizer application device 21 is provided as an operation unit that supplies fertilizer (an example of a granular material) to the field.
The paddy field on which this riding type rice transplanter travels is generally formed with a mud and water layer on the lower hard cultivator G1, and the uppermost surface of the mud and water layer is the rice field G2, and the right side of the aircraft The left front wheel 1 and the right and left rear wheels 2 touch the cultivator G1 and travel.

  As shown in FIG. 1, the seedling planting device 5 includes three planting transmission cases 6, a rotary case 7 that is rotatably supported on the left and right of the rear portion of each planting transmission case 6, and both ends of the rotary case 7. A pair of planting arms 8, a plurality of leveling floats 9 arranged in the widthwise direction, a seedling platform 10 and the like are provided and configured in a six-row planting type.

  As shown in FIG. 1, the fertilizer application device 21 is provided on the rear side of the driver's seat 13 with a hopper 14 serving as a granular material storing means for storing granular fertilizer, a feeding state in which the granular material is fed out from the hopper 14, and a feeding out. And a feeding unit 15 as a powder body feeding unit that can be switched to a state where it is stopped. Further, the leveling float 9 is provided with a groove forming device 17, and a flow down hose 18 is connected across the feeding portion 15 and the groove forming device 17, and the fertilizer is guided through the flow down hose 18 to the lower side of the driver seat 13. A blower 16 is provided to generate a wind for the purpose. The flow down hose 18 is made of a synthetic resin material having flexibility.

  As shown in FIG. 1, the hopper 14 and the feeding portion 15 are supported in a fixed state on the rear side of the driver's seat 13 in the fuselage, and the upper side portion of the flow hose 18 in the fertilizer feed direction is connected to the feed portion 15, and the flow hose The lower part of the fertilizer feed direction of 18 is supported by a grooving device 17 (corresponding to a field grounding part) attached to the leveling float 9.

  As shown in FIGS. 1 and 3, right and left markers 19 are provided on the right and left side portions of the seedling planting device 5, and are in contact with the surface G <b> 2 to form an indicator (see FIG. 1). , And a retracted posture (see FIG. 3) that is spaced upward from the surface G2, so that it can be operated freely. The right and left markers 19 include an arm portion 19a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 19b supported at the tip of the arm portion 19a so as to freely rotate. The electric motor M2 for operating the right and left markers 19 to the working posture and the retracted posture is provided, and the electric motor M2 is operated by the control device 23.

[2] Transmission structure to front wheel 1 Next, the transmission structure to the right and left front wheels 1 will be described.
As shown in FIG. 2, the power of the engine 31 is transmitted to a hydrostatic continuously variable transmission (HST) 33 and a transmission case 34 via a transmission belt 32, and an auxiliary transmission (not shown) of the transmission case 34. To the right and left front wheels 1 through a front wheel differential mechanism (not shown) and a transmission shaft (not shown) of the front axle case 35. The continuously variable transmission 33 is configured to be continuously variable from the neutral position to the forward side and the reverse side. As shown in FIG. 1, the continuously variable transmission 33 is continuously variable by a shift lever 45 provided on the left side of the steering handle 20. The transmission 33 is operated.

  The speed change operation of the continuously variable transmission 33 by the speed change lever 45 can be assisted by the electric motor M4, and the speed change operation by manual operation can be restricted by the electric motor M4. ing.

That is, as shown in FIG. 3, the relay operating member 61 sector gear 61a is formed on and lower end pivotable back and forth about a horizontal axis P3 is provided, from the lateral shaft core P3 of the relay operating member 61 Further, a shift lever 45 is pivotally connected to the upper side so as to be swingable back and forth around the horizontal axis P4, and a middle position of the relay operating member 61 above the horizontal axis P3 and a speed change (not shown) of the continuously variable transmission 33 are illustrated. A rod 62 is connected to the operation member. Further, the electric motor M4 is provided in a state of being supported by a body fixing portion (not shown), and a small-diameter gear 64 provided on the output shaft of the electric motor M4 is engaged with the sector gear 61a to drive the electric motor M4. The relay operation member 61 is configured to be swingable back and forth around the horizontal axis P3.

  Further, the shift lever 45 is oscillated and urged against the relay operation member 61 by the return springs 63 on both the front and rear sides so as to be in the front and rear neutral position. Is provided with a pair of front and rear detection switches SW and SW for detecting a swing operation in either of the front and rear directions, and the detection results of the detection switches SW and SW are input to the control device 23.

  The control device 23 drives the electric motor M4 in a direction corresponding to the operation direction of the speed change lever 45 when the speed change lever 45 is operated either forward or backward and any of the detection switches SW, SW is turned on. When the operation of 45 is released and the detection switches SW and SW are turned off, control is performed so that the drive of the electric motor M4 is stopped. With this configuration, the manual operation of the shift lever 45 can be assisted by the driving force of the electric motor M4, and the speed change operation of the continuously variable transmission 33 can be easily performed.

  As shown in FIG. 2, a steering member 41 having a trapezoidal shape in plan view is swingably supported around the vertical axis P <b> 2 at the bottom of the mission case 34, and the steering member 41 is swung by the steering handle 20. The tie rod 42 is connected across the steering member 41 and the right and left front wheels 1. Thus, by operating the steering handle 20, the right and left front wheels 1 can be steered from the straight travel position A1 over the right and left steering limits A3.

  As shown in FIGS. 1 and 2, reinforcing right and left frames 49 are connected across the rear portion of the mission case 34 and the body frame 66. A steering angle sensor 47 composed of a potentiometer is fixed to the left frame 49 in the body side, and a linkage rod 48 is connected across the steering member 41 and the detection arm 47a of the steering angle sensor 47.

  As shown in FIGS. 2 and 3, the position of the steering member 41 is detected by the steering angle sensor 47, and the detected value of the steering angle sensor 47 is input to the control device 23. The steering angle A from the straight position A1 of the right and left front wheels 1 is detected based on the detected value.

[3] Transmission structure to the rear wheel 2 Next, a transmission structure to the right and left rear wheels 2 will be described.
As shown in FIG. 2, the power of the auxiliary transmission of the transmission case 34 is the transmission shaft 36, the input shaft 38 of the rear axle case 37, the bevel gear 38a fixed to the input shaft 38, the bevel gear 39a meshing with the bevel gear 38a, and the bevel gear 39a. Is transmitted to the right and left rear wheels 2 via a fixed transmission shaft 39, right and left side clutches 40, and right and left axles 65.

  As shown in FIG. 2, the right and left side clutches 40 are configured in a frictional multi-plate type and are urged to a transmission state. The right and left operation shafts 43 for operating the right and left side clutches 40 in the disengaged state are supported downward by the rear axle case 37, and the right and left operation shafts 43 extend between the steering member 41 and the right and left operation shafts 43. The left operating rod 44 is connected. The right and left operation rods 44 are provided with long holes 44 a as interchangeable portions at the connection portions with the right and left operation shafts 43.

  As shown in FIG. 2, when the right and left front wheels 1 are steered within a range narrower than the right and left set angles A2 from the straight travel position A1, the long holes 44a of the right and left operation rods 44 are provided. As a result, the right and left side clutches 40 are operated in a transmission state. The aircraft travels straight with power transmitted to the right and left front wheels 1 and the right and left rear wheels 2.

  As shown in FIG. 2, when the right and left front wheels 1 are steered to the right steering limit A3 side beyond the right set angle A2, the range of the long hole 44a of the right operating rod 44 is exceeded. Then, the right operating rod 44 is pulled, and the right side clutch 40 is operated to be disconnected by the right operating shaft 43. As a result, the left side clutch 40 enters a transmission state, the right side clutch 40 enters a disengagement state, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outside), and the right rear clutch 40 The aircraft turns to the right while the wheel 2 (turning center side) rotates freely.

  As shown in FIG. 2, when the right and left front wheels 1 are steered to the left steering limit A3 side beyond the left set angle A2, the range of the long hole 44a of the left operating rod 44 is exceeded. Then, the left operating rod 44 is pulled, and the left side clutch 40 is operated to be disconnected by the left operating shaft 43. As a result, the right side clutch 40 enters a transmission state, the left side clutch 40 enters a disengagement state, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outside), and the left rear clutch 40 The aircraft turns to the left with the wheel 2 (turning center side) freely rotating.

  As shown in FIGS. 2 and 3, right and left rotation speed sensors 50 are provided in the rear axle case 37, and the right and left rotation speed sensors 50 rotate the lower side of the transmission of the right and left side clutches 40. The detection values of the right and left rotation speed sensors 50 are input to the control device 23. Accordingly, the rotation speeds of the right and left rear wheels 2 are detected by the right and left rotation speed sensors 50 regardless of the transmission state and the disconnected state of the right and left side clutches 40. Further, the control device 23 obtains the traveling speed of the airframe based on the detection result of the rotation speed sensor 50, and the rotation speed sensor 50 constitutes a vehicle speed detection means.

[4] Transmission structure to seedling planting device 5 and feeding unit 15 Next, a transmission structure to the seedling planting device 5 and feeding unit 15 will be described.
As shown in FIGS. 1 and 3, the power branched from between the continuously variable transmission 33 and the auxiliary transmission device, operating freely planting clutch switching the transmission containing state and a transmission cut state by operation of the electric motor M1 26, and is transmitted to the seedling planting apparatus 5 via the PTO shaft 25, and the power branching from between the continuously variable transmission 33 and the auxiliary transmission device, the transmission containing the operation of the electric motor M3 as the actuator It is configured to be transmitted to the feeding portion 15 via a fertilizing clutch 27 and a drive rod 30 that can be switched between a state and a transmission cut state.

  As shown in FIG. 12, the electric motor M <b> 1 for the planting clutch 26 and the electric motor M <b> 3 for the fertilization clutch 27 are positioned in the vertical frame 66 a erected from the machine body frame 66 on the lateral side of the machine body. It is provided in a lined-up state.

  The electric motor M3 for the fertilizer clutch 27 has a first push-pull rod 73 pivotally connected to the tip of a rotating arm 72 attached to an output shaft 71 that is rotated by decelerated power. From the first push / pull rod 73, the first swing member 74, the second push / pull rod 75, and the horizontal axis P6, which are swingably supported around the horizontal axis P5, are swingable around the horizontal axis P5. The fertilizer clutch 27 is interlocked and connected via the supported second swing member 76 and the third push-pull rod 77.

  The electric motor M1 for the planting clutch 26 has a fourth push-pull rod 80 pivotally connected to the tip of a rotating arm 79 attached to an output shaft 78 that is rotated by the reduced power. From the fourth push / pull rod 80 via the third swing member 81 and the fifth push / pull rod 82 supported by the body frame 66 so as to be swingable around the same horizontal axis P6 as the second swing member 76. The planting clutch 26 is interlocked and connected.

  As shown in FIGS. 1 and 3, when the planting clutch 26 is operated in the transmission state, the rotary case 7 is turned in the direction shown in FIG. It is rotated in the clockwise direction, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling platform 10 and plant them on the rice field G2. When the planting clutch 26 is operated in the disconnected state, the reciprocating lateral feed drive of the seedling platform 10 and the rotational drive of the rotary case 7 are stopped.

  As shown in FIGS. 1 and 3, when the fertilizer clutch 27 is operated in the transmission state, the fertilizer is fed from the hopper 14 by a predetermined amount by the feeding unit 15, and the fertilizer flows down by the blow of the electric motor type blower 16. The fertilizer is supplied to the rice field G <b> 2 through the groove generator 17. When the fertilizer application clutch 27 is operated in the disconnected state, the feeding unit 15 stops and the supply of fertilizer stops.

The flow-down hose 18 and the blower 16 constitute guide means J for guiding the fertilizer fed from the feeding unit 15 toward the field, and the electric motor M3 is operated to the operating state side so that the feeding unit 15 feeds the fertilizer. Even if it is carried out, the fed fertilizer is not immediately supplied to the field surface G2, but is guided by the wind generated by the blower 16 through the flow down hose 18, and after a predetermined time (starting time) has elapsed. Will be supplied to the rice field G2.
That is, the fertilizer application device 21 is configured to switch to the operating state after the time required for starting has elapsed since the electric motor M3 was switched to the operating state side. Incidentally, the required time for activation is a required time that is measured and set in advance by an experiment or the like.

[5] Automatic Elevating Control Operation As shown in FIG. 3, the rear part of the center leveling float 9 is supported swingably up and down around the horizontal axis P <b> 1 of the seedling planting device 5. A float sensor 22 composed of a potentiometer that detects the height of the center leveling float 9 is provided, and a detection value of the float sensor 22 is input to the control device 23. As the aircraft advances, the center leveling float 9 follows the ground surface G2, and the surface level G2 is detected by detecting the height of the center leveling float 9 relative to the seedling planting device 5 from the detection value of the float sensor 22. The height from the center leveling float 9 to the seedling planting device 5 can be detected.

As shown in FIG. 3, the hydraulic cylinder 4 is provided with a control valve 24 for supplying and discharging hydraulic oil. When hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 is contracted. When the seedling planting device 5 is raised and the hydraulic oil is discharged from the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 is extended and the seedling planting device 5 is lowered.

The control device 23 operates the control valve 24 so that the height from the field surface G2 detected by the float sensor 22 to the seedling planting device 5 (in other words, the seedling planting depth) is maintained at a set value. By doing so, the hydraulic cylinder 4 is expanded and contracted to automatically raise and lower the seedling planting device 5. Such an operation is automatic elevation control.
That is, the automatic elevating control means 54 is configured using the control device 23.

[6] Control Action Based on Operation of Elevating Lever 11 As shown in FIGS. 1 and 3, the elevating lever 11 is provided on the right side of the driver seat 13, and the elevating lever 11 is in an automatic position, a raised position, a neutral position, It is configured to be able to be operated and held at the lowered position and the planting position, and the operation position of the elevating lever 11 is input to the control device 23.
Further, a link sensor 29 is provided as a body height detecting means for detecting the vertical angle of the link mechanism 3 with respect to the airframe, and a detection value of the link sensor 29 is input to the control device 23, and the link mechanism 3 with respect to the airframe. It is possible to detect the height of the seedling planting device 5 with respect to the machine body by detecting the vertical angle.

And in the state which operated the raising / lowering lever 11 to each position other than an automatic position, as demonstrated below, based on operation of the raising / lowering lever 11, the control valve 24 and electric motor M1, M2, M2 are operated. The operation of M3 is controlled, the hydraulic cylinder 4, the planting clutch 26, the fertilizer clutch 27, the right and left markers 19 are operated, and the blower 16 is also operated.
In this case, the functions of the raised position U and the lowered position D of the operation lever 12 described in [7] described later are not activated, and only the functions of the right and left marker positions R and L of the operation lever 12 are activated.

  When the elevating lever 11 is operated to the neutral position, the control device 23 operates the hydraulic clutch in a state in which the planting clutch 26 and the fertilizing clutch 27 are operated in the disconnected state and the right and left markers 19 are operated in the retracted posture. The cylinder 4 is stopped.

  When the lifting / lowering lever 11 is operated to the raised position, the control device 23 operates the electric motors M1 and M3 to operate the planting clutch 26 and the fertilizer clutch 27 in a disconnected state, stops the operation of the blower 16, and If the left and right markers 19 are in the working posture, the electric motor M2 is operated to operate the right and left markers 19 in the retracted posture. Then, the hydraulic cylinder 4 is contracted to raise the seedling planting device 5, and when the link sensor 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 is stopped.

  When the raising / lowering lever 11 is operated to the lowered position, the control device 23 is in a state where the seedling planting device 5 is raised and the planting clutch 26 and the fertilizing clutch 27 are in a disconnected state. The shut-off state is maintained, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the center leveling float 9 comes in contact with the field surface G2, the seedling planting device 5 comes into contact with the field surface G2 and stops, and then the automatic lifting control means 54 is operated.

Thus, the seedling planting device 5 can be raised and lowered to an arbitrary height and stopped by operating the lifting lever 11 to the raised position, the neutral position, and the lowered position.
When the elevating lever 11 is operated to the planting position, the electric motors M1 and M3 are operated to operate the planting clutch 26 and the fertilizer clutch 27 in the transmission state, and the blower 16 is operated.

[7] Control Operation Based on Operation of Operation Lever 12 As shown in FIGS. 1 and 3, the operation lever 12 is provided on the right side on the lower side of the steering handle 20, and the operation lever 12 is on the right side outward. It has been extended. The operation lever 12 is configured to be operable in a cross direction from the neutral position N to the upward ascending position U, the downward descending position D, the rear right marker position R, and the front left marker position L, and is biased to the neutral position N. The operation position of the operation lever 12 is input to the control device 23.

  In the state where the elevating lever 11 is operated to the automatic position, the control valve 24 and the electric motors M1, M2, M3 are operated by the control device 23 based on the operation of the operation lever 12, as described below, and the hydraulic pressure is increased. The cylinder 4, the planting clutch 26, the fertilizer clutch 27, the right and left markers 19 are operated, and the blower 16 is operated.

  That is, when the operation lever 12 is operated to the raised position U while the seedling planting device 5 is grounded, the control device 23 releases the hand after operating the raised position U to return to the neutral position N. And), by operating the electric motors M1 and M3 to operate the planting clutch 26 and the fertilizer clutch 27 in a disconnected state, the operation of the automatic elevating control means 54 is stopped, and the hydraulic cylinder 4 is contracted to plant seedlings. When the apparatus 5 is raised and the link sensor 29 detects that the seedling planting apparatus 5 has reached the upper limit position, the hydraulic cylinder 4 is stopped. When raising the seedling planting device 5, the electric motor M2 is operated to switch the right and left markers 19 to the retracted state, and the operation of the blower 16 is stopped.

  When the operation lever 12 is operated to the lowered position D in a state where the seedling planting device 5 is at the upper limit position, the control device 23 is released to return to the neutral position N after operating the lowered position D. Then, the hydraulic cylinder 4 is extended to lower the seedling planting device 5, and the leveling float 9 is brought into contact with the surface G2. At this time, the planting clutch 26 and the fertilizer clutch 27 are maintained in the disconnected state, and the state where the right and left markers 19 are operated to the retracted posture is maintained.

  As described above, when the operation lever 12 is operated to the lowered position D and then is operated again to the lowered position D (when the operator again releases the hand and returns to the neutral position N), the automatic raising / lowering control means. In the state where 54 is operated, the electric motors M1 and M3 are operated to switch the planting clutch 26 and the fertilizer clutch 27 to the transmission state, and the blower 16 is operated.

The operation of switching the posture of the marker 19 by the control device 23 will be described. The following operation in a state where the height of the seedling planting device 5 with respect to the machine body (detected value of the link sensor 29) is lower than a predetermined height set in advance. Is done.
That is, in the state in which the right (left) marker 19 is operated in the retracted position, the control device 23 moves the operation lever 12 to the right marker position R (left marker position L) for a predetermined first set time or more. If operated, the electric motor M2 is operated so as to switch the right (left) marker 19 to the action posture.
Further, in a state where the right (left) marker 19 is operated to the acting posture, the operation lever 12 is set to the right marker position R (left marker position L) for a second set time that is longer than the first set time. When operated over the above, the electric motor M2 is operated so as to switch the right (left) marker 19 to the retracted position.

  Then, when the seedling planting device 5 rises and the height of the seedling planting device 5 with respect to the aircraft (the detection value of the link sensor 29) is higher than a predetermined height set in advance, the right and left of the acting posture The marker 19 is operated to the retracted posture and the state is maintained.

[8] Work Form on Agricultural Field Next, the work form of the riding type rice transplanter will be described.
As shown in FIG. 4 and FIG. 5, a riding rice transplanter may adopt the following working mode in a square paddy field in plan view.

  First, the aircraft is positioned at a position K1 shown in FIG. 4, the seedling planting device 5 is lowered to the surface G2, and the left marker 19 is operated to the acting posture (the right marker 19 is the retracted posture). In this state, the planting clutch 26 and the fertilizer application clutch 27 are operated in the disconnected state to travel along the heel B, and an indicator for the next work process L01 is formed on the surface by the left marker 19 (empty work process LA1). . In the idling work process LA1, the planting clutch 26 and the fertilizer application clutch 27 are not operated in the transmission state, but the seedling planting device 5 is moved down to the surface G2 and travels because the front wheel 1 and the rear wheel 2 pass. This is because it is erased by the leveling float 9 of the seedling planting device 5.

  When the aircraft reaches the heel from the empty work process LA1, the operation lever 12 is operated to the ascending position to raise the seedling planting device 5 from the field surface G2 and turn LL1 (left direction). The work is lowered to the surface G2, and the planting clutch 26 and the fertilizing clutch 27 are operated to the transmission state to enter the work process L01. In the work process L01, the left marker 19 is operated to the retracted position, the right marker 19 is operated to the operating position, and the aircraft is caused to travel along the index formed on the surface G2 in the empty work process LA1. While planting seedlings and supplying fertilizer, the right marker 19 forms an index for the next work process L02 on the rice field G2.

  When the aircraft reaches the heel from the work stroke L01, the operation lever 12 is operated to the raised position, the planting clutch 26 and the fertilizer clutch 27 are operated to be disconnected, the seedling planting device 5 is raised from the rice field G2, A turn LL2 (right direction) is performed, the seedling planting device 5 is lowered to the field surface G2, the planting clutch 26 and the fertilizer clutch 27 are operated to the transmission state, and the operation process L02 is started. In the work process L02, the right marker 19 is operated to the retracted position, the left marker 19 is operated to the action position, and the aircraft is driven along the index formed on the field G2 in the work process L01. While the planting and the supply of fertilizer are performed, an index of the next work process L03 is formed on the rice field G2 by the left marker 19.

  As shown in FIGS. 4 and 5, a plurality of work strokes L01, L02, L03, L04, L05 and turning LL1 (left direction), LL2 (right direction), LL3 (left direction), LL4 (right direction), When LL5 (left direction) is performed, a portion where planting of seedlings and supply of fertilizer is not performed along the ridge B is formed. In this state, when the aircraft reaches the heel from the work process L05, the planting clutch 26 and the fertilizer application clutch 27 are operated to be disconnected, the seedling planting device 5 is raised from the surface G2, and the turn LL6 (right direction). To position the aircraft at the position indicated by K2.

  At the position indicated by K2, the seedling planting device 5 is lowered to the field surface G2, and the planting clutch 26 and the fertilizer clutch 27 are operated in the transmission state to enter the rotating work process LB1. In the turning work process LB1, there is a cocoon B on the left side of the machine, and there are seedlings planted in the work process L05 on the right side of the machine, so the right and left markers 19 are operated to the retracted posture.

  As shown in FIG. 5, when the machine body reaches the heel from the turning work process LB1, the planting clutch 26 and the fertilizer clutch 27 are operated to be disconnected, and the seedling planting device 5 is lifted from the rice field G2 to 90 degrees. Next, the planting device 5 is moved down to the surface G2, the planting clutch 26 and the fertilizer clutch 27 are operated to the transmission state, and the next turning work is performed. Enter the process LB2. In the turning work process LB2, as in the turning work process LB1, the right and left markers 19 are operated to the retracted posture.

Thereafter, in the same manner, the two round work steps LB3, LB4 (the seedling planting device 5 is lowered to the surface G2, the planting clutch 26 and the fertilizer clutch 27 are operated to the transmission state, and the right and left markers 19 To the retracted position). The turning work process LB3 travels in the reverse direction in the empty work process LA1 shown in FIG. 4, and when the turning work process LB4 is completed, the aircraft reaches the position where the turn LL6 (right direction) is performed. Thereafter, the aircraft is taken out from the exit of the paddy field near the position where the turn LL6 (right direction) is performed.

  As described above, for example, in a square paddy field in a plan view as shown in FIGS. 4 and 5, one empty work process LA1, a plurality of work processes L01 to L05, and four rotating work processes LB1 to LB4 are performed. By doing so, seedlings can be planted and fertilizer can be supplied to all parts of the paddy field.

[9] Control Configuration This passenger type rice transplanter is based on the detection of the body position detection means 51 for detecting the position of the body during the turning stroke and the detection of the body position detection means 51 with the start of the turning of the body. The turning end position detecting means 52 for detecting the turning end position and the operating part operating means 53 for switching the electric motors M1, M3 are provided.

  Each of the machine body position detecting means 51, the turning end position detecting means 52, and the operating portion operating means 53 is configured using a control device 23. That is, the control device 23 includes a microcomputer, and is configured to execute control processing as described later based on detection information of various switches and detection information of various detection means.

  As shown in FIG. 3, a setting switch 46 that can be manually operated is provided in the vicinity of the steering handle 20, and the operation position of the setting switch 46 is input to the control device 23. When the setting switch 46 is operated to the operating position, the machine body position detecting means 51, the turning end position detecting means 52, and the operating portion operating means 53 are set to operate. When the setting switch 46 is operated to the stop position, the airframe is operated. A state is set in which each of the position detecting means 51, the turning end position detecting means 52, and the operating portion operating means 53 is stopped.

  The airframe position detection means 51 corresponds to the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the working strokes L01 to L05 (corresponding to the position of the airframe in the advancing direction of the airframe before the start of turning, as will be described later). ) (Corresponding to the position of the turning stroke of the aircraft) (in other words, the coordinates of the aircraft in the traveling direction of the aircraft before the start of turning are detected).

  Incidentally, in a riding type rice transplanter equipped with a 6-row type seedling planting device 5, as shown in FIG. 4, turning LL1 (left direction), LL2 (right direction), LL3 (left direction), LL4 (right direction) ), LL5 (left direction), as shown in FIG. 9, is composed of a first half turning stroke L1 and a second half turning stroke L2.

  Based on the detection information of the body position detecting means 51 and the rotation speed sensor 50 as the vehicle speed detecting means, the operating unit operating means 53 is determined from the time when the airframe is predicted to reach the turning end position after starting the turning travel. Also, a timing that is predicted to reach the body position at a time point earlier than the time required for activation is obtained, and the electric motor M3 is switched to the operating state side at that timing. Furthermore, the operation part operation means 53 is configured to switch the electric motor M1 to the transmission state based on the detection information of the turning end position detection means 52.

  Then, as shown in FIG. 3, manual operation as an artificially operated timing correction unit that corrects the timing obtained by the operation unit operation unit 53 based on detection information of the body position detection unit 51 and the rotation speed sensor 50. A potentiometer type timing adjuster 100 is provided, and is configured so that the timing can be corrected to the late side or the early side.

In other words, when the timing adjuster 10 is set to the reference value “0”, the operation unit operating means 53 is set.
When the timing controller 10 is applied as it is and the timing adjuster 10 is operated to the “delayed” side, the timing obtained by the operating unit operation means 53 in a state where the amount of rotation from the reference value “0” increases as the rotation amount increases. When the timing is adjusted to be a new timing at a later time point and the timing adjuster 10 is operated to the “early” side, the operating unit operating means becomes faster as the amount of rotation from the reference value “0” increases. It is configured to correct so that a time point earlier than the timing obtained by 53 becomes a new timing.

  As shown in FIGS. 1 and 3, a rod-shaped center mascot 68 is provided at the front of the aircraft, and a display lamp 69 is provided at the upper end of the center mascot 68. When the aircraft is traveling along the index of the field G2, the driver seated on the driver's seat 13 drives the aircraft along the index of the field G2 while visually checking the center mascot 68 and the index of the field G2. The person can easily see the center mascot 68. A voice means 70 having a voice alarm function is also provided.

Next, based on the flowchart shown in FIGS. 8-11, the control operation by the control apparatus 23 is demonstrated concretely. Although not shown, it is assumed that the lifting lever 11 is operated to the automatic position.
The control device 23 detects that the setting switch 46 is operated to the operating position (step S1), and detects that the seedling planting device 5 is in a grounded state based on detection information of the float sensor 22 (step S2). When it is detected that the planting clutch 26 is in the transmission state (step S3) and further, it is detected that any of the markers 19 is in the acting position (step S4), the display lamp 69 is turned on (step S5). ) If any of the conditions in steps S1 to S4 is not satisfied, the display lamp 69 is turned off and the subsequent processing is not performed (step S6).

[Control start processing by operation of operation lever 12]
When the operating lever 12 is operated to the raised position U (step S7), the airframe position detecting means 51, the turning end position detecting means 52, and the operating part operating means 53 are in a state of being automatically operated, in other words. After the turn, the seedling planting device 5 is automatically lowered to the surface G2 (step S24), the planting clutch 26 and the fertilizing clutch 27 are automatically operated to the transmission state (steps S33, S35), and the blower 16 That the automatic operation to the driving state (step S31) has been performed is notified by the voice means 70 in Japanese voice (step S8).

  At the same time, the electric motor M3 is operated to operate the fertilization clutch 27 in the disconnected state (step S9), and then the electric motor M1 is operated after the predetermined delay time has elapsed and the planting clutch 26 is disconnected. (Step S10), the operation of the automatic elevation control means 54 is stopped (step S11). The hydraulic cylinder 4 is contracted to raise the seedling planting device 5 from the surface G2 (step S12), and the electric motor M2 is operated to operate the marker 19 to the retracted position (step S13). When the link sensor 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 is automatically stopped. The predetermined delay time from when the fertilizer clutch 27 is operated to the disconnected state until the planting clutch 26 is operated to the disconnected state can be changed and adjusted by a manual operation type controller (not shown).

Further, when it is detected that the seedling planting device 5 has reached the upper limit position based on the detection information of the link sensor 29, and the set time has elapsed while the seedling planting device 5 is located at the upper limit position, the operation of the blower 16 is stopped. (Steps S14 and S15).
Between the time when the seedling planting device 5 reaches the upper limit position and the set time elapses, the steering handle 20 is operated to return to the straight traveling position A1 side, and the steering angle A of the right and left front wheels 1 is set. When it is detected by the steering angle sensor 47 that the vehicle has been operated to the rectilinear position A1 side with respect to the angle A2 (step S16), the process proceeds to a state in which a turning angle determination process as described later is executed. The blower 16 will continue to operate without stopping.

[Airframe position detection processing]
When the operation lever 12 is operated to the raised position U and the planting clutch 26 and the fertilizer application clutch 27 are operated to be disconnected (steps S9 and S10), it is assumed that turning has started, and the advancing direction (+ Y) ( The position Y1 of the machine body at -Y) is set to "0 (origin)", and "0 (origin)" is detected (set) as the turning start position E1 (step S101). At the same time, “0 (origin)” is detected (set) as the turning end position E3 (steps S102 and S102).

  When the driver operates the operating lever 12 to the ascending position U, the steering handle 20 is operated and the right and left front wheels 1 are steered in the turning direction to enter the first half turning stroke L1. When the left front wheel 1 is steered to the right (left) steering limit A3 side beyond the right (left) set angle A2, the side clutch 40 on the turning center side is manipulated to the disengaged state. However, the travel distance G of the airframe is detected based on the detection value of the rotation speed sensor 50 on the turn center side (the rotation speed of the rear wheel 2 on the turn center side).

When the turning start position E1 is detected (set) in step S101, the machine body position detection means 51 performs the machine body in the traveling direction (+ Y) (−Y) of the machine in the work strokes L01 and L02 based on the following equation 1. Detection of the position Y1 is started (step S103).
Formula 1: Y1 = R * SIN (θ)
R: turning radius of the aircraft θ: angle of movement of the aircraft from the turning start position E1

  As shown in FIG. 7A, when the steering angle A from the straight position A1 of the right and left front wheels 1 is determined, the turning center C of the fuselage is the axle 65 of the right and left rear wheels 2 (see FIG. 2). ) And the wheel base W of the front wheel 1 and the rear wheel 2 (the distance between the axles of the right and left front wheels 1 and the axle 65 of the right and left rear wheels 2 (see FIG. 2)). ) And the steering angle A from the straight position A1 of the right and left front wheels 1 are detected. When the turning center C of the airframe is detected, the distance between the left and right center of the airframe and the turning center C of the airframe is detected as the turning radius R of the airframe.

As shown in FIGS. 7A and 7B, in the state where the turning center C and turning radius R of the airframe are detected, the turning center C and turning radius R of the airframe are detected by the rotation speed sensor 50 on the turning center side. The moving angle θ of the airframe is detected based on the accumulated travel distance G of the airframe (corresponding to an arc portion with respect to the turning radius R of the airframe). As described above, the position Y1 of the airframe in the forward direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 is detected based on Equation 1 based on the turning radius R and the movement angle θ of the airframe (step S103). .
Thus, the position of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01 and L02 when the movement angle θ of the aircraft is in the range of 0 degrees (turning start position E1) to 90 degrees (boundary position E2). Y1 is in a state of moving away from the turning start position E1 to (+ Y).

When the turning start position E1 is detected (set) in step S101, the travel distance of the airframe detected (integrated) based on the integrated value of the rotational speed detected by the rotational speed sensor 50 on the turning center side. On the basis of G and the steering angle A from the straight traveling position A1 of the right and left front wheels 1, the turning angle F1 of the airframe is detected in a state of being accumulated from “0” (step S201).
That is, it is detected as the turning angle F1 of the aircraft that the current orientation of the aircraft is relative to the orientation of the aircraft at the turning start position E1 (work process L01).

  If the turning angle F1 of the aircraft is 90 degrees, the orientation of the aircraft is right side to the orientation of the aircraft at the turning start position E1, and if the turning angle F1 of the aircraft is 180 degrees, the turning This is a state (next work process) in which the direction of the airframe is opposite to the direction of the airframe at the start position E1.

  In the state where the right and left front wheels 1 are steered in the turning direction, if the traveling distance G of the aircraft increases, it is detected that the turning angle F1 of the aircraft has increased by the increase of the traveling distance G of the aircraft. . On the contrary, in the state where the right and left front wheels 1 are steered to the straight travel position A1, even if the travel distance G of the aircraft increases, the aircraft only moves straight and the turning angle F1 of the aircraft does not change. Detected as

  If the turning angle F1 of the airframe exceeds 90 degrees (boundary position E2), it is determined that the airframe has entered the latter turning stroke L2. Since the direction of the airframe L2 in the second half is opposite to the direction of the airframe in the first half of the turning stroke L1, the position Y1 of the airframe in the moving direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 is In this state, the vehicle approaches the turning start position E1 (turning end position E3).

  At the end of the second half of the turning stroke L2, the driver operates the steering handle 20 to return to the straight-ahead position A1. As a result, the side clutch 40 on the turning center side is operated to the transmission state, and the aircraft is Go straight. When the aircraft enters the straight-ahead state in this way, the calculation according to Equation 1 is not performed in the aircraft position detection process, and the right and left rotational speed sensors 50 detect the aircraft position Y1 obtained so far. The travel distance obtained from the integrated value of the average values is subtracted (a negative value because the traveling direction is reversed), and the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01 and L02. Is detected.

[Control start processing by turning operation]
In addition to the case where the driver operates the operating lever 12 to the raised position U, each of the body position detecting means 51, the turning end position detecting means 52, and the operating portion operating means 53 is automatically activated. When the right and left front wheels 1 are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2, the body position detecting means 51, the turning end position detecting means 52, Each of the operation part operation means 53 may be in a state of automatically operating.
Hereinafter, this state will be described.

When the aircraft reaches the heel while the conditions of steps S1 to S4 are satisfied, the driver operates the steering handle 20 without operating the operating lever 12 to the raised position U, and the right and left front wheels It is assumed that 1 is steered in the turning direction.
Then, the control device 23 detects that the right and left front wheels 1 are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S41). In the same manner as in step 8, notification by the voice means 70 is performed (step S42), the electric motor M3 is operated to operate the fertilizer clutch 27 in a disconnected state (step S43), and the electric motor M1 is operated to plant the planting clutch. 26 is operated to shut off (step 44), and the operation of the automatic lifting control means 54 is stopped (step S45).

  Further, the hydraulic cylinder 4 is contracted to raise the seedling planting device 5 from the surface G2 (step S46), and when the link sensor 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops. The electric motor M2 is operated to operate the marker 19 to the retracted position (step S47). Thereafter, the process proceeds to step S14, and the processes after step S14 are performed.

[Turning angle discrimination processing]
As described above, regardless of whether the blower 16 stops or not, the steering handle 20 is returned to the straight traveling position A1 side after the set time elapses after the seedling planting device 5 reaches the upper limit position. When the steering angle sensor 47 detects that the steering angle A of the right and left front wheels 1 has been operated to the straight travel position A1 side with respect to the set angle A2 (steps S14, S15, S16), At that time, processing for changing the turning angle FA for determination for determining whether or not proper turning has been performed based on the ratio of the integrated values of the detection values (revolutions) of the left and right rotation speed sensors 50. Is supposed to do.

  In other words, when the rear wheel 2 on the turn center side is idled despite the fact that the rear wheel 2 outside the turn is driven and the vehicle is turning properly, the rotation on the turn center side is performed as described above. The turning angle detected based on the travel distance G of the airframe detected based on the integrated value of the rotational speed detected by the number sensor 50 and the steering angle A from the straight traveling position A1 of the right and left front wheels 1 F1 may be significantly different from the actual turning angle of the aircraft.

  Therefore, the ratio Hx of the value (corresponding to the travel distance associated with the actual rotation) obtained by integrating the rotations of the left and right rotation speed sensors 50 at that time is obtained (step S17). The ratio Hx is, for example, a value obtained by dividing the integrated value of the detection value of the rotation sensor 50 outside the turning by the integrated value of the detection value of the rotation sensor 50 on the turning center side. If the rear wheels 2 on both the inner and outer sides are both properly rotated as the vehicle travels and the detection by the rotation speed sensor 50 is also appropriate, the ratio Hx has a difference that takes into account the difference between the inner and outer wheels. Although it is a small value close to “1”, if idling of the rear wheel 2 on the turning center side or the like has occurred, the value increases as the degree increases.

  If the ratio Hx is smaller than the first set value H1 (step S18), since the vehicle is in an appropriate turn, the first discrimination turning angle FA1 is set as the discrimination turning angle FA (step S19), and the ratio Hx is set. If it is greater than or equal to the first set value H1 and less than or equal to the second set value H2 set to a value greater than the first set value H1 (step S20), the discrimination turning angle FA is greater than the first discrimination turning angle FA1. A small second discrimination turning angle FA2 is set (step S21), and if the ratio Hx is equal to or greater than the second set value H2, a third discrimination turning angle FA3 that is smaller than the second discrimination turning angle FA2 is set ( Step S22).

  If the turning angle F1 detected based on the travel distance G and the steering angle A of the airframe is greater than or equal to the turning angle FA for discrimination set as described above, the hydraulic cylinder 4 is regarded as having finished turning. Is extended to lower the seedling planting device 5 (steps S23 and S24). When the center leveling float 9 comes into contact with the field surface G2 due to the lowering of the seedling planting device 5, the automatic lifting control means 54 operates (step S25).

In step S23, when it is detected that the position Y1 of the airframe has reached the turning end position E3 in a state where the turning angle F1 of the airframe has not reached the turning setting angle FA for discrimination , the turning at the shore is normally performed. Therefore, the voice means 70 informs the user by voice (steps S39 and S40), and the subsequent operation is not performed.

[Work start processing]
After the seedling planting device 5 is lowered, the traveling speed of the aircraft at that time, that is, the current vehicle speed is calculated based on the detection values of the left and right rotation speed sensors 50, specifically, the rotation speed per unit time. (Step S26).
Based on the current vehicle speed information and the detection information of the aircraft position Y1, when the vehicle travels at the current vehicle speed, the estimated arrival time is predicted that the aircraft position Y1 will reach the next turn end position E3. Is estimated (step S27). Further, based on the current vehicle speed information and the detection information of the height of the seedling planting device 5 with respect to the seedling planting device 5 detected by the link sensor 29, the aircraft is at a time before the required time for planting from the expected arrival time. Stable rotation state of the blower 16 at the planting operation position assumed to be located, at the feed operation position where the machine body is assumed to be located at the time before the fertilizer guidance required time from the expected arrival time, and at the feed operation position The blower operation position corresponding to the blower operation start time necessary for the operation is estimated (step S28).

The fertilizer guidance time is determined by switching the electric motor M3 to the operating state and starting the feeding of the fertilizer by the feeding section 15 and then receiving the wind from the blower 16 to blow the fertilizer. This is the time required for the fertilizer to be supplied to the groove formed on the paddy surface by the grooving device 17, and is obtained in advance by experiment and stored in the control device 23. The blower required time is the time required from the start of the blower 16 to the state in which the rotation is stable and a stable wind force is obtained. It is calculated and stored in the control device 23.
The blower operation start time is predicted to be the time before the required time for fertilizer guidance from the expected arrival time at which the position Y1 of the body reaches the next turning end position E3 (the body is predicted to be at the position of the body for feeding fertilizer. Is the time before the blower required time.

  Accordingly, in this embodiment, the blower 16 is switched to the operating state at a timing preceding the timing at which the feeding portion 15 is switched to the feeding state.

Incidentally, because the time required for planting is required time required until planting arm 8 is operated contains the planting clutch 26 by starting the electric motor M1 is put planted example seedlings in the paddy G2 It is. This takes into account, for example, the time required for the pawl clutch type planting clutch 25 to be engaged via the linkage mechanism after the electric motor M1 is started and the time required for the planting arm 8 to rotate. .

  Based on the detection information of the link sensor 29 in the process of step 28, the operation part operation means 53 is such that the smaller the difference in height between the seedling planting device 5 and the machine body, in other words, the deeper the paddy field is. The timing at which the electric motor M3 is switched to the operating state is set to an earlier timing as the position 5 is relatively higher than the aircraft.

  When the explanation is added, when the difference in height between the seedling planting device 5 and the machine body is small, for example, as shown in FIG. 1, the paddy field is deep and the field surface G2 is at a high position with respect to the cultivation board G1. In this case, the middle part of the downflow hose 18 is deformed so as to be lifted upward, and it becomes difficult to guide the fertilizer by the downflow hose 18, and there is a possibility that the supply to the surface G2 may be delayed, so the electric motor M3 is activated. The timing for switching to the state is advanced.

Specifically, the height of the seedling planting device 5 with respect to the machine body is set so that the control device 23 sets the required time for fertilizer guidance to a longer time as the difference in height between the seedling planting device 5 and the machine body is smaller. The time required for fertilizer guidance is changed using a preset arithmetic expression or map data according to the detected information.

And the operation part operation means 53 switches the electric motor M3 calculated | required based on the information of the present vehicle speed, the detection information of the position Y1 of a body, and the information of the height of the seedling planting apparatus 5 with respect to a body to an operation state. The timing is corrected to the late side or the early side based on the correction information set manually by the timing adjuster 100 (step S29).

When it is detected that the position Y1 of the airframe with respect to the traveling direction of the airframe (the direction indicated by (+ Y) (−Y) in FIG. 6) has reached the blower operation position estimated as described above, the operation of the blower 16 is performed. When it is started (steps S30 and S31) and it is detected that the position Y1 of the machine body has reached the feeding operation position estimated as described above, the electric motor M3 is switched to the operating state side and the fertilizer clutch 27 is in the transmission state. (Steps S32 and S33).

  When it is detected that the position Y1 of the machine body has reached the planting operation position estimated as described above (step S34), the planting clutch 26 is switched to the transmission state by the operation of the electric motor M1 (step S35). . Thereby, seedling planting by the seedling planting device 5 (the rotating case 7 and the planting arm 8) is started, and the next work process is started. At this time, the supply of the fertilizer by the feeding unit 15 has already been started, and the fertilizer is supplied to the field surface G2 almost simultaneously with the start of the seedling planting of the seedling planting device 5.

  However, until the set time elapses after the planting clutch 26 is switched to the transmission state, the vehicle speed increasing operation by the electric motor M4 is not performed even if the speed increasing operation is performed by operating the speed change lever 45. Checking is performed (steps S36 and S37). When the set time elapses after the planting clutch 26 is switched to the transmission state, the speed increase check of the electric motor M4 is released (step S38). With this configuration, the speed at which the fertilizer is supplied to the field surface G2 is prevented from being shifted by increasing the speed of the vehicle during turning.

As described above, in step S23, even if the aircraft position Y1 reaches the next turning end position E3, the aircraft turning angle F1 does not reach the determination turning setting angle FA (steps 23 and 36). The operation of steps S24 to S35 is not performed, and this is notified by the voice means 70, and the process is terminated (step S37). Thereby, after this, the driver operates the elevating lever 11 or the operating lever 12, and based on the operation, the seedling planting device 5 is lowered and the planting clutch 26 and the fertilizing clutch 27 are switched to the transmission state. Will do.

Since the control as described above is performed, among the work forms on the farm field described in [8] above, the work steps L01 to L05 satisfy the conditions of steps S1 to S4, so In turn LL2 to LL6, the body position detecting means 51, the turning end position detecting means 52, and the operating portion operating means 53 are executed. However, when the turn LL6 is completed, it is necessary to switch the marker 19 to the retracted posture.
And in the idle work process LA1, since the condition that the planting clutch 26 is in the transmission state is not established among the conditions of steps S1 to S4, in the turning LL1, the body position detecting means 51, the turning end position detecting means 52, Each of the operation part operation means 53 is in a state where the operation is stopped, and the processing after step 7 is not executed. Further, in the work strokes LB1 to LB4, the condition that any one of the markers 19 is in the acting posture is not established among the conditions of steps S1 to S4. Therefore, in the turn performed after each work stroke LB1 to LB4, The machine body position detecting means 51, the turning end position detecting means 52, and the operating part operating means 53 are in a stopped state, and the processes after step 7 are not executed.

[Another embodiment]
Hereinafter, another embodiment will be described.
(1) In the above embodiment, as the difference in height between the seedling planting device 5 and the machine body is smaller, the height of the seedling planting device 5 and the machine body is set such that the required time for fertilizer guidance is set to a longer time. The required time for fertilizer guidance is changed according to the detected information, but such a configuration may not be provided.

(2) In the above embodiment, when turning is started (the operation lever 12 is operated to the raised position U or the front wheel 1 is steered beyond the set angle A2), the blower 16 is activated. The blower 16 is switched to the operating state at the timing preceding the timing at which the feeding unit 15 is switched to the feeding state, so that the blower 16 is switched to the operating state when turning is completed. It is good also as a structure which switches the blower 16 to an operation state at the same timing as the timing which switches the part 15 to a drawing-out state.

(3) In the above-described embodiment, the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe during the empty work stroke LA1 and the work strokes L01 to L05 is detected as the airframe position detecting means 51 based on Equation 1. However, instead of such a configuration, the following configuration may be used.

When the turning travel is started (the operation lever 12 is operated to the raised position U or the front wheel 1 is steered beyond the set angle A2), the detection value of the rotation speed sensor 50 on the turning center side is detected. The integration starts (corresponding to the machine body position detection means 51), and separately from this, the time when the integration of the detected value of the rotation speed sensor 50 on the turning center side (corresponding to the turning start position E1) is set as the origin , A set value (corresponding to the turning end position E3) is set for the origin.

  The turning motion of the airframe is always set to be the same turning radius and travel distance, and the integrated value of the detection value of the rotation speed sensor 50 on the turning center side is a value representing the position of the turning stroke of the airframe. When the integrated value of the detection values of the rotation speed sensor 50 reaches the set value as described above, it is determined that the turning end position E3 has been reached.

(4) In the above embodiment, every time the steering angle A from the rectilinear position A1 of the right and left front wheels 1 changes, the turning center C and turning radius R of the aircraft, the traveling distance G of the aircraft, the movement angle of the aircraft Although the detection of θ, the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work process LA1 and the work processes L01 to L05 according to the equation 1, the detection is performed instead of the following ( 4-1) You may comprise like (4-2).

(4-1) Nine regions (regions of 0 ° to 10 °) having a range of 10 degrees (corresponding to a predetermined angle range) in the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 10 ° to 20 ° region, 20 ° to 30 ° region, 30 ° to 40 ° region, 40 ° to 50 ° region, 50 ° to 60 ° region, 60 ° to 70 ° region, 70 In each of the nine regions, the turning radius R of one aircraft (the turning radius R of the aircraft corresponding to the central angle of the region) is set in each of the nine regions. To do.
For example, in the region of 0 degrees to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight traveling position A1 of the right and left front wheels 1 is 5 degrees (see FIGS. 7A and 7B), Set as the turning radius R of one aircraft in the 0 to 10 degree region.

  If the steering angle A from the rectilinear position A1 of the right and left front wheels 1 exists in the region of 0 degrees to 10 degrees, even if the steering angle A from the rectilinear position A1 of the right and left front wheels 1 changes, Regardless of this, the turning radius R of one airframe in the range of 0 degrees to 10 degrees is used, the travel distance G of the airframe, the detection of the moving angle θ of the airframe, the empty work process LA1 according to Equation 1, and the work processes L01 to L05. The position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft is detected.

  At 10 degrees to 20 degrees, as described above, the turning distance R of one aircraft in the region of 10 degrees to 20 degrees is used to detect the traveling distance G of the aircraft and the movement angle θ of the aircraft. The position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work stroke LA1 and the work strokes L01 to L05 according to Equation 1 is detected.

(4-2) Nine regions (0 ° to 10 ° regions) having a range of 10 degrees (corresponding to a predetermined angle range) in the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 10 ° to 20 ° region, 20 ° to 30 ° region, 30 ° to 40 ° region, 40 ° to 50 ° region, 50 ° to 60 ° region, 60 ° to 70 ° region, 70 In each of the nine regions, the turning radius R of one aircraft (the turning radius R of the aircraft corresponding to the maximum angle of the region) is set in each of the nine regions. To do.
For example, in the region of 0 to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight traveling position A1 of the right and left front wheels 1 is 10 degrees (see FIGS. 7A and 7B), Set as the turning radius R of one aircraft in the 0 to 10 degree region.

  Even if the steering angle A of the right and left front wheels 1 from the rectilinear position A1 is in the range of 0 degrees to 10 degrees from 0 degrees (straight advancing position A1), the airframe in the empty work stroke LA1 and work strokes L01 to L05 The position Y1 of the airframe in the traveling direction (+ Y) (−Y) is not detected. When the steering angle A from the straight travel position A1 of the right and left front wheels 1 reaches 10 degrees, an empty work is performed based on Equation 1 by the turning radius R and 10 degrees of one airframe in the range of 0 degrees to 10 degrees. The position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the stroke LA1 and the work strokes L01 to L05 is detected.

  At 10 degrees to 20 degrees, using the turning radius R of the airframe in the region of 10 degrees to 20 degrees, as described above, at 20 degrees, 30 degrees, ..., 10 degrees to 20 degrees According to the turning radius of one airframe in the region of..., The position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work stroke LA1 and the work strokes L01 to L05 based on Equation 1 Perform detection.

(5) In the above embodiment, the right and left rotation sensors 50 as the vehicle speed detection means detect the number of rotations on the lower transmission side of the right and left side clutches 40, but instead of such a configuration. For example, it may be provided on the input shaft 38 or the transmission shaft 39 of the rear axle case 37 in the transmission system to the rear wheel 2, or may be provided on the transmission system to the front wheel 1. In this case, vehicle speed detection means different from the right and left rotation sensors 50 may be used.
As the ground height detection means, instead of the link sensor 29, for example, one having a different configuration such as one detecting the expansion / contraction position of the hydraulic cylinder 4 to detect the height of the link mechanism 3 is adopted. Also good.

(6) In the above embodiment, when the vehicle starts turning, the speed is maintained regardless of the vehicle speed. For example, when the vehicle starts turning, the vehicle speed May be configured to control the operation of the electric motor M4 such that the vehicle speed is forcibly decelerated to a specified value or less.

(7) In the above embodiment, the riding type rice transplanter is shown as the working machine. However, the present invention is not limited to the riding type rice transplanting machine, but the operation of the paddy field working machine provided with the direct sowing device for supplying the seed seeds to the field. Applicable to the machine.

  INDUSTRIAL APPLICABILITY The present invention can be applied to working machines such as a direct sowing machine equipped with a riding type rice transplanter and a direct sowing apparatus that supplies seed pods to a field.

DESCRIPTION OF SYMBOLS 5 Work apparatus 14 Granule body storage means 15 Powder body delivery means 16 Blower 17 Field ground contact part 18 Downflow hose 21 Actuation part 29 Body height detection means 50 Vehicle speed detection means 51 Body position detection means 53 Actuation part operation means 100 Timing Correction means J Guide means M3 Actuator (electric motor)

Claims (3)

A working machine provided with an operating part that can be switched between an operating state and a non-operating state by operating an actuator,
The operating unit is configured to switch to the operating state after the time required for starting has elapsed since switching the actuator to the operating state side.
Airframe position detecting means for detecting the position of the airframe during the turning stroke with the start of the turning of the airframe;
Vehicle speed detection means for detecting the traveling speed of the aircraft ,
A working device for planting seedlings in the field or supplying seed pods to the field as the machine travels is provided, and is configured to be switchable between a working state in which the working device performs work and a work stopped state in which work is stopped. ,
The operating part is switchable between a granular material storing means for storing the granular material, a feeding state in which the granular material is fed out from the granular material storing means by an operation of the actuator, and a feeding stopped state in which the feeding is stopped. It comprises a powder body feeding means and a guiding means for guiding the fed powder body toward the field,
When the machine body starts turning, the work device is switched from the work state to the work stop state, and the powder body feeding means is switched from the feed state to the feed stop state, and the machine body Based on the detection information of each of the position detection means and the vehicle speed detection means, a time point that is a time corresponding to the time required for the start-up from the time point when the airframe is predicted to reach the turn end position after starting the turning travel The timing at which the machine body position is predicted to be obtained is determined.When the timing is reached, the powder body feeding means is switched to the feeding state, and then the machine body is predicted to reach the turning end position. An operating unit operating means configured to switch the working device to the working state ;
A work machine provided with artificially operated timing correction means for correcting the timing at which the operating unit operating means switches the actuator to the operating state side. The guide means comprises a flow down hose that guides the fed granular material toward the field, and a blower that generates wind for guiding the powder through the flow down hose.
Said actuating portion operating means, at the same or a preceding timing it than the timing of switching the powder and granular material feeding means to said feeding state, the work of claim 1, wherein being configured to switch the blower into operation Machine. The working device in a state in which the relative height changes for aircraft in accordance with the vertically movable and working conditions relative to the aircraft is connected,
The powder body storing means and the powder body feeding means are supported on the machine body side,
The upper end of the lowering hose is connected to the powder body feeding means, and the lower end of the lowering hose is supported by the field grounding part of the working device,
A machine height detection means for detecting the machine height of the work device relative to the machine body is provided,
Said actuating portion operating means, the machine body position detecting means, said vehicle speed detecting means, and said machine body on the basis of the detection information of the height detecting means, work according to claim 2, wherein being configured to determine the timing Machine.

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