JP5891686B2 - Work vehicle - Google Patents

Description

  The present invention relates to a riding-type work vehicle in which a working device such as a seedling planting unit is connected to a traveling vehicle.

  For conventional work vehicles, the direction sensor detects the direction of travel, and when the tilt sensor detects the left / right tilt of the aircraft, the steering wheel is steered to the opposite side of the detected tilt direction and the direction of travel is corrected. Exists. (Patent Document 1)

JP-A-8-107703

  However, since the work vehicle described in Patent Document 1 continues to perform the traveling direction control while traveling, there is a problem that the steering wheel intended by the worker cannot be performed and the work intended by the worker cannot be performed.

  In addition, if automatic steering of the steering wheel is performed many times according to the inclination of the aircraft, there may be a deviation in the traveling direction at that time, but if the operator does not notice this deviation, it will continue running as it is, There is a problem that the traveling direction control is performed while deviating from the intended traveling direction.

  In addition, even when the aircraft is greatly tilted, the steering wheel is automatically steered to correct the direction of travel, so there is a problem that traveling in an unstable posture can be continued for a long time, resulting in increased worker fatigue. .

Also, increase or decrease the frequency of the dither current that operates the servo valve that supplies hydraulic oil to the servo cylinder that increases or decreases the rotation amount of the trunnion shaft in any operation that increases or decreases the rotation amount of the trunnion shaft. Therefore, there is a problem that the servo cylinder is rapidly expanded and contracted and it is difficult to increase or decrease the rotation amount of the fine trunnion shaft.

  The present invention seeks to solve this problem.

According to the first aspect of the present invention, the traveling vehicle body (2) is provided with a continuously variable transmission (23) that performs acceleration / deceleration by rotating the trunnion shaft (23a), and the traveling vehicle body (2) has a steering wheel (10). A steering member (34) for operating the steering wheel (10), a tilt detection member (101) for detecting the tilt of the fuselage is provided on the traveling vehicle body (2), and the tilt detection member (101) In a working vehicle in which the steering member (34) is operated to correct the traveling direction of the traveling vehicle body (2) when a left-right inclination is detected, the steering member (34) can be operated freely, and the steering member (34). An operation switching member (103) that switches to a holding state that holds the vehicle in a straight position is provided, and even if the operation switching member (103) is operated to the holding state, the tilt detection member (101) detects the tilt of the fuselage, Release of holding of the steering member (34) Is configured to be operated on the opposite side of the inclined direction Te, the continuously variable transmission (23), said trunnion axis servo cylinder for turning the (23a) (121) is provided, actuated by the dither current the servo cylinder ( 121) is provided with a servo valve (120) for supplying hydraulic oil, a travel operation lever (16) for rotating the trunnion shaft (23a) is provided, and an operation amount of the travel operation lever (16) is detected. And a trunnion potentiometer (125) for detecting the amount of rotation of the trunnion shaft (23). A detection value of the trunnion potentiometer (125) is desired based on the detection of the lever potentiometer (16a). A controller (100) for controlling the servo valve (120) to be When the detection value of the lever potentiometer (16a) changes to the side of increasing the rotation amount of (23a), the servo cylinder (121) is expanded and contracted by decreasing the amplitude of the dither current or increasing the frequency of the dither current. The configuration is such that the hydraulic oil is fed from the servo valve (120) so that the timing is slower than when the detected value of the lever potentiometer (16a) changes to the side where the rotation amount of the trunnion shaft (23a) is reduced. A work vehicle characterized by

According to a second aspect of the present invention, there is provided a sub-transmission device that switches the traveling speed of the traveling vehicle body (2) between a road speed traveling outside the field and a planting speed traveling while performing planting work, 100), when the auxiliary transmission is operated at the planting speed, the amplitude of the dither current is reduced or the frequency of the dither current is increased, and the timing of expansion and contraction of the servo cylinder (121) causes the auxiliary transmission to move on the road speed. The working vehicle according to claim 1, wherein hydraulic oil is fed from the servo valve (120) so as to be slower than when operated .

According to a third aspect of the present invention, when the detection value of the trunnion potentiometer (125) and the detection value of the lever potentiometer (16a) do not match, the controller (100) is a trunnion shaft by expansion and contraction of the servo cylinder (121). The work vehicle according to claim 1 or 2, wherein a notification device (104) for notifying that the rotation operation of (23a) is not possible is activated .

According to a fourth aspect of the present invention, a servo switching valve (122) that can be opened and closed is provided on a hydraulic circuit between the servo valve (120) and the servo cylinder (121), and the servo switching valve (122) is opened. The working vehicle according to any one of claims 1 to 3 , wherein hydraulic oil moves to the tank port .

According to the fifth aspect of the present invention, a spare seedling frame (38) for placing a seedling for replenishment is provided at the front of the traveling vehicle body (2), and the preliminary seedling frame (38) is a main link arm (383). And a plurality of auxiliary seedling platforms (38b, 38c, 38d) on the plurality of sub link arms (386), and an electric motor (390) for rotating the main link arm (383) and the plurality of sub link arms (386). ), And the operation of the electric motor (390) is configured such that the plurality of preliminary seedling platforms (38b, 38c, 38d) can be switched between a deployed form arranged in the front-rear direction and a laminated form arranged in the vertical direction,
When the preliminary seedling frame (38) is switched to the stacked form, a mounting support post (393) is provided on the preliminary seedling mounting base (38b) positioned at the uppermost stage, and at the upper end of the mounting support post (393) and the preliminary seedling When an auxiliary seedling stage (38a) is provided above the stage (38b) with an interval, and the preliminary seedling frame (38) is switched to the unfolded form, the auxiliary seedling stage (38a) becomes a spare seedling stage (38b). ) Along with the vertical spacing between the auxiliary seedling platform (38a) and the uppermost preliminary seedling platform (38b) of the plurality of preliminary seedling platforms (38b, 38c, 38d). The work vehicle according to any one of claims 1 to 4, wherein the work vehicle is configured to be wider than a vertical distance between each other in a stacked state .

According to a sixth aspect of the present invention, the steering member (34) is operated after a first predetermined time has elapsed after the steering member (34) is operated on the side opposite to the side on which the tilt detection member (101) detects the tilt. ) Is moved to and held in a straight position, and the switching operation member (103) is configured to be manually switchable. When the second predetermined time has elapsed after the switching operation member (103) is turned on, the straight operation is performed. The notification device (104) for notifying that the traveling control is finished is activated, and when the third predetermined time elapses after the operation of the notification device (104), the state is switched from the holding state to the free state, and the inclination detection member (101) Is configured to switch the switching operation member (103) from the holding state to the free state and to provide a seedling planting part (4) to the traveling vehicle body (2). Ascending the seedling planting part (4) An elevating hydraulic cylinder (46) to be operated, an elevating operation switch (16b) for operating the elevating hydraulic cylinder (46) is provided in the traveling operation lever (16), and an engine (20) is provided in the traveling vehicle body (2). A rotation speed measuring device for detecting the rotation speed of the engine (20) is provided, and the lift operation switch (16b) is operated when the rotation speed of the engine (20) detected by the rotation speed measurement device is in a low speed range. When the seedling planting part (4) is lowered, the rotation amount of the trunnion shaft (23a) is reduced and the oil supply amount to the lifting hydraulic cylinder (46) is reduced. The work vehicle according to any one of claims 1 to 5.

  According to the first aspect of the present invention, when the operation switching member (103) is operated to the holding state, the traveling direction of the traveling vehicle body (2) is fixed by holding the steering member (34) in the straight traveling position. Therefore, it is not necessary to operate the steering member (34) to operate the traveling direction, and the work efficiency and operability are improved. Furthermore, since the worker can concentrate on operations other than steering, work efficiency is improved.

  When the tilt detection member (101) detects the tilt in the left-right direction, the steering member (34) is released and is operated to the opposite side of the detected tilt direction. Since the shift in the traveling direction is automatically corrected, there is no need for the operator to operate the steering member (34) to correct the traveling direction each time the machine body is tilted, and the operability is improved.

Further, when the rotation amount of the trunnion shaft (23a) is increased, the amplitude of the dither current is decreased or the frequency is increased, and the timing at which the servo cylinder (121) expands and contracts decreases the rotation amount of the trunnion shaft (23a). By moving the hydraulic oil from the servo valve (120) so that the detection value of the lever potentiometer (16a) changes toward the side, the vibration of the servo valve (120) due to the dither current can be reduced. I can .

On the other hand, when the rotation amount of the trunnion shaft (23a) is decreased, the servo cylinder (121) is increased by increasing the amplitude of the dither current or lowering the frequency than when increasing the rotation amount of the trunnion shaft (23a). ) Can be supplied to the servo valve (120) so that the timing of expansion and contraction is advanced, the rotation amount of the trunnion shaft (23a) decreases after the detection value of the lever potentiometer (16a) changes. The time until the vehicle is shortened, and sudden deceleration and sudden stop are possible.

According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, when the auxiliary transmission is operated at the planting speed, the amplitude of the dither current is reduced or the servo cylinder is increased by increasing the frequency. Since the hydraulic oil can be fed from the servo valve (120) so that the expansion / contraction timing of (121) becomes slower than when the auxiliary transmission is operated at the road speed, the servo valve (120) of the dither current Vibration can be reduced .

On the other hand, when the sub-transmission device is operated at the road speed, the servo cylinder (121) expands and contracts earlier by increasing the dither current amplitude or lowering the frequency than when operating the planting speed. Since the hydraulic oil can be fed to the servo valve (120), the time from when the detected value of the lever potentiometer (16a) changes until the rotation amount of the trunnion shaft (23a) decreases is shortened. Rapid deceleration and sudden stopping are possible.

The effect of the invention described in claim 3 is that, in addition to the effect of the invention described in claim 1 or 2, the detected value of the trunnion potentiometer (125) and the lever potentiometer (16a) even if the amplitude or frequency of the dither current is increased or decreased. If the detected values do not match, the notification device (104) is activated, so that the operator can quickly notice the problem of the continuously variable transmission (23) .

The effect of the invention of claim 4 is that, in addition to the effect of the invention of any one of claims 1 to 3, the supply of hydraulic oil from the servo valve (120) to the servo cylinder (121) is stopped. When the servo cylinder (121) can no longer expand and contract, the hydraulic oil can be moved to the tank port by operating the servo switching valve (122).

The effect of the invention described in claim 5 is that, in addition to the effect of the invention described in any one of claims 1 to 4 , the auxiliary seedling is located above the preliminary seedling placing stand (38b) positioned in the uppermost stage in a stacked form. By providing the platform (38a), it is possible to prevent the auxiliary seedling frame (38a) from protruding too far forward when the preliminary seedling frame (38) is switched to the expanded state. The frame (38) is bent and the seedling is prevented from falling.

In addition, the vertical distance between the auxiliary seedling stage (38a) and the uppermost preliminary seedling stage (38b) is made wider than the vertical distance between the plurality of preliminary seedling stages (38b, 38c, 38d). Can be easily loaded and unloaded.

The effect of the invention according to claim 6 is that, in addition to the effect of the invention according to any one of claims 1 to 5, the steering is performed when the first predetermined time elapses after the steering member (34) is operated. When the member (34) is moved to the straight position and is in the holding state, the operator does not have to operate the steering member (34), and the operability and work efficiency are improved.

Further, when the second predetermined time elapses, the operation switching member (103) is switched from the holding state to the free state, so that the operator confirms the traveling direction of the traveling vehicle body (2) and switches the operation switching member (103). It can be operated, and even if a deviation occurs in the traveling direction, it can be corrected quickly, and the operation is prevented from being continued while the traveling direction is deviated.

Since the operation switching member (103) can be manually switched, the control can be terminated when the control of the traveling direction is no longer necessary, and various work conditions can be dealt with.

Further, when the second predetermined time has elapsed, the notification device (104) is activated, and when the third predetermined time has elapsed from the operation of the notification device (104), the control is ended by switching from the holding state to the free state. In particular, it is possible to prevent the worker from noticing and continuing the work while the traveling direction is deviated.

Further, when the seedling planting part (4) is lowered when the rotational speed of the engine (20) is in a low speed range, the turning amount of the trunnion shaft (23a) is reduced and the oil is supplied to the lifting hydraulic cylinder (46). By making the amount small, the expansion and contraction of the lifting hydraulic cylinder (46) slows down and the descending speed of the seedling planting part (4) decreases, so the seedling planting part (4) is hit against the ground and damaged. Can be prevented.

Side view of riding rice transplanter Top view of riding rice transplanter Side view of stacked seedling frames Side view of the spare seedling frame in the unfolded form Block diagram of each control member Flow chart showing servo control of hydraulic continuously variable transmission Flowchart showing steering wheel assistance by electric power steering Flow chart showing locking of the handle when the straight control switch is turned on Flow chart showing automatic straight running control Flow chart showing automatic straight running control with the steering wheel straight running position as the operating condition Flow chart showing automatic end of automatic straight running control after a predetermined time Flow chart showing that automatic straight-ahead control is terminated when the vehicle is tilting over a set value Enlarged front view of the grip of the travel control lever The flowchart which shows the control which decelerates the descent | fall speed of a seedling planting part at the time of engine low rotation The flowchart which shows the vertical movement control of the drawing marker corresponding to the vertical position adjustment of a seedling planting part Flow chart showing control to turn on / off blower motor during turning Flow chart showing control for changing the fertilizer application amount to an appropriate amount according to the field area Side view of rear wheel with electrical resistance sensor The flowchart which shows the control which detects the change of planting depth by increase / decrease in the number of the electrical resistance sensors which detect resistance value Hydraulic circuit diagram with servo switching valve Flow chart showing servo cylinder expansion / contraction control Flowchart showing another embodiment of servo cylinder expansion / contraction control Flowchart showing servo cylinder expansion / contraction control according to the travel position Flow chart showing control for displaying a malfunction when a problem occurs in the hydraulic system Flow chart showing control for restricting movement of traveling vehicle body on sloping ground

  Embodiments of the present invention will be described with reference to the drawings.

  In this case, in the plan view, the left side with respect to the advancing direction of the aircraft is referred to as the left and right sides of the aircraft, and the right side with respect to the advancing direction of the aircraft is referred to as the other sides of the aircraft. Details of each part will be specifically described below.

  FIG.1 and FIG.2 is the side view and top view of a riding type rice transplanter which are one Example of the working machine of this invention. In this riding type rice transplanter, a seedling planting portion 4 is provided on the rear side of the traveling vehicle body 2 via the lifting link device 3 so as to be movable up and down, and the main body portion of the fertilizer device 5 is disposed on the rear upper side of the traveling vehicle body 2. Yes. A transmission case 12 is provided at the front of the traveling vehicle body 2, front wheel final cases 13 and 13 are provided on the left and right sides of the transmission case 12, and the steering direction of the left and right front wheel final cases 13 and 13 is changed. A pair of left and right front wheels 10, 10 as drive wheels is provided on the left and right front wheel axles 14 projecting outward from each changeable front wheel support.

  A rear wheel rolling shaft (not shown) is fixed to the rear portion of the mission case 12 at the front end of the main frame 15 of the fuselage and provided horizontally at the rear end of the main frame 15 and at the center in the left-right direction. The left and right rear wheel gear cases 18, 18 are provided so as to be freely rollable with respect to the left and right rear wheel axles 18 a, 18 a projecting outward from the rear wheel gear cases 18, 18. Axis.

  Further, an engine 20 is provided at an upper portion of the main frame 15 and at a substantially central position in the front-rear and left-right directions of the airframe. A driving force of the engine 20 is supplied to a belt transmission device 21 and a hydraulic continuously variable transmission (HST) 23. Through the transmission case 12. The rotational power transmitted to the transmission case 12 is shifted by a transmission (not shown) built in the transmission case 12 and then separated into traveling power and external extraction power.

  As a result, part of the driving force is transmitted to the left and right front wheel final cases 13 and 13 to drive the left and right front wheels 10 and 10 to rotate, and the remaining driving force is applied to the left and right rear wheel gear cases 18 and 10. The left and right rear wheels 11, 11 are driven to rotate.

  The hydraulic continuously variable transmission 23 is accelerated in the forward or reverse direction when the opening of the trunnion shaft 23a changes in response to an operation of a traveling operation lever 16 provided on the upper side of the bonnet 32 described later. When the opening becomes smaller, the vehicle decelerates in the forward or reverse direction.

  In this configuration, as shown in FIGS. 5 and 6, a travel potentiometer 16a for detecting the operation amount of the travel operation lever 16, that is, the operation angle, is provided at the lower end of the travel operation lever 16, and the operation detected by the travel potentiometer 16a. The angle is input to the controller 100, the rotation of the trunnion shaft 23a is changed according to the value calculated by the controller 100, and the traveling direction and acceleration / deceleration of the aircraft are changed.

  The trunnion arm 24 for controlling the opening of the trunnion shaft 23a is rotated by an electric or hydraulic HST servo motor 23b, and the controller 100 is based on the operation angle of the travel operation lever 16 obtained by the travel potentiometer 16a. The output signal calculated in this way is transmitted to the HST servo motor 23b, and the opening of the trunnion shaft 23a is changed.

  With the above configuration, it is not necessary to configure an interlocking mechanical mechanism that interlocks the traveling operation lever 16 and the trunnion arm 24, the number of parts is reduced, the structure of the body is simplified, the maintainability is improved, and the weight of the body is reduced. Figured. In addition, since there is no interlocking mechanism, the force required when operating the travel operation lever 16 is reduced, the labor of the operator is reduced, and the necessary operation can be achieved in a shorter time. Is greatly improved.

  The external take-out power is transmitted to a planting clutch case 25 provided at the rear portion of the traveling vehicle body 2, and is transmitted from the planting clutch case 25 to the seedling planting unit 4 via the planting transmission shaft 26. At the same time, it is transmitted to the fertilizer application device 5 via a fertilizer transmission mechanism (not shown).

  A flat floor step 35 covering the main frame 15 is provided on the main frame 15 so as to avoid the engine 20, and an engine cover 30 covering the engine 20 is provided on the floor step 35 and on the outer periphery of the engine 20. The engine cover 30 is configured to be rotatable with a front lower portion as a rotation fulcrum, and a work seat 31 on which an operator sits is mounted on the upper portion.

  A bonnet 32 that houses various working mechanisms of the work vehicle is provided on the front side of the machine seat 31 and on the floor step 35, and switches for changing the setting of each working unit are provided above the bonnet 32. And a handle 34 for steering the left and right front wheels 10 and 10 by the operator. A handle turning angle sensor 102 that detects the amount of operation of the handle 34 is provided below the handle 34, and the detected steering amount of the handle 34 in the left-right direction is transmitted to the controller 100.

  An electric power steering 80 for assisting the steering of the handle 34 shown in FIG. 5 is provided inside the bonnet 32, and is activated when the handle turning angle sensor 102 detects an operation of a predetermined amount or more of the handle 34, In this configuration, the operator's force required to operate the handle 34 is reduced. In addition, an inclination detection sensor 101 that detects the tilting motion of the aircraft in the left-right direction is provided inside the bonnet 32. When the aircraft tilts to the left or right due to unevenness in the field, the tilt detection sensor 101 is tilted. The amount is transmitted to the controller 100 as a signal. When the tilt detection sensor 101 is a capacitance type acceleration sensor capable of detecting vertical acceleration and a semiconductor piezoresistive type acceleration sensor capable of detecting triaxial acceleration, the inclination detection sensor 101 is small and relatively inexpensive. Acceleration can be detected within a very short period of time, and the accommodation space can be reduced, the cost can be reduced, and instantaneous left and right unevenness can be easily detected.

  Then, the control device 100 that has received the signal from the tilt detection sensor 101 operates the electric power steering 80 in accordance with the tilt amount of the fuselage as shown in FIG. 7, and moves the handle 34 in the direction opposite to the tilt direction of the fuselage. Is rotated by a predetermined amount. Further, when there is no left-right inclination detected by the inclination detection sensor 101, the electric power steering 80 is operated again and rotated until the handle 34 is in a neutral position. The neutral position of the handle 34 is determined from the angle detected by the handle turning angle sensor 102.

  The above-described control for automatically moving the handle 34 in response to the inclination of the aircraft and steering the vehicle 34 in the direction opposite to the inclination direction of the aircraft and then rotating the handle 34 to the linear operation position to perform a straight traveling is performed. However, if the tilt detection sensor 101 is an acceleration sensor capable of detecting a fine tilt, it may be performed every time the tilt detection sensor 101 detects the tilt of the airframe in the left-right direction. Even if it is tilted left and right, there is a possibility that the electric power steering 80 rotates, the handle 34 is operated more than necessary, and the traveling direction is disturbed.

  Further, when the electric power steering 80 is operated, electricity is consumed from the battery (not shown) each time. When this exhaustion accumulates and the battery voltage decreases, it is necessary to increase the engine speed and increase the amount of power generated by an alternator (not shown) to replenish the fuel. There is a problem that makes it worse.

  In order to prevent the above problems, a straight-ahead control switch 103 is provided on the operation panel 33 shown in FIG. 9, and the straight-ahead control switch 103 is turned on, that is, the handle 34 shown in FIG. When the tilt detection sensor 101 detects a tilt only when the tilt is detected, if the electric power steering 80 is operated to rotate the handle 34, the handle is operated only in a situation where the operator feels the necessity of the straight traveling control. 34 can be automatically operated, and the deterioration of fuel consumption is prevented and the traveling direction is prevented from being disturbed.

  When the straight control switch 103 is turned off, that is, when the handle 34 can be freely operated manually, the electric power steering 80 assists the operation of the handle 34 in accordance with the detected angle of the handle turning angle sensor 102. Return to the function.

  Then, the handle 34 is automatically operated and the aircraft travels straight, so that the operator can check whether the seedling is planted and fertilized normally, the remaining amount of the seedling and fertilizer can be confirmed, It is possible to review the setting of the running condition, so that the planting accuracy of seedlings, the fertilization accuracy can be stabilized, and the work conditions can be optimized, which greatly improves work efficiency and work accuracy. To do.

  The above-described method is a method in which the straight traveling control is performed when the operator operates the straight traveling control switch 103, but it is necessary to newly provide the straight traveling control switch 103 on the operation panel 33, so that an extra space is required. In addition, a member such as a harness for transmitting the operation is newly required.

  For this reason, the following method can be considered as a starting method of the straight-ahead control using the handle | steering-wheel 34 and the controller 100, without providing a transmission member newly.

  As shown in FIG. 10, the steering angle sensor 102 that detects the operation of the steering wheel 34 continuously travels straight for a predetermined time (for example, 10 to 15 seconds) (the detection angle of the steering angle sensor 102 is approximately 0 degree). The controller 100 may operate the electric power steering 80 and start the straight-ahead control if the position of ± 5 degrees is continuously detected.

  With the above configuration, when the operator continues to maintain the steering wheel 34 in the straight traveling position or when the straight traveling position is maintained without the operator operating the handle 34 for a predetermined time, the controller 100 Automatic linear control can be started by operating the electric power steering 80, so there is no need to newly provide a transmission member such as a harness, the structure of the aircraft is simplified, the maintainability is improved, and the weight of the aircraft is reduced. Is measured.

  Note that when the operation position of the handle 34 is set as an “on” condition for straight traveling control, when the handle turning angle sensor 102 detects an operation angle (for example, 15 degrees or more) that can change the direction of travel of the handle 34, the controller 100 is configured to “turn off” the straight traveling control.

  However, in the above-mentioned straight-ahead control, an error may occur when the traveling direction is corrected by the automatic operation of the handle 34. When this error is accumulated, it is possible to travel in a direction deviating from the straight-ahead direction assumed by the operator. There is sex. For this reason, as shown in FIGS. 10 and 11, the controller 100 passes the predetermined time (for example, 1 to 5 minutes) regardless of whether the straight control switch 103 is turned on or off or the handle 34 is operated for a predetermined time. If the configuration is such that the “cut” operation is automatically performed and the straight traveling control is terminated, the right and left planting intervals of the seedlings can be prevented from becoming too wide, so that an area without seedlings can be prevented. Seedlings can be planted reliably and the yield is improved.

  Or, because the planting interval between the left and right seedlings becomes too narrow and poorly ventilated, it can be prevented from causing abnormal growth due to nutritional balance or withering by pests, so the yield is improved. , Improve crop quality.

  If the straight traveling control is suddenly terminated, the operator may forget to correct the traveling direction and the traveling direction may be disturbed. Therefore, as shown in FIGS. 9 and 10, the automatic “off” operation set in the controller 100 is performed. The notification device 104 such as the buzzer 104a and the lamp 104b may be operated when a predetermined time (e.g., 5 to 10 seconds) before the time, and the operator may be notified of the end of the control using auditory information or visual information.

  Alternatively, as shown in FIG. 11, left and right rear wheel rotation sensors 105 that respectively measure the number of rotations of the left and right drive shafts 12a, 12 that transmit driving force from the transmission case 12 to the left and right rear wheel gear cases 18, 18. 105, and when the rotational speeds of the left and right rear wheel rotation sensors 105, 105 are equal to or higher than a predetermined rotational speed (for example, 30 to 50 rotations), the straight traveling control may be automatically turned off.

  With the above configuration, it is possible to prevent the operator from forgetting to “turn on” the straight traveling control or forgetting to determine the traveling direction by operating the handle 34 after the straight traveling control is automatically terminated. Therefore, the planting of the seedling is prevented from greatly deviating from the straight traveling direction, and the planting accuracy of the seedling is improved.

  Further, in addition to the above-described straight-ahead control configuration, when the tilt detection sensor 101 detects a tilt greater than a set value (e.g., 15 degrees) in the left-right direction of the aircraft during the straight-ahead travel control shown in FIG. The controller 100 may operate the HST servomotor 23b in the deceleration direction to reduce the traveling speed to an extremely low speed or to make it idle.

  If the vehicle suddenly decelerates or stops suddenly during running, the planting posture of the seedling is disturbed, and the operator may be shaken by inertia and feel uncomfortable. However, if the vehicle is not suddenly decelerated or stopped, the seedling planting line will not be linear. Therefore, as shown in FIGS. 9 to 12, when an operation signal is transmitted to the HST servomotor 23b, the notification device 104 is notified. In this case, the notification device 104 is activated before a predetermined time (5 to 10 seconds) when the HST servomotor 23b is activated, and an operator is warned of sudden deceleration or sudden stop.

  With the above configuration, the operator can prepare for sudden deceleration or sudden stop, and can recognize that the vehicle is in a state in which straight-ahead control operation is impossible, so use the straight-ahead traveling control carelessly after sudden deceleration or sudden stop Instead, the steering wheel 34 can be operated to return to straight running.

  In the floor step 35, the left and right sides of the work seat 31 are formed in a lattice shape, and the mud attached to the operator's feet and the like moving on the floor step 35 falls into the field. Further, as shown in FIG. 2, left and right extension steps 35a and 35a are detachably provided on both left and right sides of the floor step 35, and the left and right extension steps 35a and 35a are formed in a lattice shape to reach the work seat 31. The muddy soil is dropped before the operation, and the muddy soil is less likely to remain on the floor step 35, so that the labor required for cleaning after work is reduced.

  Then, rear steps 36, 36 that also serve as fenders for the left and right rear wheels 11, 11 are provided at the rear of the floor step 35. The rear steps 36 and 36 have a rear-upward inclined posture part from the front side to the rear side of the machine body and a flat part from the terminal part of the rear up-tilt posture to the rear side of the machine body. When the seedling is replenished to the planting unit 4, the work can be performed while standing on this flat portion, so that the efficiency of the seedling replenishment work is improved.

  If the rear parts of the left and right extension steps 35a and 35a are configured in the same shape as the left and right rear steps 36 and 36, the number of planting strips is large and the width of the seedling planting part 4 is wide. Even so, the worker can approach the seedling planting unit 4 and perform the seedling replenishment work, so that the work efficiency is improved.

  Further, on both the left and right sides of the front part of the traveling vehicle body 2, spare seedling frames 38 and 38 for placing a replenishing seedling can be rotated between a position protruding laterally from the machine body and a position accommodated inside. Is provided. The left and right spare seedling frames 38, 38 are provided with a plurality of preliminary seedling placement platforms 38a, 38b, 38c, 38d on which seedlings are placed, and the preliminary seedling placement platforms 38a, 38b, 38c, 38d are arranged in the front-rear direction in a side view. A configuration that can be switched between an unfolded form (first form) and a stacked form (second form) lined up and down.

  In this embodiment, the plurality of preliminary seedling platforms are referred to as first, second, third, and fourth preliminary seedling platforms from the front side of the machine body in the deployed form, and the first and second from the upper side of the machine body in the stacked form. It is called the second, third and fourth spare seedling platforms. However, this designation is presented as a reference and does not limit the number of spare seedling platforms.

  When planting seedlings, the left and right spare seedling frames 38, 38 are projected to the side of the aircraft so that the front side of the aircraft is between the left and right preliminary seedling frames 38, 38 and the bonnet 32. Since a space for the operator to get on and off from the traveling vehicle body 2 can be secured, the operator can select a position to get on and off according to the position of the farm field, and the work efficiency is improved, and at the time of getting on and off Safety is improved.

  On the other hand, when the work vehicle is stored in a transport vehicle such as a light truck or a storage location such as a warehouse after the work is completed, the left and right spare seedling frames 38 and 38 are rotated to move within the left and right width of the traveling vehicle body 1. Since the left and right widths can be made compact by being housed in, the extra storage space is not taken up.

  The configuration of the preliminary seedling frame 38 will be described with reference to FIGS.

  The support body 381 is provided on each of the left and right sides of the traveling vehicle body 1, the main support frame 381a is provided on the top of the support body 381, and the L-shaped sub-support frame 381b is provided behind the main support frame 381a in a side view. Provide. A main link arm 383 is rotatably mounted on the upper end portion of the main support frame 381a via a rotation center shaft 384, and a rear side is connected to the upper end portion of the sub support frame 381b via a sub rotation shaft 385. The sub link arm 386b is rotatably arranged.

  Further, a fourth attachment frame 387d for attaching the fourth preliminary seedling stand 38d is provided at the lower end when the main link arm 383 and the sub link arm 386b are in a stacked state, and the rotation center shaft 384 and the sub rotation A third attachment frame 387c for attaching the third preliminary seedling table 38c is provided at a position above the shaft 385. Further, the rear side of the second attachment frame 387b for attaching the second preliminary seedling stand 38b to the upper end portion of the main link arm 383 is attached, and the front side sub link arm 386a is attached to the front side of the second attachment frame 387b. The upper end portion is attached and the lower end portion of the front side sub link arm 386a is attached to the front portion side of the third attachment frame 387c.

  Then, a rotation gear 388 is attached to the rotation center shaft 384, and a drive gear 389 attached to the electric motor 390 is engaged with the rotation gear 388, so that the rotation gear 388 and the electric motor 390 are transmitted to the seedling frame. Interior in case 391.

  Further, an attachment column 393 is provided at an upper portion of the second attachment frame 387b and at a substantially central position in the front-rear direction, and a first attachment frame 387a for attaching the first preliminary seedling stand 38a is attached to the upper end of the attachment column 393. . When the mounting column 393 is in a stacked form, the vertical interval between the first preliminary seedling stage 38a and the second preliminary seedling stage 38b is such that the second preliminary seedling stage 38b and the third preliminary seedling stage 38c and a length that is wider than the vertical interval between the third preliminary seedling table 38c and the fourth preliminary seedling table 38d. Further, when the preliminary seedling frame 38 is switched to the unfolded form, the first preliminary seedling stage 38a moves forward together with the second preliminary seedling stage 38b.

  In addition, if it is set as the structure which provides the said mounting support | pillar 393 one each in the front-back direction of the 1st mounting frame 387a, support strength will improve and durability will improve.

  As described above, when the electric motor 390 is actuated to rotate the drive gear 390 and the rotation gear 388 is rotated, the main link arm 383 and the front and rear sub-link arms 386a and 386b are stacked in the stacking direction. Since it is configured to rotate in the direction of the deployed form, the operator does not have to manually move the main link arm 383 and the like when switching the preliminary seedling frame 38 to the stacked form or the deployed form, and the labor of the operator Is reduced.

  In addition, as shown in FIG. 2, when the seedling frame operation switch 392 for turning on and off the operation of the electric motor 390 is arranged at the upper part of the bonnet 32 and reachable when the operator seated on the control seat 31 reaches the hand. Since the operator can perform the switching operation of the form of the preliminary seedling frame 38 without getting off the control seat 31, the work efficiency is improved.

  When the spare seedling frame 38 is switched to the unfolded form, the second, third, and fourth preliminary seedling frames 38b, 38c, and 38d are loaded in the second preliminary seedling frame 38b by being arranged in a straight line in the front-rear direction. When the seedling is pushed, it can be moved to the third or fourth spare seedling frame 38c, 38d on the rear side, so that the seeding loading efficiency is improved.

  Furthermore, since the first preliminary seedling stage 38a is positioned above the second preliminary seedling stage 38b, the operator can load seedlings on the first preliminary seedling stage 38a, so that the work efficiency is improved. In addition to the improvement, since the preliminary seedling frame 38 in the deployed form does not protrude too far forward, the preliminary seedling frame 38 is not bent during the seedling loading operation, and the seedling is prevented from being shaken off.

  Further, the vertical interval between the first preliminary seedling stage 38a and the second preliminary seedling stage 38b is set so that the second and third preliminary seedling bases 38b and 38c and the third and fourth preliminary seedling bases 38c are arranged. 38d, when the spare seedling frame 38 is switched to the stacked form or the deployed form, the first preliminary seedling stand 38a and the first mounting frame 387a are arranged on the rotation trajectory of the main link arm 383. Interference can be prevented.

  The electric motor 390 is equipped with a bimetal that bends due to temperature changes, or an energization interruption member that immediately interrupts energization when a load exceeding an allowable amount is applied, and includes a main link arm 383, front and rear sub link arms 386a, If the electric motor 390 is automatically turned off when a load is applied to the electric motor 390 when the 386b is in a laminated form or a deployed form and can no longer be rotated, the spare seedling frame 38 is in a loaded state or Since a stop control member such as a switch for stopping the electric motor 390 at the same time as the unfolded state is required, the switching operation mechanism of the preliminary seedling frame 38 is simplified.

  Next, the seedling planting part 4 etc. are demonstrated.

  As shown in FIG. 1 and FIG. 2, the lifting link device 3 is a parallel link composed of an upper link arm 40 and a pair of left and right lower link arms 41, 41, and the upper link arm 40 and the lower link arms 41, 41 One end of the main frame 15 is attached to a rear base type link base frame 42 erected on the rear side of the main frame 15. Further, the other end portions of the upper link arm 40 and the lower link arms 41 and 41 are attached to the vertical link arm 43 on the seedling planting portion 4 side.

  Further, a connecting shaft (not shown) rotatably supported by the seedling planting portion 4 is inserted and connected to the lower end portion of the upper and lower link arms 43, and the seedling planting portion 4 is rolled around the connecting shaft. Connect freely. An elevating hydraulic cylinder 46 is provided between the support member fixed to the main frame 15 and the tip of a swing arm (not shown) integrally formed with the upper link arm 40, and the cylinder 46 is extended and retracted hydraulically. By doing so, the upper link arm 40 is turned up and down, and the seedling planting part 4 is moved up and down while maintaining a substantially constant posture. The lifting / lowering operation of the lifting / lowering hydraulic cylinder 46 is performed by operating a lifting / lowering operation switch 16b provided in the grip portion of the traveling operation lever 16 as shown in FIG.

  The elevating hydraulic cylinder 46 expands and contracts when hydraulic oil is supplied from a hydraulic valve 106 that supplies hydraulic oil to each part of the machine body. The hydraulic cylinder 46 expands when hydraulic oil is supplied and contracts when hydraulic oil is released. To do. The expansion / contraction speed of the elevating hydraulic cylinder 46 is proportional to the supply or discharge speed of the hydraulic oil.

  If the hydraulic valve 106 is an electromagnetic proportional valve that can finely change the pressure and the amount of oil supplied by an electric signal, the oil supply amount and the pressure can be finely adjusted via the controller 100. It becomes easy to change the operating speed of the working unit and control the amount of oil fed to the whole, and it is possible to make the setting of the working unit finer and improve the adaptability of working conditions.

  By the above, since the seedling planting part 4 can be moved up and down with substantially the same posture, the seedling planting part 4 is raised at the time of turning at the end of the field, and the seedling planting part 4 is lowered after the turning is finished. If this is done, the planting posture is restored, so that fine adjustment operations are not necessary, and work efficiency is improved.

  In the seedling transplanter provided with the HST servo motor 23b, the control configuration shown in FIG. 14 can be added.

  When the rotational speed of the engine 20 is in a low speed range (for example, 1800 to 2200 rpm), when the raising / lowering operation switch 16b is lowered to lower the seedling planting part 4, the HST servo motor 23b is operated to turn the trunnion The control configuration is such that the opening of the shaft 23a is reduced and the amount of oil fed from the hydraulic valve 106 to the lift hydraulic cylinder 46 is reduced.

  When the amount of oil supplied to the elevating hydraulic cylinder 46 is reduced and reduced, the contraction speed of the elevating hydraulic cylinder 46 becomes slower. As a result, the descending speed of the seedling planting section 4 is reduced, so that it is possible to prevent the lowering portion of the seedling planting device 4 from being struck by mistake in the operation of the lifting operation switch 16b and to prevent the seedling planting section 4 from being damaged. Is done.

  In particular, when loading on a transporter such as a light truck or when storing a seedling transplanter in a storage facility such as a warehouse, the seedling planting unit 4 can be safely lowered while moving backward, and workability is improved. improves.

  Note that the above control condition is that the engine 20 is in the low speed range, but this low speed range may be used to improve fuel efficiency even during planting work. If the descending speed of the seedling planting part 4 is slow at the time of the planting work, it is necessary to wait until the seedling planting part 4 descends to an appropriate height when turning at the end of the field and resuming the straight planting traveling. Since the work efficiency is reduced, a limit switch 107 for detecting the on / off state of the planting clutch 25a inside the planting clutch case 25 is provided, and the limit switch 107 is in the “off” state, that is, the planting clutch 25a is When it is detected that the engine is in the “off” state and the engine 20 is in a low rotation range, the hydraulic valve 106 is configured to control the amount of oil to be supplied. Ascending and descending 4 is performed smoothly, and the work efficiency is improved.

  As shown in FIGS. 1 and 2, in this case, the seedling planting unit 4 is configured as an eight-row planting, and a plurality of (eight in this case) seedling placing stands 51 for loading seedlings one by one are arranged in the left-right direction. A seedling planting transmission case 50 that also serves as a frame of the seedling planting unit 4 is provided below the seedling platform 51, and a plurality of seedling platforms 51 are driven by the driving force of the seedling planting transmission case 50. Are configured to reciprocate in the left-right direction. Then, a plurality (four in this case) of seedling planting transmission cases 54 for taking out the driving force from the seedling planting transmission case 50 are mounted at equal intervals in the left-right direction, and on both left and right sides of the seedling planting transmission case 54. The planting devices 52 and 52 for drawing seedlings and planting them in the field while rotating and drawing an elliptical locus are mounted.

  Further, an L-shaped seedling receiving plate 51c that is long in the left-right direction than the left and right widths of the connected seedling mounting platforms 51 and that receives seedlings loaded on the seedling mounting platforms 51 is provided, and the seedling receiving plate 51c is provided. In addition, a plurality of seedling outlets 51a, through which the seedlings placed on the seedling mount 50 are scraped by the planting device 52, are cut out and formed in a plurality of places (eight places in this case). Further, a pair of left and right seedling feeding belts 51b and 51b for moving seedlings to the seedling receiving plate 51c side (lower side of the seedling planting device 4) at predetermined intervals on each strip are provided on the lower side of the seedling placing table 51. A seedling replenishment sensor 140 for detecting that the amount of loaded seedlings has become less than a predetermined amount is provided for each strip between the left and right sides of the left and right seedling feeding belts 51b and 51b.

  When the seedling replenishment sensor 140 detects a decrease in seedlings, the notification device 104 such as the buzzer 104a or the lamp 104b is operated to notify the operator that seedling replenishment work is necessary.

  According to the above, it is possible to prevent a worker from noticing that the seedling has been lost and to generate a section where the seedling is not planted, so that the seedling planting efficiency is improved. Moreover, since the operator does not need to manually plant seedlings in places where seedlings were not planted, the labor of the workers is reduced.

  In the lower part of the seedling planting portion 4, a center float 55 is provided at a substantially central position in the left-right direction, and middle floats 57, 57 and side floats 56, 56 are provided on the left and right sides of the center float 55, respectively. The center float 55, the side floats 56 and 56, and the middle floats 57 and 57 are grounded to the mud surface of the field (the topsoil surface of the field) when the seedling planting unit 4 is lowered and the seedling planting operation is performed. , The center float 55, the side floats 56 and 56, and the middle floats 57 and 57 slide while leveling the mud surface. The front and rear lengths of the seedling planting transmission cases 54 and the planting locus of the seedling planting devices 52 are set so that the seedling planting devices 52 plant the seedlings on the ground level.

  The center float 55, the side floats 56 and 56, and the middle floats 57 and 57 are rotatably attached so that the front end side moves up and down according to the unevenness of the topsoil surface of the field. In particular, the mounting base portion of the center float 55 is provided with an elevation angle sensor (potentiometer) 108 that detects an angle of the front portion of the center float 55 that moves up and down, and matches the angle detected by the elevation sensor 108. The planting depth of the seedling is maintained constant by changing the opening of the hydraulic valve 106 that controls expansion / contraction of the lifting hydraulic cylinder 46 and moving the seedling planting unit 4 up and down.

  According to the above, since the seedling can be planted at a place leveled by the center float 55, the side floats 56, 56 and the middle floats 57, 57, the soil height around the seedling is less likely to be biased, and the growth of the seedling is reduced. Stable and improved crop quality.

  Then, by raising and lowering the seedling planting portion 4 according to the vertical angle of the center float 55 detected by the elevation angle sensor 108, the seedling planting depth can be stabilized, so that the seedling planting depth is shallow. Since the seedlings are prevented from being washed away by the flow of water stretched over the field and the seedlings being blown off by the strong wind, crop yield is improved.

  In addition, since the planting depth of the seedling becomes too deep and it is possible to prevent the growth of the crop from being disturbed due to insufficient sunshine or excessive water, the quality of the crop can be improved and the seedling can be prevented from withering after planting.

  Further, on the left and right sides of the lower part of the seedling planting section 4, left and right line drawing markers 109 that form lines that serve as a guide for straight advancement in the field scene on the side where the planting operation is performed next during seedling planting traveling. 109 are provided. The left and right drawing markers 109 and 109 are composed of a marker rod 109a that is pivotable in the left-right direction, and a drawing body 109b that forms a line by pressing down the mud by contacting the farm scene at the end of the marker rod 109a. To do. The drawing body 109b is composed of a fixed rod or a rotatable disk.

  And when working at the planting position of the next seedling, the center mascot 75 provided on the front side of the bonnet 32 so as to be pivotable in the front-rear direction is traveled together with the line formed on the field by the drawing marker 109. This makes it easier to go straight ahead, improving work efficiency and planting accuracy.

  In the vicinity of the left and right center part of the seedling planting part 4 on the front side of the machine body, when turning by operating the handle 34, the left and right drawing markers 109, 109 are set in a non-working state in which they are retracted from the farm field. A marker switching mechanism 110 is provided that includes a marker actuator 110a that switches the left and right other drawing markers 109 to a non-working state while setting the drawing marker 109 on the side to the working state. At the time of the next turn, the drawing marker 109 on the left and right other side is in the working state and the drawing marker 109 on the left and right side is in the non-working state. A line can be formed at the working position.

  However, the hardness of the field is not always constant, and if there are irregularities, the center float 55 is lifted, so the center float 55 is easy to rotate and the seedling planting part 4 is easy to move up and down. However, since the center float 55 is leveled, there is a soft part where the center float 55 is difficult to rotate and the seedling planting part 4 is difficult to move up and down. In the part where the soil is hard, the seedling planting part 4 frequently moves up and down, and when it rises, the drawing markers 109 and 109 are separated from the farm scene, the line cannot be formed, and the straight traveling at the next planting work position is possible. Difficult problems can arise.

  In addition, when the drawing markers 109 and 109 rotate excessively downward at a hard soil position, there is a problem that the drawing body 109b enters deeply into the soil and breaks due to the resistance in the soil.

  In order to solve the above problem, as shown in FIG. 15, the operation panel 33 is provided with a sensitivity change dial 111 for changing the sensitivity of the elevation sensor 108 of the center float 55, and the angle change detected by the elevation sensor 108 is a standard value. Even when the value is much smaller, it can be operated on the sensitive side that opens and closes the hydraulic valve 106 and on the insensitive side that opens and closes the hydraulic valve 106 when the angle change detected by the elevation sensor 108 becomes a value that is much larger than the standard value. Note that the angle at which the elevation angle sensor 108 opens and closes the hydraulic valve 106 is set as a standard value when set to the middle between the sensitive side and the insensitive side.

  When the sensitivity change dial 111 is operated, the angle at which the elevation sensor 108 detects the change of the angle and the angle at which the opening / closing signal of the hydraulic valve 106 is sent to the controller 100 is increased or decreased, and this value is recorded in the controller 100 as a reference value. .

  When the sensitivity change dial 111 is operated sensitively, if a difference between the detection angle of the elevation sensor 108 and a reference value is slightly generated, the seedling planting unit 4 is raised or lowered, so that the seedling planting unit 4 Marker actuator 110a lowers the drawing marker 109, and when the seedling planting part 4 moves down, the marker actuator 110a lowers the drawing marker 109.

  Thereby, even if the seedling planting part 4 is moved up and down, the line drawing marker 109 is maintained at an appropriate line drawing height, so that a line serving as a guide for straight running is reliably formed on the field, and the line drawing body 109b is It is prevented from being too deep in the soil.

  On the other hand, when the sensitivity change dial 111 is operated insensitively, only when the difference between the detection angle of the elevation angle sensor 108 and the reference value is significantly increased, the drawing marker 109 is moved when the seedling planting part 4 is raised as described above. When the seedling planting part 4 is lowered, the drawing marker 109 is raised.

  Thereby, the vertical position of the seedling planting part 4 and the drawing marker 109 is changed only when the center float 55 is pivoted up and down significantly, that is, when the unevenness of the field is severe and the planting depth of the seedling may be significantly disturbed. As a result, the load on the lifting mechanism is reduced and the durability is improved.

  In addition, since the drawing marker 109 can be prevented from being separated from the farm scene, a straight line as a guide for straight travel is surely formed at the next planting work position, and straight travel is performed accurately. Planting accuracy is improved.

  Further, since the drawing body 109b of the drawing marker 109 can be prevented from entering the soil too much, the drawing body 109b is prevented from being damaged by contact resistance, the durability of the drawing marker 109 is improved, and the line is placed on the field. Since it can be formed reliably, work efficiency is improved.

  The fertilizer application device 5 feeds the granular fertilizer stored in the fertilizer hopper 60 from a plurality of sections (eight sections in this case) of the feeding portions 61... The fertilizer hose 62 ... guides the fertilizer guides (not shown) attached to the left and right sides of the center float 55, side floats 56, 56, and middle floats 57, 57, and the grooved body provided on the front side of the fertilizer guide ... (Illustration omitted) ... It is set as the structure dropped into the fertilization groove formed in the side part vicinity of a seedling planting strip.

  Also, wind 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 blown by wind pressure. It is configured to forcibly convey.

  By the above, granular fertilizer can be dropped into the groove formed by the grooved body at the planting position of the seedlings of each strip, so that the fertilizer is prevented from moving to a position away from the seedlings by water flow or wind, However, due to lack of fertilizer, it does not cause poor growth and the growth of the crop is stable.

  In addition, the fertilizer can be gathered in one place to prevent the occurrence of poor growth caused by excessive nutrients, and it is possible to prevent only some crops from growing rapidly and disturbing the harvest time, thus stabilizing the quality of the crop.

  The seedling planting part 4 is provided with a center rotor 27a, which is an example of a leveling device, and a pair of left and right side rotors 27b, 27b. In addition, the connected seedling platforms 51 are configured to slide in the left-right direction using a support roller 65a of a rectangular support frame body 65 that is a full width in the left-right direction and the up-down direction that supports the entire seedling planting unit 4. It is said.

  In the fertilizer applicator 5 described above, the blower 58 is configured to switch between the blowing state and the stopped state by turning on and off the operation of the blower motor 58a, and the blower motor 58a is configured to operate in conjunction with turning on and off the keys of the machine body. Yes.

  However, the blower 58 needs to be in an operating state when the seedling planting unit 4 is planting seedlings in the field, or when discharging the fertilizer remaining after the completion of the work from the fertilizer hopper 60, and when turning. When planting work is not performed, it causes unnecessary power consumption.

  Since the blower 58 needs to generate a wind that can send fertilizer to all the strips, the larger the number of planting strips, the larger the output of the blower motor 58a. Therefore, there is a problem that a working unit that requires other power becomes inoperable.

  In order to solve the above problem, as shown in FIG. 5 and FIG. 16, the link sensor 112 that detects the lift position of the lift link mechanism 3 is provided on the lift link mechanism 3 that moves the seedling planting part 4 up and down. When the link sensor 112 detects that the link mechanism 3 has been raised or lowered by a predetermined angle or more, a control configuration for sending a signal to the controller 100 and sending a “OFF” signal or an “ON” signal for the blower motor 58a; To do.

  When the link sensor 112 detects “rising” of the seedling planting unit 4, the controller 100 transmits a “cut” signal of the blower motor 58a and stops the blower motor 58a. When the link sensor 112 detects “down” of the seedling planting unit 4, the controller 100 transmits a “ON” signal of the blower motor 58 a and operates the blower motor 58 a.

  With the above control configuration, the blower motor 58a can be automatically turned on and off in conjunction with the raising and lowering of the seedling planting unit 4, so that the blower motor 58a can be turned off during work that does not require the discharge of fertilizer. Therefore, power consumption is suppressed, work is prevented from being interrupted due to power shortage, and the blower motor 58a is not used unnecessarily, so the durability of the blower motor 58a is improved.

  In addition, when the blower motor 58a is turned on and off with reference to the raising / lowering position of the seedling planting unit 4, the supply of fertilizer may be suddenly interrupted, and the start of supply of fertilizer may be delayed, and no fertilizer is supplied to the seedling planted immediately before turning, and It means that fertilizer is not supplied to the seedling planted immediately after resuming planting after the turn is completed, and it is assumed that there is a difference in growth. In particular, the strips away from the blower 58 stop the supply of fertilizer as soon as the blower motor 58a is turned off, and the supply of fertilizer does not start as soon as the blower motor 58a is turned on.

  For this reason, when the link sensor 112 detects the raising / lowering of the seedling planting part 4 and transmits the “ON” or “OFF” signal of the blower motor 58a, the “OFF” signal is output after a lapse of a predetermined time (eg 3 to 5 seconds). It is good to set it as the control structure which is transmitted and the "ON" signal is transmitted before the predetermined time (for example, 3-5 seconds) when descent | fall of the seedling planting part 4 is complete | finished.

  With the above control configuration, since the blower motor 58a stops after the turning is started and the planting of the seedling at the planting work position is completed, the fertilizer leakage can be prevented. Further, by starting the blower motor 58a immediately before the end of turning and starting to plant seedlings, it is possible to reliably supply fertilizer immediately after resuming planting. By preventing the fertilizer leakage, the growth of seedlings becomes uniform and the harvesting work can be performed efficiently.

  Moreover, as shown in FIG. 17, the fertilizer weight sensor 113 which detects the weight of the fertilizer thrown in in the said fertilizer hopper 60 is provided, and the opening degree adjustment which changes the quantity (fertilization opening degree) of the fertilizer which the said delivery part 61 discharge | releases A device 114 is provided. The opening degree adjusting device 114 is provided with an opening degree sensor (potentiometer or stroke sensor) 115 for detecting the current opening degree, and an increase / decrease in the detected numerical value is sent to the controller 100, so that the current fertilizer release amount (fertilization amount) ) Calculate E.

  Then, the controller 100 has a number of planting strips (8 in the case of the seedling transplanter in this case) and the right and left of the planting device 52... The weight of the fertilizer detected by the fertilizer weight sensor 113 is stored. Further, the number of rotations detected by the left and right rear wheel rotation sensors 105, 105 in one or two rounds of seedling planting work, the number of planting strips stored in the controller 100, and the field input by the operator From the approximate number of reciprocations until the work is completed, the controller 100 approximates the area of the field.

  Then, the virtual consumption V of the fertilizer consumed from the calculated field area A to the end of the work is calculated, and the virtual consumption V is divided by the number of round trips input, and the virtual consumption of fertilizer necessary per round trip is calculated. The amount V2 is calculated. Then, among the weights in the fertilizer hopper 60 detected by the fertilizer weight sensor 113, the numerical values at the start and end of one reciprocal work are compared, and the actual consumption S is calculated from the difference.

  The actual consumption amount S is compared with the virtual consumption amount V2 per round trip. If the actual consumption amount S matches the virtual consumption amount V2 (S = V2) or is within the allowable range of the virtual consumption amount V2. (S≈V2), the current discharge amount E is maintained.

  When the actual consumption amount S is below the allowable range of the virtual consumption amount V2 (S <V2), it can be determined that the fertilizer supply amount is less than the setting, so the controller 100 determines that the opening adjustment device 114 and the opening amount A signal is sent to the sensor 115, and the opening degree adjusting device 114 is operated in the opening direction until the opening degree sensor 115 detects a position where the emission amount E is obtained by subtracting the actual consumption amount S from the virtual consumption amount V2 (V2-S). Let

  On the other hand, when the actual consumption amount S exceeds the allowable range of the virtual consumption amount V2 (S> V2), it can be determined that the fertilizer supply amount is larger than the setting, so the controller 100 and the opening degree adjustment device 114 A signal is sent to the opening degree sensor 115, and the opening degree adjustment device 114 is closed until the opening degree sensor 115 detects a position where the emission amount E is obtained by subtracting the actual consumption amount S from the virtual consumption amount V2 (V2-S). To operate.

  By adopting the above control configuration, the amount of fertilization in a predetermined area can be kept within an appropriate range, so that it is possible to prevent the fertilizer from being excessively supplied and the seedlings to grow softly and fall down due to a typhoon or the like. As a result, harvesting work using a harvester such as a combiner is facilitated, and work efficiency is improved.

  In addition, since the fertilizer is prevented from cutting earlier than expected by the operator, the replenishment work of the fertilizer can be performed in a planned manner, so the work of returning to the field edge during the seedling planting work and replenishing the fertilizer Eliminates the need for work efficiency.

  In addition, seedlings can be prevented from growing badly due to lack of fertilizer, so that planned crop cultivation can be conducted, and additional fertilization, weed processing, harvesting, etc. can be performed at an appropriate time, improving crop quality and work efficiency. .

  The center rotor 27a and the left and right side rotors 27b and 27b are respectively provided with a beam member whose upper ends are rotatably supported by both side members 65b of the support frame body 65 of the seedling platform 51, and at both ends of the beam member. It is supported by a support structure portion comprising a fixed support arm and a rotor support frame rotatably attached to the support arm. The drive shafts 70a and 70b of the center rotor 27a and the side rotors 27b and 27b are attached to the lower end of the rotor support frame. 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.

  A center rotor 27a is arranged in front of the center float 55, and the center float 27a is arranged in front of the side rotors 27b and 27b arranged in front of the side floats 56 and 56 and middle floats 57 and 57. . Further, the rear wheel gear case 18 on the left and right sides, in this case, the left side of the fuselage and the rotor input case (not shown) of the left side rotor 27b are connected by a rotor transmission rod 27c, and the center rotor 27a and the left and right side rotors are connected. The driving force is transmitted to 27b and 27b.

  The drive shaft input to the rotor input case from the left rear wheel gear case 18 via the rotor transmission rod 27c rotates the drive shaft 70b of the left side rotor 27b, and the left and right side rotors 27b, 27b Of the left and right leveling transmission cases 73 and 73 that connect the center rotor 27a, the drive shaft 70a of the center rotor 27a is rotated via the left leveling transmission case 73. Then, the rotary shaft 70b of the left side rotor 27b is rotated from the drive shaft 70a via the right leveling transmission case 73.

  In the seedling transplanting machine, the center float 55, the side floats 56 and 56, and the middle floats 57 and 57 are provided in the lower part of the seedling planting unit 4 to level the farm scene and detect the unevenness of the farm field for hydraulic pressure. By switching the oil supply amount of the valve 106, the lifting hydraulic cylinder 46 is expanded and contracted to adjust the working height of the seedling planting portion 4 to an optimum height.

  However, the leveling of the farm scene is performed by the center rotor 27a that rotates and the left and right side rotors 27b and 27b, and the leveling by the floats 55, 56, and 57 is slightly uneven. Moreover, the method of detecting the vertical rotation amount of the center float 55 installed in the farm scene by the elevation sensor 108 is sensitive to the vertical position adjustment control depending on the setting of soil quality, water volume, traveling speed and planting depth of the farm field. However, there is a problem that the planting depth becomes unstable.

  Conversely, when the detection accuracy becomes too slow and the vertical position of the seedling planting unit 4 needs to be changed, the vertical position is not changed, and the seedling planting depth becomes too deep or shallow. There is a problem that is too much. Because of the above-mentioned problems, there is room for introducing another control method that does not use the center float 55 as a reference for vertical rotation.

  As shown in FIGS. 18 and 19, electrical resistance sensors (EC sensors) 116... Are provided at predetermined intervals on the spokes 11 s of the left and right rear wheels 11 and 11. The electric resistance sensors 116... Conduct electricity between the left and right and calculate a resistance value from the electric flow. In this example, a device that recognizes that it has received an infinite resistance value in air is used.

  When the electric resistance sensors 116 are entered into a field filled with water, electricity flows between the left and right rear wheels 11 and 11 due to the soil component dissolved in the water, and the resistance value is detected. When the electric resistance sensors 116 detect, the portion is located in the water. Therefore, among the electric resistance sensors 116 provided at a predetermined interval on the spoke 11s, the resistance value is detected. Therefore, it is determined how far the rear wheel 11 has entered the water and the soil.

  Then, the controller 100 transmits a signal for changing the oil feed to the hydraulic valve 106 based on the number of detections of the electric resistance sensors 116... The planting is automatically adjusted to the planting work height that matches the depth of the field.

  The change signal to the hydraulic valve 106 is a signal for extending the lifting hydraulic valve 46 by determining that the field has become deeper when the number of electrical resistance sensors 116.. The attaching part 4 is lowered. On the other hand, when the number of the electrical resistance sensors 116 decreases, it is determined that the field has become shallow, and a signal for contracting the lifting hydraulic valve 46 is transmitted to raise the seedling planting unit 4.

  With the above configuration, the depth of the field can be detected without using the center float 55 and the elevation sensor 108, and the seedling planting unit 4 can be set to an appropriate working height. The seedlings are less likely to fluctuate and the seedlings grow evenly.

  In addition, since the depth is determined by whether or not the plurality of electric resistance sensors 116 detect the resistance value, it is possible to immediately cope with the change in the fine depth, so that the seedling planting unit 4 is planted. Since the working height is changed at an appropriate timing, the planting depth of the seedling is stabilized.

  Since the center float 55, the left and right side floats 56, 56, and the left and right middle floats 57, 57 are not necessary, the configuration of the seedling planting unit 4 is simplified.

  However, each of the floats 55, 56, 57 described above also serves as a receiving member when the seedling planting unit 4 is installed in a farm scene when the aircraft is transported by a light truck or the like and when stored in a warehouse or the like. Plays. For this reason, each float 55, 56, 57 has a simpler structure and is left as a protector for preventing the planting device 52 and the like provided at the lower part of the seedling planting unit 4 from coming into contact with the field when descending. Also good.

  With the above configuration, when the seedling planting part 4 is lowered, the lower part of the seedling planting part 4 can be prevented from being damaged by an impact that comes into contact with the ground, so that the durability of the seedling planting part 4 is improved.

  The hydraulic circuit diagram shown in FIG. 20 shows that the hydraulic continuously variable transmission 23 is expanded and contracted by the servo valve 120 for rotating the trunnion shaft 23a and the hydraulic oil supplied from the servo valve 120, and the trunnion shaft 23a. Is provided, and a servo switching valve 122 that can be opened and closed is provided in a circuit that connects the servo valve 120 and the servo cylinder 121.

  With the above configuration, when the contaminants accumulate in the hydraulic fluid that operates the servo valve 120 and the servo cylinder 121 and the servo valve 120 is stuck due to the contaminants and does not operate normally, the servo switching valve 122 is opened. Since the hydraulic oil in the servo cylinder 121 can be forcibly released, it is prevented that the trunnion shaft 23a does not move and the shift operation or stop operation is not accepted, and is normally performed when the shift or stop is necessary. Therefore, operability and work efficiency are improved.

  The hydraulic fluid that has escaped from the servo cylinder 121 by operating the servo switching valve 122 is a hydraulic circuit that moves to the tank port 123. At the same time, the hydraulic fluid is supplied to the P port 124 of the servo valve 120. It is good also as a structure which stops.

  With the above configuration, since the hydraulic oil does not flow into the servo valve 120, the pressure of the servo cylinder 121 where the hydraulic oil is released and the pressure is reduced is prevented from increasing again, and the operation of the trunnion shaft 23a is accepted. It is prevented from becoming impossible.

  When the servo cylinder 121 is expanded and contracted, the expansion and contraction operation is performed using a dither current as shown in FIG. When the amplitude of the dither current is increased, the servo cylinder 121 can be operated reliably. However, when the amplitude is increased, the amount of expansion / contraction increases, and fine expansion / contraction control is difficult, and there is a problem that a strong impact occurs during operation. Conversely, if the amplitude is reduced, the amount of expansion / contraction is reduced, so fine expansion / contraction control is possible and no strong impact is generated during operation, but the servo cylinder 121 does not operate sufficiently or the operation is delayed. There is a problem that.

  For this reason, when increasing the travel speed or the amount of oil to be fed, that is, when increasing the opening of the trunnion shaft 23a, the amplitude of the dither current is reduced in order to cope with a fine change operation and prevent the occurrence of an impact (example) : 0.7A) and at the time of deceleration or when the servo cylinder 121 needs to operate reliably, the dither current amplitude is increased (example: 0.9A). With the above configuration, when the speed is increased or when the amount of oil is increased, the servo cylinder 121 is finely and slowly expanded and contracted, so that a fine change operation can be surely accepted and a strong shock can be prevented from occurring in the airframe during the operation. The operability is improved and the labor of the operator is reduced.

  In addition, since the servo cylinder 121 quickly expands and contracts when decelerating and stopping, the opening of the trunnion shaft 23a can be rapidly reduced, so that it can be stopped reliably when it is necessary to stop suddenly, thus further improving operability. In addition, the stop position does not deviate from the operator's intention, and an extra forward / backward operation is not required.

  In the above description, the amplitude of the dither current is changed. As shown in FIG. 22, when the opening of the trunnion shaft 23a is increased, the frequency of the dither current is increased (eg, 90 Hz) and the trunnion shaft 23a is increased. When the opening degree is reduced, the frequency of the dither current may be lowered (for example, 70 Hz).

  Further, as shown in FIG. 23, when the planting operation speed in the field is the so-called “planting speed”, the dither current amplitude is decreased or the frequency is increased to enable a fine change operation. At the same time, when the working speed is the so-called “traveling speed” of traveling outside the field, the dither current amplitude may be increased or the frequency may be decreased so as to cope with sudden deceleration or sudden stop.

  “Traveling speed” is used on roads where other vehicles travel, and if the distance from the farm field to the seedling transplanter's storage location (house or warehouse) is long, there may be a signal or a pedestrian crossing between them. Think enough. At this time, the safety at the time of driving on the road is ensured by the rapid deceleration and the sudden stop functioning reliably.

  In addition to the travel potentiometer 16a that detects the amount of operation of the travel operation lever 16, a trunnion potentiometer 125 that detects the amount of rotation of the trunnion arm 24 that operates the opening of the trunnion shaft 23a is provided.

  Since the trunnion potentiometer 125 and the travel potentiometer 16a are controlled by the controller 100, they are basically synchronized, and the amount of operation of the travel operation lever 16 is directly reflected in the change in travel speed. However, since the travel operation lever 16 and the trunnion arm 24 do not have an interlocking mechanism, the rotation amount detected by the trunnion potentiometer 125 may not reach the operation amount detected by the travel potentiometer 16a. If the rotation amount detected by the trunnion potentiometer 125 is small, the vehicle travels at a speed slightly slower than the traveling speed assumed by the operator, so that the work efficiency is lowered and the operator further operates the traveling operation lever 16 to make fine adjustments. Operability is reduced. The rice transplanter works at a low speed and is often not equipped with a speedometer, and the operator must determine the traveling speed from the sensation speed or the operation amount of the traveling operation lever 16.

  In order to solve the above problem, the controller 100 compares the detected value of the travel potentiometer 16a with the detected value of the trunnion potentiometer 125. If the difference between the detected values does not match, the controller 100 sets the amplitude or frequency of the dither current to the servo cylinder 121. The servo cylinder 121 is operated until the detected value matches, and the opening degree of the trunnion shaft 23a is adjusted.

  With the above configuration, since the opening of the trunnion shaft 23a corresponding to the operation amount of the travel operation lever 16 can be forcibly realized, the operation amount of the travel operation lever 16 can be trusted as the travel speed, and the operability is improved. Is greatly improved.

  Further, since it is not necessary for the operator to finely operate the traveling operation lever 16a in order to ensure the necessary traveling speed, the labor of the operator is reduced.

  When the servo valve 120 does not operate due to contaminants and the servo cylinder 121 does not operate even when the amplitude or frequency of the dither current is changed, it is determined that the opening of the trunnion shaft 23a cannot be changed. If the notification device 104 is activated to notify the worker, the worker can notice the problem of the servo valve 120 at an early stage. When stopping the rice transplanter on a slope such as a slope, if the hydraulic oil leaks from the hydraulic continuously variable transmission 23, the rice transplanter may travel along the slope.

  In order to prevent this, as shown in FIG. 25, the inclination detection sensor 101 detects the inclination of the aircraft in the front-rear direction, and when the traveling operation lever 16 is in the neutral position, the predetermined value (eg, ± 5 degrees) or more is exceeded. When the tilt angle is detected, the servo cylinder 121 is operated to increase the opening of the trunnion shaft 23a (eg, ± 1 degree), thereby preventing the hydraulic oil from leaking.

  Further, the rotation of the rear wheels 11, 11 is detected by the rear wheel rotation sensors 105, 105, and while the rotation is detected, the servo cylinder 121 is operated to gradually increase the opening of the trunnion shaft 23a (example: ± 0.1 degrees each), and when the rotation is not detected, the opening degree of the trunnion shaft 23a is maintained at that time.

  With the above configuration, the vehicle can be reliably stopped even on a slope, so that it is not necessary to install a wedge for preventing the rotation of the wheel, the labor of the operator is reduced, and the work efficiency is improved. . In addition, it is not necessary to perform a stop operation following the rice transplanter that has moved on the slope, so that the labor of the operator is greatly reduced. The servo cylinder 121 may be replaced with the HST servo motor 23b, and the servo valve 120 may be replaced with the hydraulic valve 106.

2 Running body
4 Seedling planting part 10 Front wheel (steering wheel)
16 travel control lever
16a lever potentiometer
16b lifting operation switch
23 continuously variable transmission
23a trunnion shaft 34 Handle (operating member)
38 spare seedling frames
38a auxiliary seedling stand
38b reserve seedling stand
38c spare seedling stage
38d spare seedling stage
46 Elevating Hydraulic Cylinder 101 Tilt Detection Sensor (Tilt Detection Member)
103 Straight control switch (control operation member)
104 Notification device
120 servo valves
121 servo cylinder
122 servo switching valve
125 trunnion potentiometer
383 main link arm
386 secondary link arm
390 electric motor
393 mounting support

Claims (6)

The traveling vehicle body (2) is provided with a continuously variable transmission (23) that rotates and accelerates the trunnion shaft (23a), the traveling vehicle body (2) is provided with a steering wheel (10), and the steering wheel (10 Steering member (34) is provided, and the vehicle body (2) is provided with an inclination detection member (101) for detecting the inclination of the fuselage, and the steering is detected when the inclination detection member (101) detects an inclination in the left-right direction. In the work vehicle that operates the member (34) to correct the traveling direction of the traveling vehicle body (2),
An operation switching member (103) is provided for switching between a free state in which the steering member (34) can be freely operated and a holding state in which the steering member (34) is held in a straight position, and the operation switching member (103) is operated in the holding state. However, when the tilt detection member (101) detects the tilt of the fuselage, the holding of the steering member (34) is released to operate in the direction opposite to the tilt direction ,
The continuously variable transmission (23) is provided with a servo cylinder (121) for rotating the trunnion shaft (23a), and is operated by a dither current to supply hydraulic oil to the servo cylinder (121). )
A travel operation lever (16) for rotating the trunnion shaft (23a) is provided, a lever potentiometer (16a) for detecting an operation amount of the travel operation lever (16) is provided, and the trunnion shaft (23) A trunnion potentiometer (125) that detects the amount of rotation is provided, and a controller (100) that controls the servo valve (120) so that the detected value of the trunnion potentiometer (125) becomes desired based on the detection of the lever potentiometer (16a). When the detection value of the lever potentiometer (16a) changes to the side that increases the amount of rotation of the trunnion shaft (23a), the amplitude of the dither current is reduced or the frequency of the dither current is increased to increase the servo cylinder ( 121) the expansion and contraction timing of the trunnion shaft (23a) A work vehicle, characterized in that the arrangement for oil feeding hydraulic fluid from the servo valve (120) to be lower than when the detection value of the lever potentiometer the side to decrease the amount (16a) is changed. A sub-transmission device that switches the traveling speed of the traveling vehicle body (2) between a road speed traveling outside the field and a planting speed traveling while performing the planting operation;
When the sub-transmission device is operated at the planting speed, the controller (100) decreases the amplitude of the dither current or increases the frequency of the dither current, and the timing at which the servo cylinder (121) expands and contracts is determined. 2. The work vehicle according to claim 1, wherein hydraulic oil is fed from the servo valve (120) so as to be slower than when the engine is operated at a road speed . When the detected value of the trunnion potentiometer (125) and the detected value of the lever potentiometer (16a) do not match, the controller (100) can rotate the trunnion shaft (23a) by expansion and contraction of the servo cylinder (121). The work vehicle according to claim 1 or 2, wherein a notification device (104) for notifying that the state is not possible is operated . A servo switching valve (122) that can be opened and closed is provided on a hydraulic circuit between the servo valve (120) and the servo cylinder (121). When the servo switching valve (122) is opened, the hydraulic oil moves to the tank port. working vehicle according to any one of claims 1 to 3, characterized by. A spare seedling frame (38) for placing a replenishing seedling is provided at the front of the traveling vehicle body (2). The preliminary seedling frame (38) includes a main link arm (383) and a plurality of sub link arms (386). ) Are provided with a plurality of preliminary seedling platforms (38b, 38c, 38d), an electric motor (390) for rotating the main link arm (383) and the plurality of sub link arms (386) is provided, and an electric motor (390) is provided. ), The plurality of preliminary seedling platforms (38b, 38c, 38d) are configured to be switchable between an unfolded configuration aligned in the front-rear direction and a stacked configuration aligned in the vertical direction,
When the preliminary seedling frame (38) is switched to the stacked form, a mounting support post (393) is provided on the preliminary seedling mounting base (38b) positioned at the uppermost stage, and at the upper end of the mounting support post (393) and the preliminary seedling When an auxiliary seedling stage (38a) is provided above the stage (38b) with an interval, and the preliminary seedling frame (38) is switched to the unfolded form, the auxiliary seedling stage (38a) becomes a spare seedling stage (38b). ) And move to the front side of the aircraft,
The vertical distance between the auxiliary seedling stage (38a) and the uppermost preliminary seedling stage (38b) is determined by the vertical distance between the plurality of preliminary seedling stages (38b, 38c, 38d) in the stacked state. The work vehicle according to any one of claims 1 to 4, wherein the work vehicle is also widely configured . After the steering member (34) is operated on the side opposite to the side on which the tilt detection member (101) detects the tilt, the steering member (34) is moved to the rectilinear position after a first predetermined time has elapsed. Hold and
The switching operation member (103) is configured to be manually switchable, and a notification device for notifying that the straight traveling control is terminated when a second predetermined time has elapsed after the switching operation member (103) is turned on. (104) is activated, and when the third predetermined time elapses after the activation of the notification device (104), the holding state is switched to the free state,
When the inclination detection member (101) detects an inclination equal to or greater than a set value, the switching operation member (103) is configured to be switched from a holding state to a free state,
The traveling vehicle body (2) is provided with a seedling planting part (4), a lifting hydraulic cylinder (46) for raising and lowering the seedling planting part (4) is provided, and a lifting operation switch for operating the lifting hydraulic cylinder (46) (16b) is provided on the travel control lever (16), the engine (20) is provided on the traveling vehicle body (2), a rotational speed measuring device for detecting the rotational speed of the engine (20) is provided, and the rotational speed measurement is performed. When the raising / lowering operation switch (16b) is operated to lower the seedling planting part (4) when the rotational speed of the engine (20) detected by the vessel is in a low speed range, the turning amount of the trunnion shaft (23a) The work vehicle according to any one of claims 1 to 5, wherein the work vehicle is configured to reduce the amount of oil supplied to the elevating hydraulic cylinder (46).

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