JP7426879B2 - transplant machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a transplanter equipped with a soil leveling machine for leveling a field.

a traveling machine; a planting section that is connected to the rear of the traveling machine so that it can be raised and lowered and performs planting work on the field; and a soil leveling work machine that is disposed in front of the planting section and performs soil leveling work on the field. a planting work machine having: a lifting cylinder for raising and lowering the planting work machine; a lifting actuator for raising and lowering the soil leveling work machine; a setting operation tool for operating the raising and lowering operation of the soil leveling work machine; The patent includes a vehicle speed detection sensor that detects the vehicle speed of the machine body, and a control section, and the control section is configured to be able to automatically adjust the elevation height of the ground leveling work machine according to the vehicle speed of the traveling machine body. The work vehicle described in Document 1 is conventionally known.

According to the transplanting machine of the above-mentioned document, the height position of the soil leveling machine is automatically maintained at an appropriate level according to the vehicle speed and field conditions when performing planting work using the planting machine, so that the worker can This reduces the effort required to operate the equipment and improves the accuracy of the soil leveling work performed by the equipment.However, by continuously using the equipment, foreign objects and other objects may be deposited in front of the rotor of the equipment. There may also be a problem in that the ground leveling performance of the ground leveling machine may be significantly reduced during work travel due to mud stagnation or foreign objects becoming entangled in the rotor.

Japanese Patent Application Publication No. 2010-46007

The present invention provides a transplanter equipped with a planting machine in which a soil leveling machine for leveling a field with a soil leveling rotor is provided in front of a planting section that performs planting work, in which foreign matter is removed in front of the ground leveling rotor. It is an object of the present invention to provide a transplanting machine that can efficiently prevent the ground leveling performance of the ground leveling machine from being degraded due to accumulation of dirt and mud.

In order to solve the above-mentioned problems, the present invention includes a traveling machine, a planting section that is connected to the rear of the traveling machine so that it can be raised and lowered and performs planting work in a field, and a planting section arranged in front of the planting section. a planting work machine having a soil leveling work machine that performs soil leveling work on a field with a horizontal soil leveling rotor; a lifting cylinder that moves the planting work machine up and down; and an elevator actuator that moves the land leveling work machine up and down; The planting work machine includes a travel distance detection means for detecting a travel distance of the traveling machine body, and a control unit capable of measuring the travel time of the traveling machine body, and the planting work machine performs planting work in a field by the planting unit. The soil leveling machine is configured to be able to rise and fall between a working height, which is a lifting height at which the planting work is performed, and a non-working height, which is a lifting height at which the planting unit does not carry out the planting work, The controller is configured to be able to rise and fall between a leveling height where the field is leveled by bringing it into contact with the field while being lowered to a lower height, and a leveling height where the field is not leveled from the leveled level at which the field is not leveled. During a set first predetermined distance or a first predetermined time, it is detected that the planting work machine is in a working state in which the planting work is performed while lowering the soil leveling work machine to a leveling height. In this case, the soil leveling work machine is automatically raised from the leveling height to the non-grading height to a leveling retracted state, and in the leveling and retracted state, the second predetermined distance, which is set shorter than the first predetermined distance, is raised. If it is detected that the planting work has been performed by the planting work machine for a predetermined distance or for a second predetermined time that is set shorter than the first predetermined time, the soil leveling work machine is disabled. It is characterized in that it is configured to automatically descend from the leveling level to the leveling level to switch to the working state.

Second, a sensing float for detecting the state of a field in which the planting work is performed by the planting work machine, and a sensitivity adjustment means for adjusting the sensitivity of the sensing float, and the control section is configured to control the planting work machine The present invention is characterized in that the sensitivity of the sensing float is automatically switched to the insensitive side when the ground leveling retreat state is switched to the ground leveling retreat state.

Thirdly, the soil leveling work machine is configured such that the land leveling rotor can be rotationally driven by power from an engine, and the control section is configured such that when the planting work machine is switched to the ground leveling retreat state, It is characterized in that it is configured to stop the rotational drive of the earth leveling rotor.

Fourthly, a vehicle speed detection sensor is provided to detect the vehicle speed of the traveling machine, and when the soil leveling work machine is switched to the leveling height, the leveling depth at which the land leveling work machine touches the field can be adjusted. The controller is configured such that the lower the vehicle speed of the traveling body, the deeper the leveling depth, and the faster the vehicle speed of the traveling body, the shallower the leveling depth. It is characterized by

According to the control unit, during the planting work by the planting work machine, the soil leveling work machine automatically moves up and down at predetermined intervals to remove foreign matter accumulated in front of the land leveling rotor during the land leveling work. Since soil and accumulated mud can be automatically shaken off, it is possible to efficiently prevent a situation in which the performance of the land leveling work by the land leveling work machine suddenly and significantly deteriorates during the planting work.

Further, a sensing float for detecting the state of the field in which the planting work is performed by the planting work machine, and a sensitivity adjustment means for adjusting the sensitivity of the sensing float, According to the device configured to automatically switch the sensitivity of the sensing float to the insensitive side when the land leveling retreat state is switched, the leveling machine is switched to a non-levelling height during planting work. By grounding the sensing float more deeply on the field side, when the soil leveling performance of the field has deteriorated, it is possible to compensate for the decreased leveling performance of the field. In other words, while the soil leveling rotor is removing impurities, the sensing float can perform the leveling work, so that even in the ground leveling retracted state, the leveling performance can be prevented from greatly decreasing.

The soil leveling work machine is configured such that the earth leveling rotor can be rotationally driven by power from an engine, and the control unit is configured to rotate the ground leveling rotor when the planting work machine is switched to the ground leveling retreat state. According to the structure configured to stop the rotational drive of the earth tilling rotor, there is a reverse inertia generated in the earth tilling rotor when the driving of the earth tilling rotor stops, and when the earth tilling rotor starts rotating again. Due to the positive inertia generated in the rotor, foreign matter wrapped around the rotor and mud attached to the rotor are easily removed.

In addition, a vehicle speed detection sensor is provided to detect the vehicle speed of the traveling machine, and the soil leveling work machine is configured such that when the land leveling work machine is switched to the leveling height, the leveling depth at which the land leveling work machine touches the field can be adjusted. The controller is configured such that the lower the vehicle speed of the traveling body, the deeper the leveling depth, and the faster the vehicle speed of the traveling body, the shallower the leveling depth. For example, if the vehicle speed during planting work by the planting work machine is high, mud, etc. tends to accumulate in the front part of the soil leveling rotor and get wrapped around the soil leveling rotor, so that the soil leveling rotor and the field The depth of contact between the soil leveling rotor and the field surface is controlled to be shallow, and when the vehicle speed during planting work is slow, the depth of ground contact between the soil leveling rotor and the field surface is controlled to be deep, so that the leveling performance is lowered more than necessary. This can be prevented.

FIG. 1 is an overall side view of a riding rice transplanter to which the transplanter of the present invention is applied. FIG. 1 is an overall plan view of a riding rice transplanter to which the transplanter of the present invention is applied. (A) is a front view of main parts showing the front of the control section, (B) is a view showing the front display panel, (C) is a view showing the front operation panel, and (D ) is a side view of the main part showing the grip part of the main shift lever. FIG. 2 is a side view of the main parts of the elevating device. FIG. 3 is a side view of a main part showing a linkage mechanism. FIG. 2 is a side view of main parts showing the configuration of the earth leveling work machine. It is a model diagram showing a work route during planting work in a field scene. It is a block diagram of a control part. FIG. 6 is a processing flow diagram showing downward switch operation control. FIG. 7 is a processing flow diagram showing upper switch operation control. FIG. 3 is a processing flow diagram showing control during reverse movement. It is an image diagram showing the flow of the stagnation prevention control. It is a figure showing the correlation between running speed and the height of the earth leveling rotor.

1 and 2 are an overall side view and an overall plan view of a riding rice transplanter to which the transplanter of the present invention is applied, and FIG. 3(A) is a front view of main parts showing the front of the control section; 3(B) is a diagram showing the front display panel, FIG. 3(C) is a diagram showing the front operation panel, and FIG. 3(D) is a diagram showing the grip of the main gear shift lever. FIG.

This riding rice transplanter includes a traveling machine body 3 supported by a pair of left and right front wheels 1, 1 and rear wheels 2, 2, and a planting machine connected to the rear of the traveling machine body 3 via an elevating link 4 so as to be able to move up and down. It includes a work machine 6 and a land leveling work machine 7 provided on the side of the planting work machine 6.

A body frame 8 that supports the traveling body 3 has an engine (not shown) surrounded by a bonnet 9 mounted on the front side, and a worker gets on the rear side of the engine and performs steering operations etc. A control section 11 is provided to perform the following operations.

The control unit 11 includes a seat 12 on which a worker is seated, a steering handle 13 disposed in front of the seat 12, a display panel 14 disposed in front of the steering handle 13, and a display panel 14 disposed in front of the steering handle 13. An operation panel 16 disposed nearby, a main gear shift lever 17 disposed on one of the left and right sides (left in the illustrated example) of the steering handle 13, and the other left and right (right in the illustrated example) side of the steering handle 13. a work equipment lever (work equipment operation lever) 18 disposed on the work equipment lever, an auxiliary gear shift lever 19 located on the side of the work equipment lever, and a hydraulic sensitivity adjustment dial 21 located near the steering handle 13. It is equipped with Furthermore, a control section 50, which will be described later and is comprised of a microcomputer, is provided directly below the seat 12 (see FIGS. 1 to 3, etc.).

The work equipment lever 18 is configured to be swingable in the vertical and horizontal directions, is biased to a neutral position by a biasing member (not shown), etc., and returns to the neutral position after being swung in the vertical or horizontal directions. Configured to return. Thereby, the control unit 50 operates the raising operation of the planting work machine 6 and the disconnection of the planting clutch by the upward swinging operation of the work machine lever 18, and the downward swinging operation of the work machine lever 18 causes the control unit 50 to operate the raising operation of the planting work machine 6 and the disconnection of the planting clutch. Work machine operation control that operates the lowering operation of the planting work machine 6 and connection of the planting clutch, and marker operation control that operates the attitude switching of the marker described later by the left and right swing operation of the work machine lever 18 can be performed. It is composed of

The main shift lever 17 is configured to be able to perform a main shift operation via a travel HST (not shown) by being operated to swing back and forth. Specifically, by operating forward from a neutral position midway in the longitudinal direction, the speed is increased in the forward direction, and by operating backward from the neutral position, the speed is increased in the reverse direction. It is composed of

Further, a pair of upper and lower lift switches 17A, 17B are provided on the grip side of the upper end of the main shift lever 17, and can be pressed while holding the grip. Like the work machine lever 18, it is configured to be able to operate the raising and lowering operation of the planting work machine 6 via a lifting device 22, which will be described later (see FIG. 3(D)).

The auxiliary speed change lever 19 is gear-shifted by a back and forth rocking operation, so that it can be set in a working running state in which it can run in a speed range suitable for working in a field, and in a speed range faster than the working running state. The vehicle is configured to be able to switch to a road driving state suitable for road driving in which the vehicle can be driven.

The operation panel 16 is a stagnation/entanglement prevention function which operates switching to a stagnation/entanglement prevention mode in which a stagnation prevention control is executed to prevent foreign matter and mud from accumulating in the earth leveling machine 7, which will be described in detail later. A mode switch 23, a planting preparation switch 24, a lighting switch 26 for turning on/off the headlight of the traveling machine 3, a buzzer switch 27 for turning the notification buzzer on/off, and the marker automatically A marker switch 28 is provided for switching to an automatic marker mode, which is manually operated (see FIG. 3(C)).

Further, the operation panel 16 is provided above each switch operating tool to adjust the vertical position of the soil leveling work machine 7, so that the land leveling work machine 7 can be placed in the field when performing land leveling work with the land leveling work machine 7. A rotor height setting dial 29, which is an operating tool for adjusting the depth of contact with the ground, is provided. The rotor height setting dial 29 may be configured to be operable to turn ON/OFF the execution of the earth leveling work machine 7.

The display panel 14 includes a planting display section 31 which is a lamp that indicates the ON/OFF state of the planting preparation switch 24, and a raised state (raised) of the planting work machine 6 operated by the work machine lever 18. , a work status display unit 32 consisting of four lamps that informs the operator that the state is in a fixed state, a lowered state (lowered), or a planted state, and the land leveling work is being performed by the land leveling work machine 7. A ground leveling work notification section 33, which is a lamp that notifies the worker that the work is being done, and direction indicators 34L, 34R are provided (see FIG. 3(B)).

The hydraulic sensitivity adjustment dial 21 is configured to adjust the amount of sinking when a center float, which will be described later, touches the ground on the field depending on the hardness of the field (see Fig. 3(C)). . Note that in place of the hydraulic sensitivity adjustment dial 21, a hydraulic sensitivity adjustment lever may be provided to adjust the vertical position of the center float.

The planting work machine 6 includes a seedling platform 36 on which seedlings to be planted in the field are placed, a plurality of planting sections 37 arranged side by side in the left and right direction below the seedling platform 36, and a seedling platform 36 for planting seedlings in the field. A pair of left and right marker devices 38 are swung out to the right and left sides of the working machine 3 to draw a reference line on the planting row for the next process, and a float 39 in the front and back direction is arranged below the seedling platform 36. , the soil leveling work machine 7 which is arranged in front of the float 39 and performs the leveling work of the field scene, and the planting section 37 is equipped with It is configured so that a planting operation in which the seedlings on the platform 36 are scraped off and planted in the field can be performed. The specific configuration of the earth leveling work machine 7 will be described later.

The planting work machine 6 is provided on the rear side of the traveling body 3 so as to be movable up and down by the lift link 4 and a lift cylinder 41 which is a hydraulic actuator, and the work machine lever 18 or the lift switch 17A, 17B, the planting machine 6 rises via the lifting device 22 controlled by the robot 17B, and the planting machine 6 moves downward by its own weight in a descending state/automatic descending state (or stops descending at the lower end side). (lowered stop state), a fixed state in which the planting work machine 6 is fixed at a predetermined raising/lowering position, and a planting state in which the planting unit 37 performs planting work. ing. The specific configuration of the elevating device 22 will be described later.

In addition, in the planting work machine 6, a plurality of floats 39 for leveling the field are supported side by side in the left and right direction on the lower side of the planter case that transmits power to the side of the planting section 37, and are arranged side by side in the left and right direction. The center float 39A, which is a float placed at the center in the left-right direction of the floats 39, is configured to function as a sensing body that senses earth pressure from the field.

The center float 39A is configured to be able to control the height of the planting machine 6 above the ground by being linked to a hydraulic valve via a linkage mechanism 42 to be described later. The specific configuration of the linkage mechanism 42 will be described later.

By the way, the front part of the center float 39A can be swung up and down using the hydraulic sensitivity switching dial 21, so that the strength of the earth pressure sensed can be adjusted appropriately depending on the state of the field. It is configured.

Next, the configuration of the lifting device will be explained based on FIG. 4. FIG. 4 is a side view of the main parts of the elevating device. The lifting device 22 includes a hydraulic valve provided in a hydraulic path from the hydraulic pump to the lifting cylinder 41, a valve arm 44 having a rectangular shape in side view for operating the hydraulic valve, and a valve arm 44 that controls power supply to the planting machine. It has a linking arm that is linked to a planting clutch that operates the planting clutch, and the lifting cylinder is telescopically operated by controlling the hydraulic pressure supplied to and discharged from the lifting cylinder 41 through the hydraulic valve (valve arm 44). In addition, the planting clutch is configured to be able to be operated on and off.

Specifically, the elevating device 22 is a working machine that operates the elevating cylinder 41, which is a hydraulic actuator, and the extending and retracting operation of the elevating cylinder 41 by operating the valve arm 44 through an operating pin 46. An operating cam 46, a working equipment operating cam motor 47 for controlling the rotational position of the working equipment operating cam 46, an output gear 48 driven by the working equipment operating cam motor 47, and an operating equipment operating cam 47 for controlling the operating position of the working equipment operating cam 47. The control unit 50 has a work implement operating cam potentiometer 49 to detect, and the control unit 50 controls the elevation state of the planting implement 6 based on the operating position of the work implement operating cam 46 detected by the work implement operating cam potentiometer 49. (ascending state, descending state, descending stop state) can be detected (see FIG. 4).

In addition, the work equipment operation cam 46 can also operate the planting clutch via the link arm, so the control section 50 controls the work equipment operation detected by the work equipment operation cam potentiometer 49. Based on the operating position of the cam 46, it is also possible to detect the planting state in which the planting work is performed by the planting work machine (planting section).

Next, the configuration of the linkage mechanism will be explained based on FIG. 5. FIG. 5 is a side view of main parts showing the linkage mechanism. The linkage mechanism 42 includes the center float 39A, a linkage plate 51 that is inclined upwardly and forwardly from the front end of the center float 39A, and is supported so as to be swingable back and forth behind the linkage plate 51. A T-shaped swing plate 52, a link rod 53 extending forward from the swing plate 52, a valve link arm 54 linked to the valve arm 44, and a link rod 53 linked to the valve link arm 54. and a connecting plate 57 that connects the rear end side of the valve side connecting plate 56 and the front end side of the connecting rod 53 (see FIG. 5). ).

A locking pin 57 to which one end of an elastic spring is locked is provided on the front side of the valve side linking plate 56, and a locking pin 57 is provided between the locking pin 57 and the lower side of the valve arm. A first elastic member 58 is provided to bias the valve linking arm 54 rearward via a pin, and a second elastic member 59 is provided to pull the valve linking arm 54 forward along the linkage mechanism 42. It is provided.

The swing plate 52 is slidably fixed with a pin to a long hole bored in the upper part of the link plate 51, and is attached to a vertical plate member 61 that is attached to a pin inserted through the long hole. , is configured to be biased upward by an attached third elastic member 62 extending in the vertical direction.

According to the linkage mechanism 42 configured as described above, the front side of the center float 39A sinks or rises depending on the state (soft or hard) of the field where the center float 39A touches the ground. By operating the valve arm 44 in conjunction with this, the height of the planting machine 5 (planting section 37) can be automatically adjusted to an appropriate position.

Further, a sensing wire 64 that can be operated by the hydraulic sensitivity adjustment dial 21 is connected to the intermediate portion of the linkage mechanism 42, and the front portion of the center float 39A can be moved up and down by pushing and pulling the sensing wire 64. By adjusting the attitude of the center float 39A, the earth pressure sensitivity of the center float 39A can be adjusted.

Specifically, one end side of the sensing wire 64 is connected to the upper end side of the linking plate 51, and a sensing wire for pushing and pulling the sensing wire 64 is connected to the fuselage frame 8 (behind the valve arm 44). A wire motor 66 and a sensing wire potentiometer 67 for detecting the rotational position of the sensing wire motor 66 are provided. Thereby, the control unit 50 is configured to be able to adjust the earth pressure sensitivity of the center float 39A by controlling the drive of the sensing wire motor 66 (see FIG. 5).

Next, the configuration of the earth leveling work machine will be explained based on FIG. 6. FIG. 6 is a side view of the main parts showing the configuration of the earth leveling work machine. The soil leveling work machine 7 includes a horizontally extending soil leveling rotor 71 that performs leveling work on the field by rotating while in contact with the field, and a ground leveling rotor 71 that is connected to the planting machine 6 ( The plant includes a rotor elevating mechanism for raising and lowering the planting portion 37), and a rotor linking mechanism for linking the elevating and lowering operations of the soil leveling rotor 71 and the interruption of power to the soil leveling rotor 71.

A drive case 77 is provided at the center in the left-right direction of the ground leveling rotor 71 and is connected to a transmission shaft 76 extending rearward from the rear axle case 74 side at the rear of the traveling machine body 3 via a universal joint. , the ground leveling rotor 71 is configured to be rotatably driven by power transmitted from the traveling body 3 side. Therefore, since the ground leveling rotor 71 is configured to be linked with the drive of the rear wheels 2, it automatically stops when the traveling body 4 is stopped, and when the traveling body 4 starts moving, the ground leveling rotor 71 is configured to be linked with the drive of the rear wheels 2. The rotor 71 is configured to start driving.

Further, a shifter 78 constituting an earth-grading clutch for intermittent operation of power transmission to the earth-grading rotor 71 is provided on the side of the traveling body 3 (rear axle case 74), and the shifter 78 is connected to the rotor linkage. By being linked with the mechanism, the lifting operation of the earth leveling work machine 7 and the on/off operation of the earth leveling clutch (shifter 78) are configured to be linked. The specific configuration will be explained below.

The rotor lifting mechanism includes a rotor support frame 81 that extends upward from the soil leveling rotor 71 and is supported by the planting machine, a rotor lifting motor 82 that moves the soil leveling rotor 71 up and down, and A sector gear 83 that swings through an output gear driven by a rotor lift motor 82, and a rotor height detection potentiometer 84 that detects the lift position of the earth leveling rotor 71 by detecting the rotating position of the sector gear 83. The ground leveling rotor 71 (rotor support frame 81) is configured to be able to swing up and down via the sector gear 83.

With this configuration, by controlling the drive of the rotor lifting motor 82 via the control unit 50 and moving the soil leveling rotor 71 up and down with respect to the planting machine 6 (planting unit 37), When the soil leveling rotor 71 is lowered to the working position where the planting work machine 6 performs planting work, the leveling work height is such that the land leveling work can be carried out by touching the field and not touching the field. Can be switched to non-grading working height.

The rotor linkage mechanism is constituted by a linkage wire 86 that links the upper end side of the rotor support frame 81 and the shift 78 that constitutes the earth leveling clutch, and the linkage wire 86 is connected to the It is composed of an outer wire 86A supported by the frame side of the working machine 6 or the traveling machine body 3 side, and an inner wire 86B inserted into the outer wire 86A.

At this time, the rotor linkage mechanism is operated so that the planting work machine 6 is lowered to the planting position where the planting work is performed, and the soil leveling work machine 7 (land leveling rotor 71) is lowered to the leveling work height. When the connection wire 86 is loosened, the shifter 78 constituting the earth leveling clutch is automatically operated to the connected state side, while the planting machine 6 Alternatively, when either one of the earth leveling machines 7 is raised to a non-working height (non-grading working height), the rear end side of the linking wire 68 is pulled, thereby causing the shifter 78 to be in a disconnected state. It is configured to be automatically operated on the side.

The control unit 50 detects that the above-mentioned land leveling work machine 7 has been lowered to a working height where the planting work is possible (the height at which the center float 39A touches the field). When this occurs, the earth leveling work machine 7 is lowered to the level of the land leveling work, so that the land leveling work by the land leveling work machine 7 and the planting work by the planting work machine can be performed at the same time.

Next, based on FIG. 7, a working route in a field scene using the transplanter having the above configuration will be described. FIG. 7 is a model diagram showing a work route during planting work in a field scene. When this riding rice transplanter performs planting work in a field, it first moves to the planting start position (1 in Figure 7), which has two steps left as a headland at the edge of the ridge (0 in Figure 7), and then Planting work is carried out while moving back and forth inside the field, leaving a small part of the field behind.Finally, the headland, which is the width of the two rows left at the beginning, is planted by going around the outer periphery of the area that has already been worked. (2 and 3 in FIG. 7) This allows the planting work to be carried out efficiently over the entire field.

At this time, if the above-mentioned transplanting machine continues to perform the soil leveling work by the land leveling work machine 7 and the planting work by the planting work machine 6 (planting section 37) at the same time, the land leveling work machine 7 Since accumulated matter accumulates in front of the earth leveling rotor 71 and the efficiency of the land leveling work decreases, the control section 50 automatically operates the earth leveling work machine 7 to move up and down to remove the accumulated matter when a predetermined condition is satisfied. The stagnation prevention control is configured to be executable. The details will be described later.

Next, the work machine operation control by the control section and the automatic control of the earth leveling work machine will be explained based on FIGS. 8 to 13. FIG. 8 is a block diagram of the control section. On the input side of the control unit 50, there are work machine operation switches 91 and 92 (upper and lower sides) that detect the vertical swing operation of the work machine lever 18, and the planting work preparation switch (planting preparation switch). 24, the work equipment operating cam potentiometer (lifter cam potentiometer) 49, the lift angle potentiometer 93 that detects the elevation height of the planting work equipment, the hydraulic sensitivity adjustment dial 21, and the operating position of the sensing wire 64. The ground leveling rotor 71 is detected by the sensing wire potentiometer 67 that detects the vehicle speed, the vehicle speed sensor 94 that detects the vehicle speed of the traveling body 3, the rotor height setting dial 29, and the drive position of the rotor lifting motor 82. A rotor height detection potentiometer 96 for detecting the height position of the rotor, the stagnation/wrapping prevention mode switch 23, the main shift lever 17, and the auxiliary shift lever 19 are connected.

Further, on the output side of the control unit 50, there is a monitor unit 97 that is a display shown on the display panel 14 etc. installed on the control unit side, and a notification lamp (displayed on the display panel 14) that notifies the operator. A notification means 98 consisting of a lamp, etc.) and a notification buzzer, the work machine operating cam motor (lifter cam motor) 47, the sensing wire motor 66, and the rotor lifting motor 82 are connected.

Next, based on FIGS. 9 to 11, operation control of the planting machine by the control section will be described. Specifically, the operation control of the planting work machine 6 controlled by the control unit 50 includes a downward switch operation control when a downward swinging operation of the work machine lever 18 is performed, and a downward switch operation control when the work machine lever 18 is operated to swing downward. The upper switch operation control when the upward swinging operation of No. 18 is performed and the reverse control when the main shift lever is operated to reverse will be described below.

FIG. 9 is a processing flow diagram showing downward switch operation control. When the downward switch operation control is executed, the process advances to step S11. In step S11, it is confirmed by the work equipment operation switch 92 whether a downward operation of the work equipment lever 18 has been detected, and if a downward operation of the work equipment lever 18 has been detected, the process advances to step S12. .

In step S12, the ON/OFF state of the planting preparation switch 24 is confirmed, and if the ON state of the planting preparation switch 24 is detected, the process proceeds to step S13. In step S13, it is confirmed by the work machine operation cam potentiometer 49 whether the planting work machine 6 is in a raised state, and if it is detected that it is not in a raised state, the process proceeds to step S14.

In step S14, it is confirmed by the work equipment operating cam potentiometer 49 whether the planting work equipment 6 is in a lowered state, and a state other than the lowered state (specifically, a fixed state or a planted state) is detected. If so, the process advances to step S15. In step S15, it is confirmed whether the planting work machine 6 is in the fixed state or the planting state by the work machine operation cam potentiometer 49 and the lift angle potentiometer 93, and it is detected that the planting machine 6 is in the fixed state. If so, the process advances to step S16.

In step S16, the planting machine 6 is set from the fixed state to the lowered state, and then returns. On the other hand, if the planting state of the planting machine 6 is detected in step S15, then the process returns.

Moreover, in step S14, when the descending state of the said planting work machine 6 is detected, it progresses to step S17. In step S17, it is confirmed by the lift angle potentiometer 93 whether the descending operation of the planting machine 6 has stopped at the lower end side (working height), and the descending operation of the planting machine 6 is stopped. If it is detected that the user is doing so, the process advances to step S18.

In step S18, the planting clutch is connected and operated to switch the planting work machine 6 to the planting state, and then the process returns.

Further, in step S17, if it is detected that the lowering operation of the planting machine 6 has not stopped and that the planting machine 6 is in the lowering operation, the process advances to step S19. In step S19, the planting machine 6 is set to a waiting state for planting clutch engagement, and then the process returns.

Moreover, in step S13, when the raised state of the said planting work machine 6 is detected, it progresses to step S20. In step S20, the planting machine 6 is set in a fixed state, and then the process returns.

Moreover, in step S12, if the OFF state of the planting preparation switch 24 is detected, the process proceeds to step S21. In step S21, it is confirmed by the work equipment operation cam potentiometer 49 whether or not the planting work equipment 6 is in the raised state. If the raised state is confirmed, the process proceeds to step S20, and the planting work is performed. Set the machine 6 in a fixed state and then return. On the other hand, if a state other than the rising state is detected in step S21, the process advances to step S22.

In step S22, it is confirmed by the work machine operation cam potentiometer 49 whether the planting work machine 6 is in a fixed state, and if the fixed state is detected, the process proceeds to step S23. In step S23, the planting machine 6 is set to an automatic (lowering) state in which it descends due to its own weight, and then returns. On the other hand, if a state other than the fixed state is detected in step S22, then the process returns.

Moreover, in step S11, if the downward operation of the work implement lever 18 is not detected, the process proceeds to step S24. In step S24, it is confirmed whether or not the planting machine 6 is set to the planting clutch engagement waiting state, and if it is detected that the planting clutch is in the waiting state, the process advances to step S25.

In step S25, it is confirmed by the lift angle potentiometer 49 whether the planting work machine 6 has reached the lower end side (working height) and the lowering operation has stopped, and the lowering of the planting work machine 6 is confirmed. If it is detected that the operation has stopped, the process advances to step S26.

In step S26, the planting machine 6 is switched to the planting state, and then returns. Note that if it is detected in step S25 that the planting machine 6 is in the lowering operation, then the process returns.

That is, when the lowering operation of the planting work machine 6 by the work machine lever 18 is detected, the control unit 50 changes the planting state to the planting state when the planting work machine 6 is in the planting state. is maintained and the planting work machine 6 is in the fixed state fixed at an arbitrary height position, it is switched to the lowered state, the planting preparation switch 24 is in the ON state, and the planting operation is started. When the machine 6 is in the lowering operation, as soon as the planting machine 6 reaches the lower end side (working height), it is switched to the planting clutch engagement state where it is switched to the planting state, and the planting machine 6 is switched to the planting state. When the working machine 6 is in the raised state, the raising operation of the planting working machine 6 is stopped and the planting state is switched to the fixed state.

Moreover, in step S24, when the waiting state for planting clutch engagement is not detected, the process proceeds to step S27. In step S27, the ON/OFF state of the planting preparation switch 24 is confirmed, and if the OFF state of the planting preparation switch 24 is detected, the process proceeds to step S28.

In step S28, it is checked whether the sub-shift lever 19 has been switched to the on-road driving state, and if it is detected that the sub-shift lever 19 has been switched to the on-road driving state, the process advances to step S29.

Incidentally, if it is detected in step S28 that the sub-shift lever 19 has been switched to the working traveling state, then the process returns. Moreover, in step S27, when the ON state of the said planting preparation switch 24 is detected, it progresses to step S29.

In step S29, it is confirmed by the work machine operation cam potentiometer 49 whether the planting work machine 6 is in the lowered state, and if the lowered state is detected, the process proceeds to step S30. Note that if a state other than the descending state is detected in step S29, the process returns thereafter.

In step S30, it is confirmed by the lifter angle potentiometer 93 whether or not the planting machine 6 is at the road non-working height (h2), and the height of the planting machine 6 is set to the road non-working height. If it is detected that the height (h2) is reached, the process advances to step S31. In step S31, the planting machine 6 is switched to a fixed state, and then the process returns.

Note that if it is not detected in step S30 that the road non-working height (h2) is reached, then the process returns.

FIG. 10 is a processing flow diagram showing upper switch operation control. When the upper switch operation control is executed, the process advances to step S41. In step S41, it is confirmed by the work equipment operation switch 91 whether an upward operation of the work equipment lever 18 has been detected, and if an upward operation of the work equipment lever 18 has been detected, the process advances to step S42. .

In step S42, it is confirmed by the work implement operation cam potentiometer 49 whether or not the planting work implement 6 is in a raised state, and if it is detected that it is in a state other than the raised state, the process proceeds to step S43. In step S43, it is similarly detected whether or not the planting machine 6 is in a fixed state, and if a state other than the fixed state is detected, the process proceeds to step S44.

In step S44, it is confirmed whether the planting work machine 6 is in the planting state or in the descending state by the work machine operation cam potentiometer 49, and if it is detected that it is in the planting state, step S45 Now, the planting machine 6 is switched to the lowered state, and then the process returns.

Moreover, in step S44, when the descending state of the said planting work machine 6 is detected, it progresses to step S46.

In step S46, it is confirmed by the work machine operation cam potentiometer 49 and the lift angle potentiometer 93 whether or not the lowering operation of the planting work machine 6 has stopped at the lower end side (working height), and the planting work If it is not detected that the descending operation of the machine 6 has stopped, the process advances to step S47. In step S47, the planting machine 6 is switched to a fixed state, and then returns.

If it is detected in step S46 that the lowering operation of the planting machine 6 has stopped, the process proceeds to step S48. In step S48, the planting machine 6 is switched to the raised state, and then returns.

Moreover, in step S43, when the fixed state of the said planting work machine 6 is detected, it progresses to step S48, the said planting work machine 6 is switched to a raised state, and then returns.

Further, in step S42, if the raised state of the planting machine 6 is detected, then the process returns.

That is, when the raising operation of the planting work machine 6 by the work machine lever 18 is detected, the control unit 50 starts the planting work when the planting work machine 6 is in the planting state. If the planting machine 6 is switched to the lowering state and the planting machine 6 is in the descending state and the lowering operation has stopped at the lower end (working height), or the planting machine 6 is switched to the lowering state If the planting machine 6 is in the fixed state, the planting machine 6 is switched to the rising state, and if the planting machine 6 is in the lowering operation, the planting machine 6 is switched to the fixed state. When the planting machine 6 is in the raised state, the planting machine 6 is configured to maintain the raised state.

Further, in step S41, if the upward operation of the work implement lever 18 is not detected, the process advances to step S49. In step S49, it is confirmed by the work implement operation cam potentiometer 49 whether the planting work implement 6 is in the raised state, and if it is detected that it is in the raised state, the process proceeds to step S50. Note that if a state other than the rising state is detected in step S49, then the process returns.

In step S50, it is confirmed by the lift angle potentiometer 93 whether the planting work machine 6 is at the non-working height (h1) during planting, and the planting work machine 6 is at the non-working height (h1) during planting. If the height (h1) is reached, the process advances to step S51. In step S51, the planting machine 6 is switched to a fixed state, and then returns.

Moreover, in step S50, when the said planting work machine 6 is not at the non-working height (h1) at the time of planting, it progresses to step S52. In step S52, the ON/OFF state of the planting preparation switch 24 is confirmed, and if the OFF state of the planting preparation switch 24 is detected, the process proceeds to step S53. Note that if the ON state of the planting preparation switch 24 is detected in step S52, then the process returns.

In step S53, it is confirmed whether or not the auxiliary shift lever 19 has been operated to switch to the on-road driving state, and if it is detected that the auxiliary shift lever 19 has been operated to the on-road running state, step S54 Proceed to. Incidentally, in step S53, if the sub-shift lever 19 has been operated to the working traveling state, then the process returns.

In step S54, it is confirmed by the lift angle potentiometer 49 whether the planting machine 6 is at the non-working height for road use (h2), and the planting machine 6 is set at the non-working height for road use. If (h2) is detected, the process advances to step S51. In step S51, the planting machine 6 is switched to a fixed state, and then returns.

In addition, in step S54, if the planting machine 6 is not at the road non-working height (h2), then the process returns.

FIG. 11 is a processing flow diagram showing the backward movement control. When the backward movement control is executed, the process advances to step S61. In step S61, it is confirmed whether or not the traveling aircraft 3 has been operated in reverse using the main shift lever 17. If the reverse operation is detected, the process advances to step S62.

In step S62, the ON/OFF state of the planting preparation switch 24 is confirmed, and if the ON state of the planting preparation switch 24 is detected, the process proceeds to step S63. In step S63, it is confirmed whether or not the auxiliary shift lever 19 is operated to drive on the road. If it is detected that the auxiliary shift lever 19 is operated to the road drive state, the process proceeds to step S64. move on.

In step S64, it is confirmed by the lift angle potentiometer 93 whether the lifting height (h) of the planting work machine 6 is lower than the road non-working height (h2), and the planting work machine If it is detected that the lifting height (h) of No. 6 is less than the road non-working height (h2), the process advances to step S65.

In step S65, the planting machine 6 is switched to the raised state, and then returns. Further, in step S64, if the planting machine 6 is at or above the road non-working height (h2), then the process returns.

If it is detected in step S63 that the auxiliary gear shift lever 19 is operated to the working traveling state, the process proceeds to step 65, and the planting machine 6 is switched to the ascending state.

Moreover, in step S62, when the OFF state of the said planting preparation switch 24 is detected, it progresses to step S64.

Further, in step S61, if a reverse operation by the main shift lever 17 is not detected, the process proceeds to step S66. In step S66, it is confirmed by the work machine operation cam potentiometer 49 whether the planting work machine 6 is in the raised state, and if it is detected that it is in the raised state, the process proceeds to step S67. Note that if a state other than the rising state is detected in step S66, then the process returns.

In step S67, it is confirmed by the lift angle potentiometer 49 whether the planting machine 6 is at the road non-working height (h2), and the planting machine 6 is at the road non-working height. If something is detected, the process advances to step S68.

In step S68, the ON/OFF state of the planting preparation switch 24 is confirmed, and if the ON state of the planting preparation switch 24 is detected, the process proceeds to step S69. In step S69, it is confirmed whether or not the auxiliary shift lever 19 is operated to the on-road driving state, and if it is detected that the auxiliary shift lever 19 is operated to the on-road driving state, the process proceeds to step S70. move on.

In step S70, the planting machine 6 is switched to a fixed state, and then returns. If the OFF state of the planting preparation switch 24 is detected in step S68, the process advances to step S70, where the planting machine 6 is switched to the fixed state, and then returns.

If it is not detected in step S67 that the planting machine 6 is at the road non-working height (h2), the process proceeds to step S71. In step S71, it is confirmed by the lift angle potentiometer 93 whether the planting work machine 6 is at the non-working height (h1) during planting, and that it is at the non-working height (h1) during planting. If detected, the process advances to step S70, where the planting machine 6 is switched to the fixed state, and then returns.

Further, in step S71, if it is not detected that the planting machine 6 is at the non-working height (h1) during planting, the process then returns.

Further, if it is detected in step S69 that the sub-shift lever 19 is operated to the working traveling state, the process advances to step S71.

That is, when the main shift lever 17 detects a reverse operation of the traveling body 3, the control unit 50 automatically raises the planting work machine 6 even if the work machine lever 18 is not operated. configured to operate. At this time, when the planting machine 6 is operated to raise, if it has been switched to the road running state by the auxiliary gear shift lever 19 or the planting preparation switch 24, the non-working height for road use ( h2), then stops and is switched to the working running state where planting work is performed, the non-working height during planting is set higher than the non-working height for on-road use (h2). It is configured to stop after rising to (h1).

Next, the retention prevention control by the control section will be explained based on FIGS. 12 and 13. FIG. 12 is an image diagram showing the flow of the retention prevention control, and FIG. 13 is a diagram showing the correlation between the traveling speed and the height of the soil leveling rotor.

The control unit is configured to control the control unit to control the control unit at a predetermined interval when the soil leveling work by the land leveling work machine 7 and the planting work by the planting work machine 6 are performed in a state in which the retention/wrapping prevention switch 23 is turned on. The structure is such that the retention prevention control for automatically raising and lowering the earth leveling work machine 7 is executed.

Specifically, when the planting work by the planting work machine 6 and the soil leveling work by the land leveling work machine 7 are started (switched to a working state), in other words, the control unit 50 , when it is detected by the work machine operation cam potentiometer 49 that the planting work machine 6 has been switched to the planting state, a count of the soil leveling work execution time during which the land leveling work was performed by the land leveling work machine 7; If it is detected that the first predetermined time (T1) set in advance has elapsed, the earth leveling work machine 7 is lifted from the level of the leveling work. Switching to the ground leveling retreat state in which the earth leveling operation is automatically raised to the leveling work height (see 1 in Figure 12), and the shifter 78 is operated to cut off to stop the rotational drive of the earth leveling work machine 7 (see 2 in Figure 12). ).

According to this configuration, the retention prevention control automatically raises the earth leveling machine 7 to a non-working height and stops the driving of the earth leveling rotor 71 after performing the earth leveling work for a predetermined time. As a result, inertia in the reverse direction is generated, and the reverse rotation is slightly promoted, so that mud and other accumulated substances accumulated in front of the earth leveling rotor 71 and objects wrapped around the earth leveling rotor 71 are automatically removed to some extent. can be removed.

Next, the control unit 50 starts counting the non-grading work time after the earth-grading work machine 7 is raised to the non-grading work height, and also starts counting the time for non-grading work after the earth-grading work machine 7 is raised to the non-grading work height, and the power transmitted from the engine of the earth-grading rotor 71 (See 3 in FIG. 12).

According to this configuration, the performance of the earth leveling work of the earth leveling rotor 71 can be improved by actively dropping the accumulated objects adhering to the front of the earth leveling rotor 71 and also dropping the objects wrapped around the earth leveling rotor 71. It can be recovered.

Next, in the above state, if it is detected that the non-grading work time has passed a second predetermined time (T2) that is set shorter than the first predetermined time, , is configured to lower the earth leveling work machine 7 from the non-levelling work height to the land leveling work height, and connect and operate the shifter 78 to restart the rotational drive of the land leveling work machine 7 (Fig. (See 12-4).

That is, according to the retention prevention control, when performing a work run in which planting work is performed while leveling the land, the work run is continuously performed without deteriorating the performance of the land clearing work of the land leveling work machine 7. This improves the efficiency of planting work that involves land leveling work.

Further, the control unit 50 controls the sensing wire motor 66 while the earth leveling work by the earth leveling work machine 7 is interrupted due to the earth leveling rotor 71 being automatically raised to a non-levelling work height. By doing so, the float 39 is switched to the insensitive side, in other words, the attitude of the float 39 is switched to the direction in which the front side of the float 39 is sunk (see FIG. 12).

According to this configuration, the sensitivity of the float 39 is temporarily lowered during the period in which the soil leveling rotor 71 is temporarily raised by the retention prevention control and the leveling work is interrupted. Since the effect can be strengthened, it is possible to more efficiently prevent the field condition from being degraded more than necessary.

Incidentally, the control unit 50 uses a rotation sensor or the like to calculate the first predetermined time when the leveling work is performed using a rotation sensor or the like, instead of the leveling work execution time (T1) counted by the control unit 50 and the non-levelling work execution time (T2). It may be configured to detect the distance (D1) and a second predetermined distance (D2) in which the earth leveling work machine 7 has traveled during the working operation while being raised, and to control the land leveling work machine 7 in the same manner (Fig. 12 reference). In the illustrated example, the first predetermined distance (D1) is set to 20 m, and the second predetermined distance is set to 1.5 m.

Further, in the retention prevention control, when performing the soil leveling work by the soil leveling work machine 7, as the vehicle speed detected by the vehicle speed sensor 94 increases, the ground contact depth of the soil leveling rotor 71 on the field surface is gradually increased. It is configured to automatically adjust so that it becomes high (see FIG. 13).

Specifically, when it is detected that the vehicle speed detected during the ground leveling work exceeds a predetermined threshold value (V1<V2), the control unit 50 controls the leveling work height of the ground leveling rotor 71. (H1<H2<H3) is configured to increase discontinuously (stepwise) (see 1 in FIG. 13).

Note that the control unit 50 may be configured so that the leveling work height H of the leveling rotor 71 increases continuously (linearly) according to the vehicle speed detected by the vehicle speed sensor 93 (see FIG. (See 13-2).

According to this configuration, when the running speed of the soil leveling work machine 7 during land leveling work is high, the leveling rotor 71 immerses into the field scene, and foreign matter is likely to accumulate in front of the leveling rotor 71. By raising and lowering the elevation position of the soil leveling work height of the soil leveling rotor 71 slightly to reduce the amount of contact with the field, it is possible to prevent mud, etc. from accumulating on the leveling rotor 71 more than necessary. .

3 Traveling machine 6 Planting machine 7 Land leveling machine 37 Planting section 39A Center float (sensing float)
41 Lifting cylinder 50 Control unit 66 Sensing wire motor (hydraulic sensitivity adjustment means)
71 Earth leveling rotor 82 Rotor lifting motor (lifting actuator)
84 Vehicle speed sensor (vehicle speed detection sensor)
95 Rotation sensor (mileage detection means)

Claims (3)

A traveling aircraft,
a planting work machine having a planting section that is connected to the rear part of the traveling machine so as to be able to rise and fall and performs planting work in the field;
a soil leveling machine that performs field leveling work using a horizontal leveling rotor disposed in front of the planting section;
a lifting cylinder that lifts and lowers the planting machine;
a lifting actuator that lifts and lowers the earth leveling work machine;
Travel distance detection means for detecting a travel distance of the traveling aircraft;
and a control unit capable of measuring the traveling time of the traveling aircraft,
The planting work machine has a working height that is a lifting height at which the planting section performs planting work on the field, and a non-working height that is a lifting height at which the planting section does not perform planting work. Constructed so that it can be raised and lowered,
The soil leveling work machine has a leveling height where the planting machine is lowered to the working height and touches the field to level the field, and a non-leveling height where it does not touch the field from the leveling height. It is configured so that it can be raised and lowered,
The control unit is in a working state in which the planting work machine performs planting work while lowering the land leveling work machine to a leveling height for a first predetermined distance or a first predetermined time that is set in advance. If it is detected that If it is detected that the planting work was performed by the planting work machine during a second predetermined distance that was set shorter or a second predetermined time that was set shorter than the first predetermined time, The earth leveling work machine is configured to automatically lower the earth leveling machine from a non-leveling height to a leveling height to switch to a working state ,
a sensing float that detects the state of the field where the planting work is performed by the planting work machine;
and a sensitivity adjustment means for adjusting the sensitivity of the sensing float,
The control unit is configured to automatically switch the sensitivity of the sensing float to a less sensitive side when the planting machine is switched to the ground leveling retreat state.
transplant machine. The earth leveling work machine is configured such that the earth leveling rotor can be rotationally driven by power from an engine,
The transplanting machine according to claim 1 , wherein the control unit is configured to stop rotational driving of the ground leveling rotor when the planting machine is switched to the ground leveling retreat state. A vehicle speed detection sensor is provided to detect the vehicle speed of the traveling aircraft,
The soil leveling work machine is configured such that the leveling depth at which the land leveling work machine contacts the field can be adjusted when the land leveling height is switched to the leveling height.
The control unit is configured such that the lower the vehicle speed of the traveling body, the deeper the leveling depth, and the faster the vehicle speed of the traveling body, the shallower the leveling depth. The transplanter described in .

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