JPH08331937A - Working machine for paddy field - Google Patents

Abstract

PURPOSE: To avoid the operation of a working machine for a paddy field against the will of an operator even in the case a lifting and lowering control action corresponding to a working device is not selected. CONSTITUTION: This working machine for paddy field is provided by selecting a seedling planting device or an auxiliary working device and freely connecting the selected one to a traveling machine body. The working device is equipped with a selecting switch 26 for selecting an automatic lifting and lowering control for making the seedling planting device follow the surface of a field and lifting or lowering it or a position control for setting the seedling planting device at arbitrary height of the machine body, and with an abnormality judging means D which operates alarm mechanisms 22 and 23 when a signal inputted from a front sensor 54 for the automatic lifting and lowering control to a control device 62 is not a normal value in a selected state of the seedling planting device by the selecting switch 26 or when a signal inputted from the float sensor 54 to the control device 62 is a normal value in a selected state of the seedling planting device by the selecting switch 26.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a seedling planting device for transplanting seedlings into a field on a traveling machine body, and an auxiliary working device for processing a field scene such as chemical spraying or weeding in the field. More specifically, it relates to improvement of a lifting control system.

[0002]

2. Description of the Related Art As a paddy field working machine, a seedling planting device is connected to a traveling machine during rice planting and used for seedling planting work, and after seedling planting, a chemical spraying device is used instead of the seedling planting device. , A paddy work machine that is capable of treating a field scene by connecting an auxiliary work device such as a weed treatment device is being developed. In this type of paddy work machine, when a seedling planting device is connected to a traveling machine body, Drive the seedling planting device with power synchronized with the running speed,
Also, when the auxiliary work device is connected to the traveling body, normally,
The auxiliary work device is configured to be driven by high-speed power that is asynchronous with the traveling speed.

[0003]

In consideration of the paddy field working machine described above, when the seedling planting work is performed by connecting the seedling planting machines, the seedling planting machine is the same as a conventional rice planting machine. By raising and lowering the seedling planting device in a direction in which the swinging posture of the float provided in the above is maintained at the target posture, control for maintaining the height of the seedling planting device against the field scene is performed. Further, when the auxiliary work device is connected, a setter for setting the height of the auxiliary work device so as to hold the auxiliary work device at a height apart from the field scene and the height of the auxiliary work device against the body are detected. The so-called position control is performed so that the signals of the sensors are matched with each other, and the lifting control operation is different depending on the device connected to the traveling machine body.

As described above, when it is necessary to select the lifting control operation depending on the type of the device connected to the traveling machine body, the operation of the switch for selecting the lifting control operation corresponding to the device connected to the traveling machine body is erroneous. Or, I sometimes forget to do the operation, and improvement is desired. In particular,
When the raising / lowering control for the auxiliary work device is selected with the seedling planting device connected, the voltage value of the feedback signal from the sensor is at the upper limit value or the lower limit value because the float is not grounded ( It takes any value depending on the structure of the sensor and the polarity of the applied voltage), raises the device to the upper limit, or lowers it to the ground, which leads to operation contrary to the operator's will and there is room for improvement. There is.

An object of the present invention is to rationally configure a paddy work machine capable of avoiding an operation contrary to the operator's will even when the raising / lowering control operation corresponding to the device provided in the traveling machine body is not selected.

[0006]

A first feature of the present invention (claim 1) is, as described at the beginning, a seedling planting device for transplanting seedlings into a field to a traveling body, and a chemical spraying to the field. Alternatively, in a paddy work machine that is interchangeably connected to an auxiliary work device that performs processing in a field such as weeds treatment, when the seedling planting device is connected to the traveling body, the seedling is selected by selecting the switch. In order to maintain the posture of the grounding float, which is provided in the planting device so that it can swing around the axis in the horizontal posture, at the target posture, the seedlings should be directed in the direction to maintain the signal from the float sensor that detects the posture of the grounding float at the target value. When the automatic raising / lowering control for raising / lowering the planting device is performed, and when the auxiliary work device is connected to the traveling machine body, the height to the machine body corresponding to the operating position of the raising / lowering operation tool is selected by selecting the selection switch. Auxiliary work equipment With a control device that performs position control to maintain the signal from the position sensor that detects the height of the aircraft against the target value, and with the selection switch on the side that selects the seedling planting device, the signal from the float sensor Is not a normal value, or when the selection switch is on the side that selects the auxiliary work device and there is an input of a signal of a normal value from the float sensor, an abnormality determination means that activates the alarm mechanism is provided. It has the following features and effects.

The second characteristic of the present invention (Claim 2) is, as described at the beginning, a seedling planting device for transplanting seedlings to a traveling machine in a field, and a chemical spraying or weeding treatment to the field. In a paddy work machine that is replaceably connected to an auxiliary work device that processes the field scene, when the seedling planting device is connected to the traveling machine body, the seedling planting device has a horizontal posture around the axis center. In order to maintain the posture of the grounded float that can swing freely with the target posture, the automatic raising and lowering control that raises and lowers the seedling planting device in the direction to keep the signal from the float sensor that detects the posture of the grounding float at the target value is performed. When the auxiliary work device is connected to the traveling machine body, the position sensor that detects the height of the auxiliary work device to the machine body so that the height of the auxiliary work device corresponds to the operating position of the lifting operation tool Signal to maintain the target value. Equipped with a control device that enables the motion control, when the signal from the float sensor has a normal value, the automatic lifting control is selected, and when the signal from the float sensor does not have a normal value, the position The control mode switching means for selecting the control is provided, and its operation and effect are as follows.

[0008]

According to the first feature (claim 1), when the seedling planting device is connected to the traveling machine body, the selection switch is selected to the side for performing the control corresponding to the seedling planting device. By doing so, based on the signal from the float sensor and the target value, automatic lifting control based on the field scene is performed, and when the auxiliary work device is connected to the traveling machine body, the selection switch is set to the auxiliary work. By performing a selection operation on the side for performing control corresponding to the device, position control is performed based on the signal from the position sensor and the operation position of the lifting operation tool. Also, if the signal from the float sensor is not at a normal value when the selection switch is set to the side that performs automatic lifting control of the seedling planting device, the auxiliary work device is connected to the traveling machine body. Or the signal path from the float sensor is in a separated state, which is in an unsuitable state for performing automatic lifting control, and therefore the abnormality determination means activates the notification mechanism. Also, when the float sensor receives a signal of a normal value while the selection switch is set to the side that controls the position of the auxiliary work device, the seedling planting device is connected to the traveling machine body. Therefore, the abnormality determining means activates the notification mechanism, and in each case, the operator can recognize the setting abnormality.

According to the second feature (claim 2), when the signal from the float sensor has a normal value, the seedling planting device is always connected, so that the control mode switching means automatically controls the elevation. Is selected, the ascending / descending control is performed based on the field from the float sensor based on the signal from the float sensor and the target value.If the signal from the float sensor does not have a normal value, the auxiliary Since the working device is connected, or the signal line connector of the float sensor is connected but the planting device is connected, but the automatic lifting control is not possible, the control mode switching means By selecting the position control, the position control will be performed based on the signal from the position sensor and the operation position of the lifting operation tool. Never even automatic elevation control is impossible state to generate inconvenience, such as that or is rapidly lowered seedling planting device to rise rapidly as when there is an abnormality in the signal line from the sensor.

According to the third aspect of the present invention, when the auxiliary working device is connected to the traveling machine body by providing the upper limit switching means, the auxiliary working device is lifted up to near the rising limit which is set to be relatively low and the medicine is supplied. Even when spraying, it does not cause inconvenience such as being unable to carry out desired spraying due to the drug being blown, and when the seedling planting device is connected,
Since the rising limit is set higher than the rising limit when the auxiliary work device is connected, even when the seedling planting device configured to be larger than the auxiliary work device is connected to run on the road, protrusions on the ground surface Do not contact the seedling planting device with the above.

[0011]

Therefore, when the raising / lowering control operation corresponding to the device provided in the traveling vehicle is not selected, the operator is made to recognize an incorrect setting or an abnormality in the signal path based on the operation of the notification mechanism. A paddy work machine capable of avoiding an operation contrary to a person's wish was rationally constructed (claim 1). or,
A paddy work machine capable of avoiding a rapid ascent and descent against the operator's intention by enabling automatic ascent and descent control only when a signal with a normal value is input from the float sensor was reasonably configured (claim Item 2). Also, an appropriate climbing limit is obtained corresponding to the connected device (claim 3).

[0012]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is mounted on the front part of a traveling machine body 3 provided with a steering type driven front wheel 1 and a driving type rear wheel 2, and at the rear part of the traveling machine body 3. A hydrostatic stepless transmission 5 to which power from the engine 4 is transmitted, and a mission case 6 are arranged, a driving seat 7 is arranged at the center of the traveling body 3, and a rear end portion of the traveling body 3 is arranged. A seedling planting device A is connected as shown in the same figure via a link mechanism 9 which is driven up and down by a hydraulic cylinder 8 to enable seedling planting work, or as shown in FIG.
As an example of an auxiliary work device for processing a field scene, a riding-type paddy work machine that connects a chemical spraying device B and enables spraying of a herbicide or the like on a field scene is configured.

A steering handle 10 is provided at a front portion of the traveling body 3, a switching lever 11 is provided at a post portion of the steering handle 10, and a main shift lever 12 for shifting the continuously variable transmission 5 is provided at a front portion of the body. Equipped with
Further, the left side portion of the driver's seat 7 is provided with an auxiliary shift lever 13 for operating a gear shift system in the mission case, and the right side portion of the driver's seat 7 is provided with an elevation control of the seedling planting device A and is built in the mission case 6. The raising / lowering lever 14 (an example of the raising / lowering operation tool) for performing the on / off operation of the planted clutch C is provided.

As shown in FIG. 9, on the panel 16 in front of the driver's seat, a plurality of lamps 17 indicating the number of revolutions of the engine 4, a plurality of information lamps 18 indicating the state of the working device, and a plurality of mode lamps 19 indicating the control state. , A fuel meter 20 for indicating the remaining amount of fuel, a liquid crystal display 21 for displaying the time and the like, and an informing lamp 22 for informing an abnormal state.
(An example of a notification mechanism), a notification buzzer 2 for reporting an abnormal state
3 (an example of a notification mechanism). Further, as shown in FIG. 7, a control case 24 is arranged at a side position of the driver's seat 7, and a control operation corresponding to a work device connected to the traveling machine body 3 is selected in the control case 24 by a dial. The selection switch 26 that is selectively operated between the “rice planting” position and the “controlling” position by the operation of 25, the control sensitivity setting device 28 that sets the elevation control sensitivity of the seedling planting device A with the setting dial 27, and the seedling planting device A. A rolling angle setting device 30 for setting the rolling angle of the seedlings with the setting dial 29, and a rolling switch 32 for artificially setting the rolling angle of the seedling planting device A by operating the knob 31 urged to return to the neutral position. I have it.

The elevating lever 14 is configured to be operated along the path of a lever guide 33 shown in FIG. 8, and the elevating lever 14 is connected to the traveling machine body 3 with the seedling planting device A being connected.
If is set to the front side of the “down” position in the path, the seedling planting device A is lowered to the working level so that the posture of the ground level float (described later) at the intermediate position in the left-right direction is maintained. The seedling planting device A is automatically moved up and down in the form of following, and the seedling planting device A is raised when it is set to the rear side from the "up" position, and the seedling planting device A is set to the level when it is set to the "neutral" position. maintain. Further, when the elevating lever 14 is set to the "ON" position, the planting clutch C is operated to be engaged,
When set to the "off" position, the planting clutch C is turned off,
Further, when the lifting lever 14 is set to the "automatic" position,
The seedling planting device A is maintained at the working level by the automatic raising and lowering, the raising and lowering of the seedling planting device A is permitted according to the operation of the switching lever 11, and when the seedling planting device A is raised, the planting clutch C is automatically moved. Allows easy cutting operation. When the medicine spraying device B is connected to the traveling machine body 3, the elevating lever 14 is set between the “down” position and the “up” position so that the drug spraying device B corresponds to the operating position of the elevating lever 14. It is configured to maintain and set to the height of the aircraft, and even if it deviates from this path and operates to the "ON" position, it does not control the descent below the height corresponding to the "descent" position, and "automatic"
The control operation is set so as not to perform the ascending control above the height corresponding to the "elevating" position even when operated to the position, and further the potentiometer for detecting the operation amount is provided at the base end of the elevating lever 14. A lever setter 34 of the mold (see FIG. 2).

Further, as shown in FIG. 2, the switching lever 11 functions only when the seedling planting apparatus A is connected to the traveling machine body 3, and is held in the "neutral" position in the non-operating state. In a state in which the "elevation" position above "neutral" and a "clutch engaged" position below the "neutral" position are freely operable, and the elevating lever 14 is set to the "automatic" position, Further, when the switching lever 11 is operated to the “elevation” position while the seedling planting device A is at the working level, the planting clutch C is disengaged and the seedling planting device A is raised to the upper limit. When the raising / lowering lever 14 is set to the "automatic" position and the switching lever 14 is operated to the "elevating" position with the seedling planting device A at the upper limit level, the seedling planting device is lowered to the working level. It will be something to do. Furthermore, after the seedling planting device A is lowered to the working level by the elevating lever 14, when the switching lever 11 is operated to the "clutch engaged" position, the control for engaging and operating the planting clutch C is performed (control operation will be described in detail. No). A lever switch 35 for detecting a switching operation is provided at the base end of the switching lever 11.

As shown in FIG. 1, the seedling planting device A includes a seedling stand 36 on which a mat-shaped seedling W is placed, a transmission case 37 to which power from the traveling machine body 3 is transmitted, and a transmission case 37 to a chain case 38. A rotary case 39 that rotates by the power transmitted through the rotary case 39, a pair of planting arms 40 provided in the rotary case 39 one by one, and a plurality of ground floats 41.
And is configured for a plurality of rows and is supported by the rear end of the link mechanism 9 so as to be rotatable around the front-rear axis X.

As shown in FIG. 5, the seedling planting device A is connected to the lower end position of the vertical frame 9A at the rear end of the link mechanism 9 so as to be rotatable around the axis X, and the middle of the vertical frame 9A. A moving member 44 that is screwed into a screw shaft 43 driven by an electric rolling motor 42 is provided at a position,
The operation springs 46, 46 are interposed between the moving member 44 and the pillar-shaped frames 45, 45 at the left and right sides of the seedling planting apparatus A, and the moving member 44 is moved in the left-right direction.
Is configured so that it can be driven and rolled freely. Further, return springs 48, 48 are provided between the upper end position of the vertical frame 9A and the brackets 47, 47 on the side opposite to the seedling placing surface of the seedling placing table 36, and one of the pillar-shaped frames 45 has the seedling planting device. A potentiometer-type rolling sensor 49 for measuring the rolling posture of A is provided.

As shown in FIG. 6, an arm 51 fixed to a planting depth adjusting shaft 50 rotatably supported on the lower surface of the chain case 38 of the plant A for planting seedlings about an axis in a horizontal posture.
The respective leveling floats 41 are swingably supported around the swing axis Y in the lateral posture with respect to the rear end position, and the front ends of the leveling floats 41 are provided with the bending / extending type link members 52 therebetween. It is connected to the seedling planting device A, and is supported around the swing axis Y so that the front part side of the leveling float 41 can swing vertically. Also, of these ground leveling floats 41, a rod 53 connected to the front part of the center leveling float 41 (an example of a grounding float) in the left-right direction and an operation arm 54A of a potentiometer type float sensor 54.
And a compression spring 55 for displacing the front part of the ground leveling float 41 downward via the operation arm 54A, and the amount of rocking of the ground leveling float 41 around the rocking axis Y can be detected. Is configured as follows.

As shown in FIGS. 3 and 4, the medicine spraying device B is provided with a hopper 56 for storing the medicine in the upper part,
A diffusion case 57 having a horizontally long posture is provided in the lower portion, and a pair of left and right feeding mechanisms 58, 58 for feeding a predetermined amount of the medicine from the hopper 56, and the feeding mechanisms 58, 58.
Each of the pair of left and right diffusion disks 59 and 59 that rotates around the axis in the front-back direction so as to diffuse the medicine from is provided. The electric motor 60 drives the feeding mechanism 58, and the electric motor 61 drives the diffusion disk 59. And is connected to the vertical frame 9A at the rear end of the link mechanism 9 in a non-rolling manner.

As shown in FIG. 1, a control device 62 having a built-in microprocessor is arranged below the driver's seat 7. For this control device 62, as shown in FIG. Setting device 28, rolling angle setting device 30, rolling switch 32, lever setting device 3
4, a position sensor 63 that measures the height of the working device with respect to the body from the swing amount of the lever switch 35 and the link mechanism 9.
(See FIG. 1), signals from the rolling sensor 49 and the float sensor 54 are input, and the controller 62 controls the electromagnetic valve 6 for the hydraulic cylinder 8.
4. Control signals are output to the liquid crystal display 21, the notification lamp 22, and the notification buzzer 23, respectively, and when the seedling planting apparatus A is connected, power is supplied to the rolling motor 42 to When the spraying device B is connected, an output system is configured to supply electric power to the electric motors 60 and 61 (only the essential components for the lifting system and the rolling system are shown in the drawing). .

Further, separable connectors 65, 65 are provided in the input signal system from the rolling sensor 49 and the float sensor 54, and the signal system path from the connector 65, 65 to the control unit 62 side. 49A and 54A are provided with pull-up resistors R and R so that when the connector 65 is separated, the separated state of the connectors 65 and 65 can be determined by the voltage increase of the signal paths 49A and 54A (for determination). (The control system of the above is not described in detail), and further, the power supply system for the rolling motor 42 and the chemical spraying device B
The electric power supply system for the electric motors 60, 61 is also provided with connectors 66, 66.
Is separated, it is configured so that it can be determined inside the control device 62 whether or not the power supply for control can be supplied (the control system for the determination is not described in detail).
In this control system, the power supply voltage is set to 5 volts, and when the connector 65 of the signal system paths 49A, 54A is separated, the voltage of the signal system paths 49A, 54A is pulled up by pull-up resistors R, R. Rises to about 5 volts (equal to the voltage value of the power supply voltage), and when a short circuit occurs in the sensor, the voltage of the signal system paths 49A and 54A also drops to about 0 volts. Rolling sensor 49,
When each of the float sensors 5 is configured to output a signal voltage in the voltage range of 2 to 4 volts when the full stroke operation is performed, it will be described later when the signal voltage of the sensor system is in the voltage range of 2 to 4 volts. As you can see, it can be judged to be normal.

The outline of the control operation based on the setting position of the selection switch 26 in the control by the control device 62 is shown in FIG.
When the control is started, the setting position (selection position) of the selection switch 26 is determined,
When it is in the "rice planting" position, the signal from the float sensor 54 is input to determine whether the signal voltage value is in the normal voltage range in the seedling planting work (steps # 101 to # 104). In some cases, the rising limit value of the link mechanism 9 is set, automatic lifting control is performed, automatic rolling control is performed, and manual rolling control is enabled (# 105 step, # 200 step, # 300 step, 106 step). .

In step # 104, the float sensor 5
When it is determined that the signal voltage value of 4 is not normal, that is, when the signal voltage is approximately 5 volts or approximately 0 volts, the selection switch 26 has been erroneously operated or the connector of the signal path 54A of the float sensor 54. Since 65 is in a separated state or the float sensor 54 is in a faulty state, the notification lamp 22 is turned on, the notification buzzer 23 is operated, and an error code is displayed on the liquid crystal display 21. At the same time, the error code is used to recognize the location of the abnormality (# 107
Step), and the control from step # 110, which will be described later, is performed so that the working device can be moved up and down by position control. The error code is set in advance corresponding to a plurality of sensors and a failure state.

When the setting position (selection position) of the selection switch 26 is in the "control" position, the float sensor 54
Signal is input to determine whether the signal voltage is at the upper limit value (5 V which is approximately equal to the power supply voltage). If the signal voltage is at the upper limit voltage, the drug spraying device B is connected. At the same time, it is possible to determine that the connector 65 of the signal system path 54A is separated and the signal system is boosted by the voltage applied via the pull-up resistor R.
A lowering limit is set, position control is performed, and manual rolling control is enabled (# 108 step to # 110 step, # 400 step, 111 step). or,#
When the signal voltage from the float sensor 54 is not at the upper limit value in step 109, that is, the connector 65 of the signal path 54A of the float sensor 54 is in the connected state, and a normal voltage value in the seedling planting work is output. If the voltage value is 0 volt, the notification lamp 22
Is turned on, the notification buzzer 23 is operated, an error code is displayed on the liquid crystal display 21, and the operator is made aware that the error is not normal, and at the same time, the location of the abnormality is recognized by the error code (# 112). Step), it is determined in step # 104 whether the voltage value is in a normal voltage range in the seedling planting work, and if it is determined to be normal, the seedling planting device A is connected to the traveling machine body 3. In this state, it can be determined that the selection switch 26 has been erroneously operated, so control is performed on the seedling planting device A (control after step # 105), and the voltage value is normal in the seedling planting work even in step # 104. If it does not exist (when it is at 0 volt), it can be determined that the float sensor 54 has a malfunction or another part has a malfunction, so position control is performed. It has become.

It should be noted that the abnormality determining means D is composed of software consisting of steps # 104 and # 109, respectively.
The abnormality determining means D enables control to determine the erroneous operation of the changeover switch 26 or the abnormality of the signal system from the float sensor 54 based on the signal from the float sensor 54 and notify the state. ing. or,
The control mode switching means E is constituted by the software including the steps # 104 and # 109. The control mode switching means E is based on the signal from the float sensor 54 even when the selection switch 26 is not properly operated. It enables vertical movement control suitable for.

The upper limit switching means F is constituted by the steps # 105 and # 110, and the upper limit switching means F is constituted.
As shown in FIG. 13, when an auxiliary work device other than the seedling planting device A such as the chemical spraying device B is connected to the traveling machine body 3, the height LU of the ascending limit of the auxiliary work device is By setting the height lower than the rise limit LU 'when the planting device A is connected, the spraying of the drug is performed at a low level, and the spraying of the drug with a reduced effect of wind is possible, and at the same time, the seedling is planted. When the device A is connected to the traveling body 3, the height LU 'of the ascent limit thereof is set to be higher than the height LU of the ascent limit when the auxiliary work device is connected, and a protrusion on the ground or the like during traveling on the road. It makes it difficult to make contact with. In addition, the value of the height LU 'of the ascent limit when the seedling planting apparatus A is connected is 8 from the ground (ground level of the wheel) to the bottom of the leveling float 41.
The height of the upper limit of the auxiliary work equipment is set to 40 mm, and the value of LU is set to 650 mm from the ground (the ground contact level of the wheels) to the bottom of the equipment. LU is the upper limit height in the position control described later. Further, the height LU 'of the raising limit of the seedling planting device A is set by operating the elevating lever 14 or
It is the height of the ascending limit obtained by operating the switching lever 11.

The automatic raising / lowering control (step # 200) is performed as shown in the flowchart of FIG. 11. When the control is started, the mode lamp 19 corresponding to the automatic raising / lowering control is performed.
Is turned on, and a signal from the control sensitivity setting device 28 is input to set a control target, that is, a swinging posture of the leveling float 41 around the swing axis Y, and a signal from the float sensor 54 is input. The deviation from the control target is calculated, and the electromagnetic valve 64 is driven only when the deviation is outside the dead zone to perform the raising / lowering operation of the seedling planting apparatus A (#
201- # 207 steps).

The automatic rolling control (step # 300) is performed as shown in the flowchart of FIG. 12. When the control is started, the mode lamp 19 corresponding to the automatic rolling control is turned on and the signal from the rolling angle setting device 30 is sent. Is input to set the control target, that is, the target rolling posture of the seedling planting device A around the axis X, and the signal from the rolling sensor 49 is input to the rolling sensor 4
The signal voltage value from 9 is discriminated. If the voltage value is normal, the deviation is calculated based on the signal from the rolling sensor 49 with respect to the control target, and the deviation is out of the dead zone. Only in a certain case, the rolling motor 42 is driven to perform a control operation of rolling the seedling planting apparatus A, and when the signal voltage value from the rolling sensor 49 is not a normal value, the notification lamp 22 is turned on. The alarm buzzer 23 is operated to display an error code on the liquid crystal display 21 so that the operator can recognize that it is not normal, and at the same time, the error code can be used to recognize the location of the abnormality, and the rolling operation is not performed. (# 301 to # 309 steps).

The position control (step # 400) is controlled as shown in the flow chart of FIG.
When the control is started, the mode lamp 19 corresponding to the position control is turned on, and the signal from the lever setter 34 is input to set the control target, that is, the height of the medicine spraying device B against the body, and the position sensor. The signal from 63 is input to calculate the deviation (steps # 401 to # 405). When the deviation is outside the dead zone, the control direction is determined, and when the control direction is the rising side, The electromagnetic valve 64 is driven to perform an ascending operation until reaching the ascending limit, and when the control direction is the descending side, the electromagnetic valve 64 is driven to perform a descending operation until the descending limit is reached ( # 406- # 411 steps).

The lowering limit is set when the auxiliary working device such as the medicine spraying device B is connected to the traveling machine body 3 (# 110 step), and as shown in FIG. The limit height LD is about 400 mm, which is higher than the height of the seedling tip so that the chemical spraying device B etc. does not contact the seedlings in the field even when the chemical spraying device B etc. is set to the lowest height. It is set.

In the manual rolling control, the rolling motor 42 is driven to switch the working device to the switch 32 only when the signal from the rolling switch 32 is input.
The control operation is set so that the side where is operated is rolled for the time during which it is operated (not shown in the flowchart).

As described above, according to the present invention, the automatic raising / lowering control is performed only when the signal voltage of the float sensor 54 is normal even when the seedling planting apparatus A is connected, so that the connector 65 is not properly connected. Even if the seedling planting device A is not malfunctioned, and even if the changeover switch 26 is mistakenly operated with the seedling planting device A connected, the process inside the control device 62 discriminates the malfunction and automatically raises and lowers. In such a case, control can be performed, and in such a case, a notification operation can be performed to easily determine a failure or to prompt an appropriate operation.

[Other Embodiments] In addition to the above embodiments, the present invention is
For example, the notification mechanism can be used as the mode lamp in the embodiment, and the mode lamp can be used to blink when an abnormality occurs. Further, the notification mechanism can be used in a human language by using a PCM sound source or the like. It is also possible to make a notification of occurrence or the like.

Further, in the present invention, it is possible to configure the control mode switching means so as to switch the raising / lowering control of the working apparatus based on the voltage of the signal system from the float sensor without providing the changeover switch. Further, the upper limit switching means can be configured by hardware by providing switches, which are operated by contact of a member on the working device side to be connected, in the link mechanism or the like.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

[Fig.1] Side view of paddy work machine connected with seedling planting equipment

FIG. 2 is a block circuit diagram of a control system.

FIG. 3 is a side view of the rear part of the paddy work machine to which the chemical spraying device is connected.

FIG. 4 is a rear view of the chemical spraying device with a part thereof cut away.

[Fig. 5] Partially cutaway front view of the seedling planting device

FIG. 6 is a side view showing the arrangement of float sensors.

FIG. 7 is a plan view of a control case.

FIG. 8 is a plan view of an operation path of a lifting lever.

FIG. 9 is a plan view of the panel.

FIG. 10 is a flowchart showing the operation of lifting control.

FIG. 11 is a flowchart of an automatic lifting control routine.

FIG. 12 is a flowchart of an automatic rolling control routine.

FIG. 13 is a flowchart of a position control routine.

[Explanation of symbols]

 3 Traveling machine 14 Lifting operation tool 22,23 Notification mechanism 26 Selection switch 41 Ground float 54 Float sensor 62 Control device 63 Position sensor A Seedling planting device B Auxiliary work device D Abnormality determination means E Control mode switching means F Upper limit switching means Y Shaft core

Claims (3)

[Claims] 1. A seedling planting device (A) for transplanting seedlings to a traveling machine body (3) in a field, and an auxiliary working device (B) for treating a field scene such as chemical spraying or weeding in the field. In the case of a paddy working machine that is interchangeably connected to the seedling planting device (A) connected to the traveling machine body (3), the seedling planting device is operated by selecting the selection switch (26). A float sensor (54) for detecting the attitude of the grounding float (41) so as to maintain the attitude of the grounding float (41) swingably provided around the axis (Y) in the lateral attitude in (A) at the target attitude. The automatic raising and lowering control is performed to raise and lower the seedling planting device (A) in the direction to maintain the signal from the target value.
Further, when the auxiliary work device (B) is connected to the traveling machine body, the auxiliary work device (B) is assisted by the selection operation of the selection switch (26) so that the height to the machine body corresponds to the operation position of the lifting operation tool (14). The control device (62) for performing position control for maintaining the signal from the position sensor (63) for detecting the height of the working device (B) with respect to the body is provided, and the selection switch (26) is provided with the seedling planting device. When the signal from the float sensor (54) does not have a normal value in the state of selecting (A), or when the selection switch (26) is in the side of selecting the auxiliary work device (B). A paddy work machine provided with an abnormality determining means (D) that activates the notification mechanisms (22) and (23) when a signal having a normal value is input from the float sensor (54). 2. A seedling planting device (A) for transplanting seedlings to a traveling vehicle (3) in a field, and an auxiliary working device (B) for treating a field scene such as spraying chemicals or weeding on the field. And the seedling planting device (A) is connected to the traveling body (3), the paddle working machine is interchangeably connected to (Y) The signal from the float sensor (54) that detects the attitude of the grounding float (41) is maintained at a target value so that the attitude of the grounding float (41) swingably provided around (Y) is maintained at the target attitude. The automatic raising / lowering control for raising / lowering the seedling planting device (A) can be performed, and when the auxiliary working device (B) is connected to the traveling machine body (3), the raising / lowering operation tool (14) is operated. The height of the auxiliary work device (B) against the body is detected so that the height of the body corresponds to the position. Jishon sensor (6
3) A control device (62) which enables position control to maintain the signal from the target value is provided, and when the signal from the float sensor (54) has a normal value, the automatic lifting control is selected. , Float sensor (5
4) A paddy work machine provided with control mode switching means (E) for selecting the position control when the signal from 4) is not in a normal value. 3. The auxiliary working device (B) is attached to the traveling machine body (3) so that the height of the rising limit of the seedling planting apparatus (A) when the traveling machine body (3) is connected to the traveling machine body (3). The paddy work machine according to claim 1 or 2, further comprising an upper limit switching means (F) for setting a height higher than a height of a rising limit of the auxiliary work device (B) when connected.