JPH10210821A - Transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter capable of maintaining the height to a field of a seedling planting device at a target height even when a machine body is made to travel at a high speed in the state of hardly generating faults with a simple structure. SOLUTION: The seedling planting device is freely vertically movably connected to the rear part of the traveling machine body and a controller 34 for elevating and lowering the seedling planting device so as to maintain a ground float 20 provided in the seedling planting device in a target attitude corresponding to set control sensitivity is provided. The traveling speed of the machine body is obtained based on the rotation speed of an engine measured in a rotation number sensor 52 and a speed change position discriminated in a speed change sensor 53 and the control operation of the controller 34 is set so as to adjust the control sensitivity by electric control linked with the traveling speed obtained in such a manner.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground working machine such as a riding rice transplanter, and more particularly, to a ground working device which is connected to a rear portion of a traveling body by a driving mechanism so as to be able to drive up and down. The present invention relates to a ground work machine provided with control means for controlling.

[0002]

2. Description of the Related Art Conventionally, the above-mentioned ground work machine is provided with a switch-operated lifting / lowering operation tool in a body control section, and based on the operation of the lifting / lowering operation apparatus, the operation of lowering the ground work apparatus to a grounding work position and the maximum operation. There is a configuration in which the operation of raising the work clutch and the operation of raising the work clutch can be made to appear alternately, and the on / off operation of the work clutch is configured to be performed by another different operation tool.

[0003]

In the above-mentioned conventional structure, for example, when the working device is raised while the working device is being driven during work traveling, such as a riding cultivator, there is no problem. Although there is no problem, for example, when transplanting a seedling such as a rice transplanter, raising the working device while driving the working device may cause problems such as throwing the seedling into the air. When the working device is raised, the working clutch must always be disengaged at the same time. However, if a configuration is provided in which a dedicated work clutch is turned on and off separately from the lifting / lowering operation tool as in the above-described conventional structure, in a ridge turn operation in a field, a deceleration operation of the running speed of the body, a turn steering operation, a work It is necessary to perform a plurality of kinds of operations such as raising operation of the device and disengagement of the work clutch within a short time, and at this time, after disengagement of the work clutch, it is necessary to carry out a lifting operation by holding hands. However, there is a disadvantage that the operation is complicated, and there is room for improvement. An object of the present invention is to eliminate the above disadvantages.

[0004]

The features of the first invention are as follows.
In the ground work machine described at the beginning, the following [1],
The point is that a switching operation tool for performing the operation [2] is provided. [1] A first state in which a work clutch for the ground working device is disengaged and the ground working device is forcibly raised to a predetermined position based on an operation in a predetermined direction from the restored biased neutral position, and A second state in which the working device is lowered to the ground alternately appears. [2] Based on an operation from the neutral position in a direction different from the predetermined direction,
The work clutch is engaged and operated.

[0005] The characteristic structure of the second invention is the following [1],
The point is that a switching operation tool for performing the operation [2] is provided. [1] A first state in which a work clutch for the ground working device is disengaged and the ground working device is forcibly raised to a predetermined position based on an operation in a predetermined direction from the restored biased neutral position, and A second state in which the working device is lowered to the ground alternately appears. [2] A state in which the work clutch is engaged and a state in which the work clutch is disengaged are alternately displayed based on an operation from the neutral position in a direction different from the predetermined direction.

[0006]

According to the characteristic structure of the first invention, for example, when the headland turns around a ridge, the work clutch is disengaged by operating the switching operation tool in the predetermined direction, and at the same time, the ground work device is set to the predetermined position. When the work is resumed after the end of the turn, the ground operating device can be lowered by touching the switching operation tool in the predetermined direction again. Then, simply by operating the switching operating tool in a direction different from the predetermined direction, the work clutch can be engaged and operated, and ground work can be started.

According to the characteristic structure of the second aspect of the invention, in addition to the operation of the first aspect of the invention, during work traveling, for example, after the ground work is temporarily interrupted and the vehicle slightly travels without raising the ground work apparatus, When the ground work is started again, it is possible to perform the on / off operation of the work clutch independently while the ground contact state is maintained, simply by operating the switching operation tool again in a direction different from the predetermined direction. .

[0008]

Therefore, according to the characteristic structure of the first invention,
In the headland turning in the vicinity of the ridge, for example, even when setting the work start position while aligning the ground work device in a lowered state, such as seedling planting work, without holding the operating tool, It was possible to respond simply by changing the operation, the complexity of switching the operation tools was eliminated, and the steering operability was improved.

According to the characteristic structure of the second invention, in addition to the effect of the first invention, the on / off operation of the work clutch can be performed while the ground contact state is lowered. The work clutch can be temporarily set in a disengaged state without raising the ground work device during turning or the like, and it is not necessary to raise and lower the ground work device every time the work clutch is turned on and off, thereby improving work efficiency.

[0010]

Embodiments will be described below with reference to the drawings. FIG.
5 shows a riding type rice transplanter which is an example of a ground work machine. In this rice transplanter, a seedling planting device 3 [an example of a ground working device] is driven by a lift cylinder 4 [an example of a driving mechanism] at a rear portion of the riding type traveling body 1 via a parallel quadruple link mechanism 2 so as to be able to move up and down and to be electrically driven. The rolling motor 5 is connected so as to be capable of driving rolling freely around the longitudinal axis.

In the traveling body 1, the power of an engine 6 mounted on the front of the body is transmitted to front and rear wheels 10 and 11 via a belt type continuously variable transmission 7 and a gear shift type main transmission 9 in a transmission case 8. The planting device 3 is constructed so as to drive and drive the machine body, and the power after shifting can be freely intermittently operated via the planting clutch 12 [an example of a work clutch].
The transmission system is configured to be transmitted to The continuously variable transmission 7 is a split pulley type continuously variable transmission, and is driven by an electric cylinder 15 so that the interval between the split pulleys is set to a speed set by a potentiometer type speed setting device 14 provided on the body operation panel 13. It is configured to operate.
The main transmission 9 is configured to be freely switchable between a first forward speed F1 for planting work, a second forward speed F2 for road running, a neutral position N, and a reverse position R by a main shift lever 16. is there.

The seedling planting device 3 takes out seedlings one by one from the lower end of the seedling rest 18 and the lower end of the seedling rest 18 which reciprocate in a reciprocating manner at a constant stroke with respect to the planting transmission case 17 also serving as a frame. It comprises a planting mechanism 19 for planting, a plurality of ground floats 20 supported so as to be able to swing up and down around a rear fulcrum, and a drawing for drawing a running index line in the next work process on a field scene on both left and right sides. The marker 21 is provided so as to be able to move back and forth. Each of the drawing markers 21 and 21 is
Each is configured to be biased by switching to the protruding posture and to be forcibly stored via a wire as the seedling planting device 3 is raised, and to lock and hold the left and right drawing markers 21 and 21 in the stored state. The lock mechanisms 22 and 22 are selectively unlocked, and when the seedling planting apparatus 3 is lowered, the drawing marker on the selected side is set to the protruding action posture. As shown in FIG. 7, the release operation of each of the lock mechanisms 22, 22 is performed by turning the steering handle 2 as shown in FIG.
3 is selectively operated by switching the first operating tool 24 provided on the lower right side from the neutral position in which the return bias is applied in the forward and backward and forward and reverse directions. The first operating tool 24 is linked so that when the forward / reverse switching operation is performed from the neutral position, the on / off clutch switch 25 of the planting clutch 12 is turned on in conjunction therewith. As shown in FIG. 1, the planting clutch 12 has a gear reduction type operation member 28 which is driven by a forward / reverse type electric clutch motor 27 driven through a relay circuit 26 which is switched by a clutch ON signal and a clutch OFF signal. The on / off operation is performed through a clutch, and the determination as to whether the clutch is engaged or disengaged is made by detecting one of a clutch-off switch 29 and a clutch-on switch 30 that are in contact with the operating member 28. I have.
The link mechanism for the interlocking operation includes a compression spring S which is interlocked and linked by a compression operation when operating the clutch disengagement side.
By interposing P, the clutch disengagement operation can be performed quickly while securing the operation flexibility.

The seedling planting device 3 is provided with an operation lever 32 provided on the side of the driver's seat 31 so as to be manually swingable back and forth.
Is configured to be moved up and down by the switching operation. As shown in FIG. 6, the operation lever 32 has a “planting position” P (an example of a working position), a “down position” D, a “neutral position” N, a “up position” U, and an “automatic position” AT. Each of them is configured to be switchable, and the switching operation is
A control device 3 having a microcomputer by detecting the amount of forward / backward swing by a potentiometer type lever sensor 33
4 [an example of the control means] is performed by determining the level of the detection value of the lever sensor 33. That is, the control device 34
Is based on that level,
The planting clutch 12 is operated to engage the clutch while the seedling planting device 3 is in contact with the ground and lowered. If the planting clutch 12 is in the “down position” D, the seedling planting device 3 is lowered while contacting the planting clutch.
If the “neutral position” N, the position is held as it is, and if the “elevated position” U, the seedling planting device 3 is forcibly raised to the set height. Then, when the operation is switched to the "automatic position" AT, as described later, the elevating operation by the elevating operation switch 35 can be performed, and the control for forcibly raising the seedling planting device 3 when the body moves backward is performed. As shown in FIG. 7, a second operating tool 36 is provided on the lower left side of the steering handle 23 in the body operating section, and the second operating tool 3 is provided.
6 is a state in which the raising and lowering operation switch 35 is turned on when the rocking operation is performed upward from the neutral position where the return is biased, and the seedling planting device 3 is brought into contact with the ground every time the switch is turned on. The state in which the planting device 3 is raised can alternately appear. When the second operating tool 36 is pivoted downward from the neutral position, the clutch switch 25 for switching the planting clutch 12 to the engaged state is operated. A reverse detection switch 37 for detecting that the main transmission lever 16 has been detected at the reverse position R.
When the reverse detection switch 37 is in the detection operation state, the control device 34 controls the seedling planting device 3 to be forcibly raised to the maximum raising position. The detection that the seedling planting device 3 has been raised to the maximum raised position is configured to be detected by an intermediate portion of the link mechanism 2 acting on a link switch 38 provided on the rear side of the driver's seat 31. is there. The raising and lowering control of the seedling planting apparatus 3 by the raising and lowering operation switch 35 and the forcible raising control at the time of the aircraft reversing are performed only when the operation lever 32 is operated to the "automatic position" AT. I have.

The operating lever 32 is operated to one of the "planting position" P, the "down position" D, and the "automatic position" AT, and the main transmission lever 16 is moved to the first forward position. In a state where the speed is operated at the speed F1 or the forward second speed F2, the automatic rolling control is executed so that the left and right inclination posture of the seedling planting device 3 is maintained at the set posture. More specifically, as shown in FIG. 3, the main transmission switch 39 for detecting whether the main transmission lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the absolute position of the seedling planting device 3 A weight type inclination sensor 40 for detecting an inclination angle from a horizontal posture, and a potentiometer type inclination angle setting device 41 for artificially setting a target inclination posture, and a control device based on these outputs and the output of a lever sensor 33 are provided. 3
4 performs control as shown in the control flowchart of FIG. The main shift switch 39 detects that the main shift lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the output of the lever sensor 33 changes the operating position of the operating lever 32 to the “planting position”. P, when it is detected that any of the “down position” D and the “automatic position” AT has been operated, the detection value XR of the inclination sensor 40 differs from the target value Ra by the inclination angle setting device 41, The detected value XR of the inclination sensor 40 is the target value Ra by the inclination angle setting device 41.
If it is smaller, the output for the lower right is output to the relay circuit 42 until these values substantially match, and the rolling motor 5 is rotated in the lower right direction. Tilt sensor 4
If the detected value XR of 0 is larger than the target value Ra by the inclination angle setting device 41, an output for lowering to the left is output to the relay circuit 42, and the rolling motor 5 is rotationally driven to lower left. The circuit configuration is such that when the rolling motor 5 is driven to the mechanical operation limit and detected by the left and right limit switches 43 and 44, the relay circuit 42 is directly turned off to stop the driving of the rolling motor 5. I have. Further, even when an abnormality occurs in the automatic control system as described above, the relay circuit 42 is directly driven by the manual rolling switch 45 which is three-position switching type and is biased to return to the center, thereby manually performing the rolling drive. It is configured to be able to. In the manual rolling operation by the manual switch 45, the control signal from the controller 34 is configured to be kept in the off state.

During the planting operation, automatic raising and lowering control is performed so that the ground height of the seedling planting apparatus 3 is maintained at a set value. As shown in FIG. 2, a potentiometer type float sensor 46 for detecting the vertical swing amount based on the ground pressure fluctuation of the ground float 20 located at the left and right center is provided.
The detection value of the float sensor 46 is transmitted to the control panel 13
The controller 34 automatically controls the electromagnetic control valve 48 for the lift cylinder 4 so as to fall within the setting range of the potentiometer type sensitivity setting device 47 provided in the above, so that the ground height of the seedling planting device 3 is set. Value will be maintained. That is, as shown in FIG. 5, the control device 34 holds the state if the detection value XS of the float sensor 46 is within the dead zone of the target value Sa, and if the detection value XS is larger than the target value Sa, the electromagnetic control is performed. A drive signal is output to the ascending electromagnetic solenoid UPSol of the valve 48, and if the detected value XS is smaller than the target value Sa, the descending electromagnetic solenoid DWS
ol to output a drive signal. The automatic lifting control is configured to be executed only when the operation lever 32 is operated to any one of the “planting position” P, the “down position” D, and the “automatic position” AT. I have. The sensitivity setting device 47 changes the target reference posture of the ground float 20, and changes the sensing load of the ground float 20 according to the hardness of the mud. The control target value by the sensitivity setting device 47 can be corrected by a three-position switching type correction switch 51. As shown in FIG. 8, by changing the correction switch 51, the change characteristic of the control target value with respect to the set value by the sensitivity setting unit 47 is changed by the parallel movement to the insensitive side (the reference attitude of the ground float is in the forward rising direction) or the sensitive side (the front side). Downward direction]. If the traveling speed of the airframe increases, the contact float 20 tends to rise and the seedling planting apparatus 3 may rise to become shallow. Therefore, the change characteristic of the control target value in the elevation control is the vehicle speed. It is configured to be changed according to. That is, a speed sensor 52 for detecting the speed of the engine 6 and a potentiometer-type shift position sensor 53 for determining the shift position of the continuously variable transmission 7 are provided. If the speed is faster (for example, the vehicle speed is 0.8 m / sec or more), the change characteristic of the control target value is changed to the insensitive side, and the change amount becomes larger as the vehicle speed increases. Further, since a hydraulic pump (not shown) for the lift cylinder 4 is driven by the engine 6, the flow rate of hydraulic oil for the lift cylinder 4 changes due to a change in the engine speed. Each electromagnetic solenoid UPS of the electromagnetic control valve 48 according to the detection result of the number
ol, the duty ratio of the pulse current supplied to the DWSol is appropriately changed, and the control is performed such that the flow rate of the working oil is always kept constant.

As shown in FIG. 9, the tilt angle setting device 4
1. Manual rolling switch 45 and correction switch 51
Are disposed on a rear wheel fender 54 located on the side of the driver's seat 31, and these are openable and closable lids 55.
It is configured to cover with.

Next, the control operation of the controller 34 relating to the raising and lowering operation of the seedling planting apparatus 3 will be described in detail with reference to the control flowcharts shown in FIGS. When the main switch is turned on and the control is started, the ascending electromagnetic solenoid UPSo of the electromagnetic control valve 48 for the lift cylinder 4 is moved.
1 and the outputs of the lowering electromagnetic solenoid DWSol are turned off, and the operation flag f0 for the lifting / lowering operation switch 35, the operation flag f1 for the clutch switch,
Initialize each of the operation flag f2 for automatic lifting control and the operation flag f3 for reverse lifting operation to “0” [Step 1,
2]. When the operation lever 32 is operated to a position other than the "automatic position" AT, the operation flags f0 to f3 are initialized, and when the operation lever 32 is at the "neutral position" N, the clutch engagement signal STR for the clutch motor 27 is turned off. If the clutch off switch 29 is on, the clutch off signal ST
P is turned off, and if the clutch off switch 29 is off, a clutch disengagement signal STP is output and the planting clutch 1
2 is maintained in the cut state [Steps 3-9]. And
If the operation lever 32 is at a position other than the "automatic position" AT or the "neutral position" N when the main switch is turned on, once the operation lever 32 is switched to the "neutral position" N, the next operation is performed. Proceed to step [Step 1
0].

When the operating lever 32 is operated to the "up position" U, the clutch engagement signal STR is turned off, the operation flag f2 for automatic up / down control is set to "0", and then the clutch off switch 29 is turned on. If there is, the clutch disengagement signal STP is turned off, and if the link switch 38 is on (the seedling planting device 3 is in the up state), the ascending electromagnetic solenoid UPSol is turned off. If the link switch 38 is in the off state, it goes up. The operator turns on the electromagnetic solenoid UPSol for raising the seedling planting device 3 [steps 11 to 1].
7]. If the clutch-off switch 29 is not on, the clutch disengagement signal STP is turned on, and the planting clutch 12 is disengaged by the clutch motor 27 to turn off the ascending and descending solenoids UPSol and DWSol (steps 18 and 19). When the operation lever 32 is operated to the "down position" D, the output of the clutch engagement signal STR is stopped, and then the planting clutch 12 is turned on in the same manner as the control described above.
The seedling planting apparatus 3 is lowered [Steps 24 to 26] while maintaining the cutting state [Steps 20 to 23]. When it is determined from the detection value of the float sensor 46 that the seedling planting device 3 has touched the ground, the automatic elevation control mode is executed [step 27]. At this time, if the link switch 38 is turned on, the ascending solenoid UPSol is turned off, and the automatic up / down control operation flag f2 is set to "1" (steps 28 to 30). When the operating lever 32 is operated to the "planting position" AT, the clutch-on signal STR is turned off, and then the clutch-on signal STR is output until the clutch-on switch 30 is turned on to operate the clutch motor 27 to perform the planting. The attached clutch 12 is brought into the engaged state [steps 31 to 34]. Thereafter, automatic elevating control is performed. The operation flags f0, f1 and f3 other than the operation flag f2 for automatic elevation control are maintained at "0" (step 35).

Next, the operation when the operation lever 32 is operated to the "automatic position" AT will be described. Operation lever 3
When the up / down operation switch 35 is operated after the 2 is operated to the "automatic position" AT, the switch operation flag f0 is set to "1", and when the link switch 38 is in the ON state (up state), the automatic up / down operation is performed. Set the control operation flag f2 to “0”
, The lowering solenoid DWSol is turned on to lower the seedling planting device 3 [Steps 36, 37, 39 to
43]. When the seedling planting apparatus 3 comes down on the ground, the switch operation flag f0 is set to "0", the operation flag f2 for automatic elevating control is set to "1", and then the mode shifts to the automatic elevating control mode [Steps 44 to 44]. 48]. If the link switch 38 is off when the lifting operation switch is operated, the planting clutch 12 is disengaged to raise the link switch 38 until the link switch 38 is turned on (steps 49 to 5).
4]. When the link switch 38 is turned on, the switch operation flag f0 is set to "0" [Steps 55 and 5].
6]. When the up / down operation switch 35 is operated again during the up / down operation, the operation direction is reversed [steps 56 to 60]. Note that, when the raising / lowering operation switch 35 is operated in the initial state, the planting clutch 12
If is not the cutting state, it returns to the initial state [Step 3
7, 38]. Then, when the clutch switch 25 is turned on by the operating tools 24 and 36 of the control unit after the seedling planting device 3 is lowered, the clutch switch operation flag f1 is set to "1" and planting is performed. When the clutch 12 is engaged (steps 61 to 64), the alarm buzzer 56 sounds until the clutch-on switch 30 is turned on. When the clutch-on switch 30 is turned on, the clutch switch operation flag f1 is set to "0" to issue an alarm. It stops (steps 65 to 69). After that, the mode is shifted to the automatic lifting control mode.

After the operation lever 32 is operated to the "automatic" position, the operation of the main transmission lever 16 to the reverse transmission position is detected by the reverse detection switch 37, and if the link switch 38 is not in the ON state, After setting the reverse ascending operation flag f3 to "1" [Steps 70 to 7]
4] Then, the process proceeds to a step 49, wherein the seedling planting apparatus 3 is operated until the planting clutch 12 is turned off and the link switch 38 is turned on.
Is forced to rise. When the link switch 38 is turned on, the reverse ascending operation flag f3 is set to "0" (step 56). Further, there is no operation of the lifting / lowering operation switch 35 or the detection operation of the reverse detection switch 37, and the reverse lifting operation flag f3
Is “1”, when the seedling planting device 3 is in the ascending position and the operation lever 32 is shifted from another position, or when the automatic elevating control mode is not set, the seedling planting device 3 is held at the ascending / descending position [ Steps 75 to 79]; otherwise, the mode shifts to the automatic elevating control mode [steps 80 and 46].

[Other Embodiments] (1) Based on the downward operation of the second operating tool 36, the on-off state and on-off state of the planting clutch 12 for each operation in the same manner as the operation of the up / down operation switch 35. May be controlled so as to appear alternately. That is, the second
The operating tool 36 disengages the planting clutch 12 with respect to the seedling planting device 3 and forcibly raises the seedling planting device 3 to the predetermined position based on the operation in the predetermined direction from the restored biased neutral position. The first state and the second state of lowering the seedling planting device 3 to the ground alternately appear, and based on an operation in a direction different from the predetermined direction from the neutral position,
The control device 34 is configured to perform a control operation so that a state where the planting clutch 12 is operated to be turned on and a state where the planting clutch 12 is operated to be turned off alternately appear. (2) Further, the second operating tool 36 is provided to be able to freely move back and forth around the axis of the vertical axis, and performs the switching operation of the lifting / lowering operation switch 35 based on the swinging operation to the rear side, and based on the operation to the front side. The planting clutch 12 may be operated by operating the planting clutch 12.

In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control block diagram for a lifting operation.

FIG. 2 is an elevation control block diagram.

FIG. 3 is a block diagram of a rolling control.

FIG. 4 is a flowchart of a rolling control.

FIG. 5 is a lifting control flowchart.

FIG. 6 is an operation explanatory view of an operation lever.

FIG. 7 is a plan view of an arrangement portion of the operation tool.

FIG. 8 is a diagram showing the sensitivity characteristics

FIG. 9 is a plan view of an operation unit.

FIG. 10 is an elevating control flowchart.

FIG. 11 is an elevating control flowchart.

FIG. 12 is an elevating control flowchart.

FIG. 13 is a lifting control flowchart.

FIG. 14 is an elevating control flowchart.

FIG. 15 is an overall side view of the rice transplanter.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 3 Ground work device 4 Drive mechanism 12 Work clutch 34 Control means 36 Switching operation tool

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[Procedure amendment]

[Submission date] March 25, 1998

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Transplanter

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground working device which is connected to a rear portion of a traveling body by a driving mechanism so as to be able to drive up and down.
Regarding a transplanter equipped with a control device that raises and lowers the ground work device so as to maintain the ground float provided in the ground work device in a target posture corresponding to the set control sensitivity, in detail, it is interlocked with the traveling speed. And a technology for automatically adjusting the sensitivity of the lifting control of the ground working device.

[0002]

2. Description of the Related Art Japanese Patent Application Laid-Open No. 2-245107 discloses a rice transplanter as an example of a transplanter that automatically adjusts the sensitivity of elevation control of a ground working device in conjunction with a traveling speed as described above. In this conventional example, there is a valve that is operated in conjunction with the vertical movement of a float (ground float), a hydraulic cylinder that supplies and discharges hydraulic oil controlled by this valve, and biases the float downward. A control system for raising and lowering the rice transplanting device (ground work device) is provided with a spring for setting the ground pressure to be set, and a detector for measuring the traveling speed of the aircraft is provided. As the speed increases, the spring that urges the float downwards is mechanically operated via a wire to increase the urging force, thereby increasing the ground pressure and reducing the sensitivity of the elevation control, and conversely, the traveling speed decreases. The more you do It has become one that sensitive sensitivity of the elevator control pulling mechanically reduce the operation to ground contact pressure over the wire.

[0003]

The prior art described above can suppress the rise control caused by the floating of the float and eliminate the shallow planting of seedlings and the occurrence of floating seedlings even when the running speed of the body is increased. is there. However, in the case of adjusting the float contact pressure by changing the biasing force of the spring in conjunction with the change in the traveling speed as in this conventional example, only an actuator for adjusting the biasing force of the spring is required. In addition, since a mechanical linking structure such as a wire for transmitting the driving force of the actuator to the spring is required, the number of components is increased, and the structure is likely to be complicated. In particular, in the conventional example, since a mechanical operation structure is provided, normal operation is hindered by adhesion of mud and a failure easily occurs, and there is room for improvement in these points. SUMMARY OF THE INVENTION An object of the present invention is to configure a transplanter capable of maintaining a field height of a ground working device with respect to a field even at a high speed even when the aircraft runs at a high speed, with a simple structure and hardly causing a failure. It is in.

[0004]

According to a first aspect of the present invention, as described at the outset, a ground working device is connected to a rear portion of a traveling body by a driving mechanism so as to be capable of being driven up and down by a driving mechanism. In a transplantation machine equipped with a control device for elevating and lowering the ground work device so as to maintain a ground float provided in the work device at a target posture corresponding to the set control sensitivity, a speed determination for obtaining a travel speed of the traveling machine body Means, and control sensitivity adjusting means for adjusting the control sensitivity by electric control in conjunction with the traveling speed determined by the speed discriminating means, and its operation and effects are as follows. is there.

[0005] A second feature of the present invention (claim 2) is that, in claim 1, the speed discriminating means determines the traveling speed of the traveling body based on the rotation speed of the engine and the shift position of the transmission. The operation and effect are as follows.

A third feature (claim 3) of the present invention is that, in claim 1, when the control sensitivity adjusting means determines that the traveling body is in a traveling state by the speed discriminating means, a target of the ground float is set. The adjustment mode is set so that the control sensitivity is reduced by changing the attitude to the forward-upward attitude, and the operation and effect are as follows.

According to a fourth feature of the present invention (claim 4), the control sensitivity setting means according to claim 3, wherein the control sensitivity setting means determines the control sensitivity when the traveling speed of the traveling body obtained by the speed discriminating means is equal to or less than a preset value. The adjustment mode is set so as not to perform the automatic adjustment, and its operation and effect are as follows.

According to a fifth feature of the present invention (claim 5), the control sensitivity setting means according to claim 4, wherein the control sensitivity setting means determines whether the traveling speed of the traveling body obtained by the speed discriminating means exceeds the set value. The adjustment mode is set so that the control sensitivity is further reduced as the traveling speed of the traveling body obtained by the speed discriminating means increases, and the operation and effect are as follows.

[Action]

According to the first feature, since the control sensitivity adjusting means adjusts the control sensitivity based on the traveling speed of the traveling body determined by the speed discriminating means, for example, the traveling speed of the traveling aircraft is increased. The target attitude of the landing float can be changed to the forward ascending side when the vehicle is running, and the target attitude of the grounding float can be changed to the forward and downward side when the traveling speed of the traveling vehicle is reduced. In this case, the number of parts is smaller and the structure is simpler than in the case of mechanically adjusting the sensitivity using an actuator or wire. No connection.

According to the second feature, since the sensitivity is adjusted electrically, the mechanical actuation force via a wire or the like is used even when the sensitivity is adjusted from the rotational speed of the engine and the shift position of the transmission. It is not necessary to adjust the control sensitivity using
The structure is simple and no malfunction occurs. Further, sensors for measuring the rotational speed of the engine can be arranged close to an externally exposed shaft such as an output shaft or a fan shaft of the engine, and sensors for determining the shift position of the transmission are located near the shift lever. Also, since it can be placed close to the link system linked to this, sensors such as those that measure the rotation speed of the transmission shaft in the axle or transmission, such as those that measure the rotation speed of the transmission shaft inside the sealed type filled with lubricating oil, Compared to the arrangement, the trouble of disposing the sensors and the inspection and maintenance of the sensors can be easily performed.

According to the third feature, when the traveling body travels, the control sensitivity setting means changes the target attitude of the grounding float to the forward ascending side to lower the control sensitivity, so that the control sensitivity is reduced by the pressure from the field scene. Even if the front part of the grounding float is displaced in the lifting direction, it is difficult to perform the control for raising the ground work device, and the height of the ground work device with respect to the field can be maintained at a desired value.

According to the fourth feature, the control sensitivity is not changed when the traveling body is equal to or less than the set value. Therefore, for example, the set value may correspond to a low speed at which the attitude of the ground float does not change so much. For example, when traveling at low speed, the ground work device is raised and lowered with appropriate control sensitivity, and when traveling at a speed higher than this set value, even if the attitude of the ground float changes to the front ascending side due to the pressure from the field scene, Ascent control can be suppressed. In other words, only by setting the set value appropriately, the ground work device can be moved up and down with high sensitivity to changes in the field scene at low speed traveling, and unnecessary elevation of the ground work device can be prevented at high speed traveling to reduce the field scene height. It can be maintained.

According to the fifth feature, for example, if this set value is made to correspond to a low speed at which the attitude of the ground float does not change so much, the ground work device can be raised and lowered with appropriate control sensitivity at low speed traveling. When traveling at a speed higher than this set value, even if the attitude of the ground float changes to the front ascending side due to the pressure from the field scene, the control sensitivity decreases as the traveling speed increases, so that the field float acts on the ground float. Thus, it is possible to perform the elevation control of the ground working apparatus by capturing the level change in the field scene while preventing the elevation control by the applied pressure. In other words, only by setting the set value appropriately, the ground work device can be raised and lowered with high sensitivity to changes in the field scene at low speed traveling, and the vertical movement following the field scene while preventing unnecessary rise of the ground work device at high speed traveling Control is also possible to maintain the scene height relative to the field.

[Effect of the Invention] Therefore, even when the attitude of the grounding float changes due to the pressure from the field scene when the airframe is running, the transplanter can automatically maintain the ground work device at the target field scene height. The structure is simple with a small number of components and is unlikely to cause a failure (claim 1). In addition, the control sensitivity setting linked to the traveling speed can be performed with a simple structure having a small number of parts, and the means for determining the traveling speed can be easily assembled, inspected and maintained (claim 2). It is possible to prevent the lifting operation of the ground working device and maintain the height of the field scene by changing only (Claim 3). In the low-speed running state, the lift control that follows the field scene with high sensitivity is performed. Even if the pressure acting on the grounding float from the field scene increases, the height of the ground work device with respect to the field scene can be maintained (claim 4). The ground work apparatus is moved up and down while following the field scene while being suppressed, thereby maintaining the target field scene height (claim 5).

[0016]

Embodiments will be described below with reference to the drawings. FIG.
FIG. 5 shows a riding type rice transplanter which is an example of the transplanter. In this rice transplanter, a seedling planting device 3 [an example of a ground working device] is driven by a lift cylinder 4 [an example of a driving mechanism] at a rear portion of the riding type traveling body 1 via a parallel quadruple link mechanism 2 so as to be able to move up and down and to be electrically driven. The rolling motor 5 is connected so as to be capable of driving rolling freely around the longitudinal axis.

In the traveling body 1, the power of an engine 6 mounted on the front of the body is transmitted to front and rear wheels 10, 11 via a belt-type continuously variable transmission 7 and a gear-shift-type main transmission 9 in a transmission case 8. The transmission system is configured to drive the machine body to travel and transmit the power after shifting to the seedling planting apparatus 3 via the planting clutch 12 so as to be able to be intermittently operated. The continuously variable transmission 7 is a split pulley type continuously variable transmission, and has a potentiometer type speed setting device 1 provided with an interval between split pulleys on a body operation panel 13.
The driving operation is performed by the electric cylinder 15 so as to achieve the set speed according to the fourth embodiment. In addition, the main transmission 9 is driven by the main transmission lever 16 to operate the first forward speed F1 for planting work, the second forward speed F2 for road running, the neutral position N, and the reverse position R.
Are configured to be freely switchable.

The seedling planting device 3 takes out the seedlings 18 one by one from the lower end of the seedling rest 18 and the lower end of the seedling rest 18, which reciprocally moves sideways with a constant stroke, with respect to the planting transmission case 17 also serving as a frame. It comprises a planting mechanism 19 for planting, a plurality of ground floats 20 supported so as to be able to swing up and down around a rear fulcrum, and a drawing for drawing a running index line in the next work process on a field scene on both left and right sides. The marker 21 is provided so as to be able to move back and forth. Each of the drawing markers 21 and 21 is
Each is configured to be biased by switching to the protruding posture and to be forcibly stored via a wire as the seedling planting device 3 is raised, and to lock and hold the left and right drawing markers 21 and 21 in the stored state. The lock mechanisms 22 and 22 are selectively unlocked, and when the seedling planting apparatus 3 is lowered, the drawing marker on the selected side is set to the protruding action posture. As shown in FIG. 7, the release operation of each of the lock mechanisms 22, 22 is performed by turning the steering handle 2 as shown in FIG.
3 is selectively operated by switching the first operating tool 24 provided on the lower right side from the neutral position in which the return bias is applied in the forward and backward and forward and reverse directions. The first operating tool 24 is linked so that when the forward / reverse switching operation is performed from the neutral position, the on / off clutch switch 25 of the planting clutch 12 is turned on in conjunction therewith. As shown in FIG. 1, the planting clutch 12 has a gear reduction type operation member 28 which is driven by a forward / reverse type electric clutch motor 27 driven through a relay circuit 26 which is switched by a clutch ON signal and a clutch OFF signal. The on / off operation is performed through a clutch, and the determination as to whether the clutch is engaged or disengaged is made by detecting one of a clutch-off switch 29 and a clutch-on switch 30 that are in contact with the operating member 28. I have.
The link mechanism for the interlocking operation includes a compression spring S which is interlocked and linked by a compression operation when operating the clutch disengagement side.
By interposing P, the clutch disengagement operation can be performed quickly while securing the operation flexibility.

The seedling planting device 3 is provided with an operation lever 32 provided on the side of the driver's seat 31 so as to be freely swingable back and forth.
Is configured to be moved up and down by the switching operation. As shown in FIG. 6, the operation lever 32 can be switched between a “planting position” P, a “down position” D, a “neutral position” N, a “up position” U, and an “automatic position” AT. The switching operation is performed by detecting the amount of swinging back and forth by a potentiometer type lever sensor 33 and determining the level of the detection value of the lever sensor 33 by a control device 34 having a microcomputer. That is, if the control device 34 is in the “planting” position based on the level determination, the control device 34 causes the planting clutch 12 to be engaged with the seedling planting device 3 in a state where the ground contact is lowered, and the control device 34 is in the “down position” D. If the planting clutch is in the disconnected state, the seedling planting device 3
Is lowered to the ground. If the “neutral position” N, the position is held as it is, and if the “elevated position” U, the seedling planting device 3 is forcibly raised to the set height. Then, when the switching operation is performed to the “automatic position” AT, the elevation operation by the elevation operation switch 35 as described later can be performed, and
Control is performed to forcibly raise the seedling planting device 3 when the aircraft moves backward. As shown in FIG. 7, a second operating tool 36 is provided on the lower left side of the steering handle 23 in the body operating section, and when the second operating tool 36 is swingably operated upward from the neutral position in which the return is biased. When the raising / lowering operation switch 35 is turned on, the state in which the seedling planting apparatus 3 is lowered to the ground and the state in which the seedling planting apparatus 3 is raised to the maximum ascending position are alternately made to appear each time the turning-on operation switch 35 is turned on. it can. When the second operation tool 36 is pivoted downward from the neutral position,
The clutch switch 25 for switching the planting clutch 12 to the engaged state is operated. A reverse detection switch 37 for detecting that the main shift lever 16 has been detected at the reverse position R is provided.
When the detection operation state is established, the control device 34 controls the seedling planting device 3 to be forcibly raised to the maximum raising position. The detection that the seedling planting device 3 has been raised to the maximum raised position is configured to be detected by an intermediate portion of the link mechanism 2 acting on a link switch 38 provided on the rear side of the driver's seat 31. is there. The raising / lowering control of the seedling planting apparatus 3 by the raising / lowering operation switch 35 and the forcible raising control at the time of the reverse movement of the aircraft are performed by operating the operation lever 32 at the “automatic position”.
It is configured to be performed only when operated by the AT.

The operating lever 32 is operated to one of the "planting position" P, the "down position" D, and the "automatic position" AT, and the main shift lever 16 is moved to the first forward position. In a state where the speed is operated at the speed F1 or the forward second speed F2, the automatic rolling control is executed so that the left and right inclination posture of the seedling planting device 3 is maintained at the set posture. More specifically, as shown in FIG. 3, the main transmission switch 39 for detecting whether the main transmission lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the absolute position of the seedling planting device 3 A weight type inclination sensor 40 for detecting an inclination angle from a horizontal posture, and a potentiometer type inclination angle setting device 41 for artificially setting a target inclination posture, and a control device based on these outputs and the output of a lever sensor 33 are provided. 3
4 performs control as shown in the control flowchart of FIG. The main shift switch 39 detects that the main shift lever 16 is operated to the first forward speed F1 or the second forward speed F2, and the output of the lever sensor 33 changes the operating position of the operating lever 32 to the “planting position”. P, when it is detected that any of the “down position” D and the “automatic position” AT has been operated, the detection value XR of the inclination sensor 40 differs from the target value Ra by the inclination angle setting device 41, The detected value XR of the inclination sensor 40 is the target value Ra by the inclination angle setting device 41.
If it is smaller, the output for the lower right is output to the relay circuit 42 until these values substantially match, and the rolling motor 5 is rotated in the lower right direction. Tilt sensor 4
If the detected value XR of 0 is larger than the target value Ra by the inclination angle setting device 41, an output for lowering to the left is output to the relay circuit 42, and the rolling motor 5 is rotationally driven to lower left. The circuit configuration is such that when the rolling motor 5 is driven to the mechanical operation limit and detected by the left and right limit switches 43 and 44, the relay circuit 42 is directly turned off to stop the driving of the rolling motor 5. I have. Further, even when an abnormality occurs in the automatic control system as described above, the relay circuit 42 is directly driven by the manual rolling switch 45 which is three-position switching type and is biased to return to the center, thereby manually performing the rolling drive. It is configured to be able to. In the manual rolling operation by the manual switch 45, the control signal from the controller 34 is configured to be kept in the off state.

During the planting operation, automatic raising and lowering control is performed so that the ground height of the seedling planting device 3 is maintained at a set value. As shown in FIG. 2, a potentiometer type float sensor 46 for detecting the vertical swing amount based on the ground pressure fluctuation of the ground float 20 located at the left and right center is provided.
The detection value of the float sensor 46 is transmitted to the control panel 13
The controller 34 automatically controls the electromagnetic control valve 48 for the lift cylinder 4 so as to fall within the setting range of the potentiometer type sensitivity setting device 47 provided in the above, so that the ground height of the seedling planting device 3 is set. Value will be maintained. That is, as shown in FIG. 5, the control device 34 holds the state if the detection value XS of the float sensor 46 is within the dead zone of the target value Sa, and if the detection value XS is larger than the target value Sa, the electromagnetic control is performed. A drive signal is output to the ascending electromagnetic solenoid UPSol of the valve 48, and if the detected value XS is smaller than the target value Sa, the descending electromagnetic solenoid DWS
ol to output a drive signal. The automatic lifting control is configured to be executed only when the operation lever 32 is operated to any one of the “planting position” P, the “down position” D, and the “automatic position” AT. I have. The sensitivity setting device 47 changes the target reference posture of the ground float 20, and changes the sensing load of the ground float 20 according to the hardness of the mud. The control target value by the sensitivity setting device 47 can be corrected by a three-position switching type correction switch 51. As shown in FIG. 8, by changing the correction switch 51, the change characteristic of the control target value with respect to the set value by the sensitivity setting unit 47 is changed by the parallel movement to the insensitive side (the reference attitude of the ground float is in the forward rising direction) or the sensitive side (the front side). Downward direction]. If the traveling speed of the airframe increases, the contact float 20 tends to rise and the seedling planting apparatus 3 may rise to become shallow. Therefore, the change characteristic of the control target value in the elevation control is the vehicle speed. It is configured to be changed according to. That is, a speed sensor 52 for detecting the speed of the engine 6 and a potentiometer type shift position sensor 53 for determining the shift position of the continuously variable transmission 7 are provided. Calculates the vehicle speed, and if the vehicle speed is high (for example, the vehicle speed is 0.8 m / sec or more), the change characteristic of the control target value is changed to the insensitive side, and the change amount increases as the vehicle speed increases. . Further, since a hydraulic pump (not shown) for the lift cylinder 4 is driven by the engine 6, the flow rate of hydraulic oil for the lift cylinder 4 changes due to a change in the engine speed.
Controls the duty ratio of the pulse current supplied to each of the electromagnetic solenoids UPSol and DWSol of the electromagnetic control valve 48 appropriately in accordance with the detection result of the engine speed so that the hydraulic oil flow rate is always kept constant. I do.

As shown in FIG. 9, the tilt angle setting device 4
1. Manual rolling switch 45 and correction switch 51
Are disposed on a rear wheel fender 54 located on the side of the driver's seat 31, and these are openable and closable lids 55.
It is configured to cover with.

Next, the control operation of the control device 34 relating to the elevating operation of the seedling planting device 3 will be described in detail with reference to the control flowcharts shown in FIGS. When the main switch is turned on and the control is started, the ascending electromagnetic solenoid UPSo of the electromagnetic control valve 48 for the lift cylinder 4 is moved.
1 and the outputs of the lowering electromagnetic solenoid DWSol are turned off, and the operation flag f0 for the lifting / lowering operation switch 35, the operation flag f1 for the clutch switch,
Initialize each of the operation flag f2 for automatic lifting control and the operation flag f3 for reverse lifting operation to “0” [Step 1,
2]. When the operation lever 32 is operated to a position other than the "automatic position" AT, the operation flags f0 to f3 are initialized, and when the operation lever 32 is at the "neutral position" N, the clutch engagement signal STR for the clutch motor 27 is turned off. If the clutch off switch 29 is on, the clutch off signal ST
P is turned off, and if the clutch off switch 29 is off, a clutch disengagement signal STP is output and the planting clutch 1
2 is maintained in the cut state [Steps 3-9]. And
If the operation lever 32 is at a position other than the "automatic position" AT or the "neutral position" N when the main switch is turned on, once the operation lever 32 is switched to the "neutral position" N, the next operation is performed. Proceed to step [Step 1
0].

When the operation lever 32 is moved to the "up position" U, the clutch engagement signal STR is turned off, the operation flag f2 for automatic up / down control is set to "0", and then the clutch off switch 29 is turned on. If there is, the clutch disengagement signal STP is turned off, and if the link switch 38 is on (the seedling planting device 3 is in the up state), the ascending electromagnetic solenoid UPSol is turned off. If the link switch 38 is in the off state, it goes up. The operator turns on the electromagnetic solenoid UPSol for raising the seedling planting device 3 [steps 11 to 1].
7]. If the clutch-off switch 29 is not on, the clutch disengagement signal STP is turned on and the planting clutch 12 is disengaged by the clutch motor 27, and the ascending and descending solenoids UPSol and DWSol are turned off [steps 18, 19]. When the operation lever 32 is operated to the "down position" D, the output of the clutch engagement signal STR is stopped, and then the planting clutch 12 is turned on in the same manner as the control described above.
The seedling planting apparatus 3 is lowered [Steps 24 to 26] while maintaining the cutting state [Steps 20 to 23]. When it is determined from the detection value of the float sensor 46 that the seedling planting device 3 has touched the ground, the automatic elevation control mode is executed [step 27]. At this time, if the link switch 38 is turned on, the ascending solenoid UPSol is turned off, and the automatic up / down control operation flag f2 is set to "1" (steps 28 to 30). When the operating lever 32 is operated to the "planting position" AT, the clutch-on signal STR is turned off, and then the clutch-on signal STR is output until the clutch-on switch 30 is turned on to operate the clutch motor 27 to perform the planting. The attached clutch 12 is brought into the engaged state [steps 31 to 34]. Thereafter, automatic elevating control is performed. The operation flags f0, f1 and f3 other than the operation flag f2 for automatic elevation control are maintained at "0" (step 35).

Next, the operation when the operation lever 32 is operated to the "automatic position" AT will be described. Operation lever 3
When the up / down operation switch 35 is operated after the 2 is operated to the "automatic position" AT, the switch operation flag f0 is set to "1", and when the link switch 38 is in the ON state (up state), the automatic up / down operation is performed. Set the control operation flag f2 to “0”
, And the lowering solenoid DWSol is turned on to lower the seedling planting device 3 [Steps 36, 37, 39 to
43]. When the seedling planting apparatus 3 comes down on the ground, the switch operation flag f0 is set to "0", the operation flag f2 for automatic elevating control is set to "1", and then the mode shifts to the automatic elevating control mode [Steps 44 to 44]. 48]. If the link switch 38 is off when the lifting operation switch is operated, the planting clutch 12 is disengaged to raise the link switch 38 until the link switch 38 is turned on (steps 49 to 5).
4]. When the link switch 38 is turned on, the switch operation flag f0 is set to "0" (steps 55 and 55).
6]. When the up / down operation switch 35 is operated again during the up / down operation, the operation direction is reversed [steps 56 to 60]. Note that, when the raising / lowering operation switch 35 is operated in the initial state, the planting clutch 12
If is not the cutting state, it returns to the initial state [Step 3
7, 38]. Then, when the clutch switch 25 is turned on by the operating tools 24 and 36 of the control unit after the seedling planting device 3 is lowered, the clutch switch operation flag f1 is set to "1" and planting is performed. When the clutch 12 is engaged (steps 61 to 64), the alarm buzzer 56 sounds until the clutch-on switch 30 is turned on. When the clutch-on switch 30 is turned on, the clutch switch operation flag f1 is set to "0" to issue an alarm. It stops (steps 65 to 69). After that, the mode is shifted to the automatic lifting control mode.

After the operation lever 32 is operated to the "automatic" position, the operation of the main transmission lever 16 to the reverse transmission position is detected by the reverse detection switch 37, and if the link switch 38 is not in the ON state, After setting the reverse ascending operation flag f3 to "1" [Steps 70 to 7]
4] Then, the process proceeds to a step 49, wherein the seedling planting apparatus 3 is operated until the planting clutch 12 is turned off and the link switch 38 is turned on.
Is forced to rise. When the link switch 38 is turned on, the reverse ascending operation flag f3 is set to "0" (step 56). Further, there is no operation of the lifting / lowering operation switch 35 or the detection operation of the reverse detection switch 37, and the reverse lifting operation flag f3
Is “1”, when the seedling planting device 3 is in the ascending position and the operation lever 32 is shifted from another position, or when the automatic elevating control mode is not set, the seedling planting device 3 is held at the ascending / descending position [ Steps 75 to 79]; otherwise, the mode is shifted to the automatic elevating control mode [Steps 80 and 46].

[Other Embodiments] (1) Based on the downward operation of the second operating tool 36, the on-off state and on-off state of the planting clutch 12 for each operation in the same manner as the operation of the elevating operation switch 35. May be controlled so as to appear alternately. That is, the second
The operating tool 36 disengages the planting clutch 12 with respect to the seedling planting device 3 and forcibly raises the seedling planting device 3 to the predetermined position based on the operation in the predetermined direction from the restored biased neutral position. The first state and the second state of lowering the seedling planting device 3 to the ground alternately appear, and based on an operation in a direction different from the predetermined direction from the neutral position,
The control device 34 is configured to perform a control operation so that a state where the planting clutch 12 is operated to be turned on and a state where the planting clutch 12 is operated to be turned off alternately appear. (2) Further, the second operating tool 36 is provided to be able to freely move back and forth around the axis of the vertical axis, and performs the switching operation of the lifting / lowering operation switch 35 based on the swinging operation to the rear side, and based on the operation to the front side. The planting clutch 12 may be operated by operating the planting clutch 12.

In the claims, the reference numerals are used to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control block diagram for a lifting operation.

FIG. 2 is an elevation control block diagram.

FIG. 3 is a block diagram of a rolling control.

FIG. 4 is a flowchart of a rolling control.

FIG. 5 is a lifting control flowchart.

FIG. 6 is an operation explanatory view of an operation lever.

FIG. 7 is a plan view of an arrangement portion of the operation tool.

FIG. 8 is a diagram showing the sensitivity characteristics

FIG. 9 is a plan view of an operation unit.

FIG. 10 is an elevating control flowchart.

FIG. 11 is an elevating control flowchart.

FIG. 12 is an elevating control flowchart.

FIG. 13 is a lifting control flowchart.

FIG. 14 is an elevating control flowchart.

FIG. 15 is an overall side view of the rice transplanter.

[Description of Signs] 1 Traveling Airframe 3 Ground Working Device 4 Drive Mechanism 6 Engine 7 Transmission 20 Grounding Float 34 Controller

Claims (5)

[Claims] A driving mechanism (4) is provided at the rear of the traveling body (1).
The ground work device (3) is connected to the ground work device (3) so that it can be driven up and down freely, and the ground float (20) provided in the ground work device (3)
Control device (3) that raises and lowers the ground working device (3) so as to maintain the target posture corresponding to the set control sensitivity.
4) a transplanting machine provided with: 4) a speed discriminating means for determining a traveling speed of the traveling body (1), and the control sensitivity being adjusted by electric control in conjunction with the traveling speed determined by the speed discriminating means. A transplanter equipped with a control sensitivity adjusting means. 2. The vehicle according to claim 1, wherein said speed discriminating means obtains a traveling speed of the traveling body based on a rotational speed of the engine and a shift position of the transmission. Transplanter. 3. The control sensitivity adjusting means, when the speed discriminating means determines that the traveling body is in a traveling state, changes the target attitude of the landing float (20) to a forward-upward attitude, thereby controlling the control sensitivity. 2. The transplanter according to claim 1, wherein an adjustment mode is set so as to reduce the pressure. 4. An adjustment mode is set such that the control sensitivity setting means does not automatically adjust the control sensitivity when the traveling speed of the traveling body (1) obtained by the speed discriminating means is equal to or less than a preset value. The transplanter according to claim 3. 5. The traveling of the traveling body (1) determined by the speed discriminating means when the traveling speed of the traveling body (1) determined by the speed discriminating means exceeds the set value. 5. The transplanter according to claim 4, wherein the control mode is set so that the control sensitivity decreases as the speed increases.