KR0169171B1 - Control apparatus of agricultural machine for up and down working device - Google Patents

Abstract

An earth work device 6 on which the lifting and lowering of the gas is freely provided through the lifting mechanism 4 at the rear of the body; And an actuator 5 for elevating and driving the elevating mechanism 4. And an operating lever 10 capable of switching and operating between the actuator and the ground work, and the free position. And a lifting and lowering control device of the ground working device having a grounding body 13 for earth ground, in which the lifting and lowering is freely set within the setting range of the ground working device 6, wherein the lifting control device sets the operation lever 10 to a free position. Responding to the operation of the shift operation mechanism 19 for shifting the gas transmission transmission device 15 to the reverse side R in the state, thereby restraining the reverse of the gas by the transmission transmission device 15 for traveling. A forced raising means for operating the actuator 5 in an upward direction; When the grounding body 13 reaches the lower limit of the set range due to the lift of the earth work device 6 by the forced lift means, the first reverse permit is released to release the reverse check by the forced lift means and permit the reverse of the gas. Way; And when the elevating mechanism 4 reaches the set height near the upper limit of the elevating range due to the elevation of the earth work device 6 by the elevating means, the reverse check is canceled by the forced elevating means to allow the reverse of the gas. Has a second reverse permit.

Description

Elevation control device of site work device of work car

1 is an overall side view of a passenger rice transplanter.

2 is a view showing a linking state of a shift lever, an operating lever, a hydraulic cylinder for raising and lowering a driving device and a hydrostatic stepless speed changer.

3 is a plan view of the lever guide of the operation lever.

4 is a flowchart of the first half of the control when the shift lever is operated backward.

5A is a flowchart of the second half of the control in the case of operating the shift lever toward the reverse side.

Fig. 5B is a subroutine diagram of control when the shift lever is released from the reverse position.

FIG. 6 is a side view showing a state where a passenger rice transplanter burns over a high hill.

* Explanation of symbols for the main parts of the drawings

4: link mechanism 5: actuator

6: land work device 10: operating lever

13: grounding body 15: transmission for gas travel

19: shift control

[Industrial use]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lift control device for a land work device in a work vehicle having an actuator for freely lifting and lowering a land work device at a rear end of a traveling body by a link mechanism or the like. More specifically, it relates to a lift control device for a rice transplanter provided with a forced lifting means for raising a ground work device to a predetermined height based on a shift operation for reversing the traveling gas.

[Prior art]

As an example of the work vehicle as described above, there is a passenger type rice transplanter in which the raising and lowering operation is freely connected to the rear of the base by a link mechanism and an actuator.

[Prior Example 1]

In such a passenger-type rice transplanter, for example, as disclosed in Japanese Patent Laid-Open No. 3-83503, when the shift lever (corresponding to the shifting operation tool) of the shifting gear for traveling is operated to the reverse side, the link mechanism is operated by the actuator. Is configured to automatically operate up. This prevents the float (grounding body) such as the float of the planting device from being damaged by reversing the gas while grounding the planting device on the surface (ground).

However, in the case of the above-mentioned riding type rice transplanter, if the start of the reverse movement of the gas and the start of the ascent of the planting apparatus are substantially simultaneous, the state in which the gas is reversed with the float (grounding body) of the planting apparatus grounded at the start of the reverse movement of the gas is temporary. Occurs as

[Conventional Example 2]

Therefore, when the shift lever is operated to the reverse side by using a point where a float (grounding body) such as a float is freely supported within the set range with respect to the seedling device, the ascending operation of the seedling device is first started, and the float of the seedling device is started. When (grounding body) falls to the lower limit of the setting range (equivalent to the vertically lowered state of the planting device), it is judged that the planting device is fully raised on the surface, and it is configured to start backward by the transmission for driving. have.

[Prior Example 3]

Further, as disclosed in Japanese Patent Laid-Open No. 6-276805, a control system is provided for raising the planting device up to the upper limit when the main gear lever is operated at the gas backward position during operation.

In the passenger-type rice transplanter having the above-described configuration, for example, as shown in FIG. 6, in the case of jumping out of the stack in the rice field, the link mechanism (or the planting device) is operated to the vicinity of the upper limit of the lifting range, (Z) is passed.

In this case, if the pile Z is relatively high, the front wheels will rise on the pile and the aircraft will be lifted, and even if the link mechanism (planter) is operated up to the upper limit of the lift range, the float (grounding body) of the planter May correspond to the ground surface G (corresponding to the ground) in some cases (the float cannot fall to the lower limit of the setting range).

In this state, when the operator abandons the high pile top at this position, reverses the body and attempts to cross the top at another position, and operates the shifting control tool for traveling backward, The function of the technique (Prior Example 2 and Conventional Example 3) is actuated to operate the link mechanism up (actually, the link mechanism is already operated up to the upper limit), so that the float (grounding body) of the planting device is lower than the set range. If it descends to, reverse will start.

However, when the float (grounding body) cannot fall to the lower limit of the set range, it may be in a state in which it cannot be reversed, and the gas may be in a locked state in which neither the forward nor the reverse can be reversed.

Also, even when the traveling gas is operated backward in a normal flat work place, when the shift operation tool is operated in the reverse position, the planting device continues until the planting device rises to a predetermined height by a forced raising operation. Is common. However, when the aircraft is operated backward on such a flat surface, the operator may turn to the rear and check visually the remaining amount of the fertilizer provided in the seedling device and the remaining amount of fertilizer provided in the seedling device. It is desirable to be able to temporarily stop. In addition, for example, when the change of the direction of the gas in the immersion is finished before the planting device rises to the set height, it may be desired to resume the planting work by stopping the lift control of the planting device. A control operation that can cope with the problem is also desired.

[Overview of invention]

As described above, the present invention aims at eliminating the inconvenience of overcoming a relatively high obstacle as described above in the land work device lift control device for a work vehicle configured to automatically lift the land work device at the time of reverse movement. have.

In order to achieve the above object, a feature of the present invention is to provide a ground work device lift control device for a work vehicle as described above.

That is, the earth work device is installed freely lifting on the base through the lifting mechanism in the rear of the base; And an actuator for elevating and driving the elevating mechanism. And a control lever capable of switching between the actuator and the land working device and the free position. And a lifting and lowering control device of the ground working device, provided with a grounding body for grounding, in which the lifting and lowering is freely set within the setting range. The elevating control device reverses the operation of the gas by the transmission for shifting in response to operating the shift control tool for switching the gas shift gear for the reverse direction with the operating lever set at the free position. A forced raising means for economically preventing and further operating the actuator toward the rising side; First reverse allowance means for releasing the reverse check by the forced ascending means and allowing the reverse of the gas when the ground body reaches the lower limit of the set range due to the elevation of the earth work device by the forced ascending means; When the lifting mechanism reaches the set height of the upper limit installment of the lifting range by the lifting of the earth work device by the forced lifting means, the second reverse to release the reverse check by the forced lifting means to allow the reverse of the gas Have permissible means;

In this configuration, for example, as shown in FIG. 6, the aircraft is advanced to try to overcome the obstacle, and the operator gives up the high obstacle at this position, and reverses the aircraft to remove the obstacle at another position. Let's assume that the shifting gear for driving is operated backward. In this case, the reverse of the gas is restrained by the forced raising means, and the actuator is operated to move up the link (elevating) mechanism (or the earth work device) (they may already be operated on the rising side).

In the state where the shift operation tool is operated in the reverse direction as described above, as shown in FIG. 6, even when the front wheel climbs on the obstacle and the aircraft is in the upright position, the ground work device is grounded to the ground (G). If the float (grounding body) of the ground work device reaches the lower limit of the set range (the float is free to the planting device, i.e., vertically lowered), the first reverse permitting means Is to start reversing, then move the aircraft to the position of another obstacle.

However, as described above, in the state where the shift operation tool is operated to the reverse side, the earth work device is grounded to the ground G, and the float (grounding body) of the earth work device can be lowered to the lower limit of the setting range. Let's say you're not there. Even in such a case, when the link mechanism operates the shift operation tool toward the reverse side, if the link mechanism is operated up to the vicinity of the upper limit by the forced ascending means (or after operating the shift operation tool toward the reverse side) When the link mechanism is lifted up to the upper limit by the operation of the operation lever or the like), the body starts to reverse by the second reverse permitting means, and then the body may be moved to another low obstacle position.

In addition, for example, in a normal flat work place, the float (grounding body) of the ground work device is lowered by inserting soil or the like when the link mechanism (lift mechanism) is operated upside down by operating the shifting operation tool for traveling toward the reverse side. If not, the gas is not reversed by the first reverse permitting means, but if the link mechanism (ground work device) is operated up to the upper limit in this state, the gas starts reversing without trouble by the second reverse permitting means. .

As described above, when the shifting operation tool is operated to the reverse side, the land work device lift control device of the work vehicle configured to automatically operate the land work device can be moved up and down without obstacles when the high obstacle is crossed. Thus, the workability and the runability of the work vehicle can be improved.

In addition, in a normal flat work ground, even when the shifting operation tool for traveling is operated backward, even if the float (grounding body) of the ground work apparatus does not descend according to the ascending operation of the ground work apparatus (even if it does not fall vertically). If the link mechanism is operated up to the upper limit, the back of the gas can be performed without any trouble, and thus the workability of the work vehicle can be improved in this respect.

Further, an object of the present invention is to provide a land work device lift control device for a work vehicle, which is configured to automatically force the land work device to be moved up automatically when reversing. It aims to stop control at the will of the operator, to resume the planting work, and to reduce the negative influence (loss of time, etc.) that the forced lift control has on the whole work.

Further, when the shift control device is set to the reverse position, the lift control device enters a forced lift control routine for operating the forced lift control means to the lift device of the planting apparatus, and the operation tool is moved to the reverse position in the routine. It is also possible to control the operation of the forced ascending means so as not to escape from the forced ascent routine, even when released at the same time, and to provide a notification means which continues to operate while entering the forced ascent routine.

By configuring as described above, when the shift control tool is set to the reverse position, the ascending control of the planting device is started by a forced raising means, and when the shift control tool is released from the reverse position, the lift control of the planter device is released. You can stop.

Also, even in this interruption, the flow of control of the lifting device of the planting device does not escape from the forced raising routine of the forcibly rising means. Therefore, when the shift control tool is set back to the reverse position, the control of the planting device is resumed. . Furthermore, when the flow of control is in the control routine of the forced ascent means, since the alarm means continues to operate, the operator can recognize that the flow of control of the planting apparatus is in the forced ascension control routine and suppress the occurrence of malfunction. .

Further, the elevating control device enters a forced raising control routine in which the forced elevating means operates with the shift operating tool set at the reverse position, releasing the shift operating tool from the reverse position, and It is also provided with a control releasing means for exiting from the restraint routine and terminating the control operation of the forced raising means in response to an operation of inserting a clutch for transmitting power to the chamfering device from the traveling gas in a state where the rising control is stopped. It is possible.

With the above-described configuration, when the shift operation tool is set to the reverse position, the forced raising control of the planting device is started by a forced raising means, and when the shift operation tool is released from the reverse position, the raising of the planting device is raised. The control can be temporarily stopped. Also, in this interruption, the flow of control does not escape from the control of forced rise. However, even when the planting device does not rise to a predetermined height by inserting and operating a clutch that must be put into operation at the start of the planting operation, the control flow is forced out of the control routine of the forced ascent to control the forced raising means. It is possible to end and resume planting work.

EXAMPLE

EMBODIMENT OF THE INVENTION Hereinafter, the Example of this invention is described based on drawing.

As shown in FIG. 1, the control part 3 is formed in the base body supported by the front wheel 1 and the rear wheel 2, and the link mechanism 4 (one example of a lifting mechanism) can be freely raised and lowered in the rear part of the base body. The hydraulic cylinder 5 (corresponding to the actuator) that drives the link mechanism 4 up and down, and connects the planting device 6 (equivalent to the earth work device) to the rear of the link mechanism 4, A passenger-type rice transplanter, an example of a car, is configured.

The seedling planting device 6 includes a mother mounting table 115 on which a mat W is placed, a transmission case 117 through which power is transmitted from the traveling body through the intermediate shaft 116, and the transmission case 117. Rotary case 119 which rotates with the power transmitted through the chain case 118 from the, the planting arm 120, a plurality of sensor float 13 (a grounding body) equipped with a pair in this rotary case 119 It is for planting a plurality of tanks with each.

As shown in FIG. 1 and FIG. 2, a control valve 7 for rapidly supplying and operating hydraulic oil to the hydraulic cylinder 5, and a planting clutch 8 for transmitting power to the planting device 6; Corresponding to (C)) and the shim (8) is provided with a motor (9) for inserting and breaking operation. The operating lever 10 of the hydraulic cylinder 5 and the planting clutch 8 is provided in the control unit 3 of the aircraft, and the operating position of the operating lever 10 is controlled via a potentiometer 10A or the like. It is inputted in (11). The link sensor 31 which detects the relative position with respect to the base of the link mechanism 4 which raises and lowers by the hydraulic cylinder 5 is provided, and this detection value is input into the control apparatus 11. As shown in FIG. In addition, the operation state of the planting clutch 8 is detected by the clutch sensor 29, and this is also input to the control apparatus 11. As shown in FIG. The control device 11 incorporates a microprocessor, and is installed under the operator's seat as shown in FIG.

When the operation lever 10 is operated in the ascending, neutral and descending positions along the lever guide 12 shown in FIG. 3, in the state where the planting clutch 8 is operated by breaking the motor 9, The control valve 7 is operated at the supply position, the neutral position, and the discharge position of the hydraulic oil, and the planting device 6 is raised, stopped, and lowered by the hydraulic cylinder 5. When the operating lever 10 is operated at the position where the lever guide 12 is planted, the planting clutch 8 is operated by the motor 9 so that the planting device 6 is placed on the surface G (corresponding to the ground). The control valve 7 is operated so as to be maintained at the set height from the hydraulic cylinder 5, and the hydraulic cylinder 5 is stretched and operated so that the seedling device 6 is automatically lifted and operated, which is a normal planting state.

As shown in FIG. 1 and FIG. 2, the sensor float 13 (corresponding to the grounding body) is set within the setting range by a mechanical link mechanism or the like around the horizontal axis P1 at the left and right centers of the planting device 6. Lifting is supported freely at. Moreover, the potentiometer 14 which detects the up-down angle of the sensor float 13 with respect to the seedling apparatus 6 is provided. Thereby, in the planting position of the operating lever 10, the height of the seedling device 6 with respect to the sensor float 13 which follows the ground surface G by the potentiometer 14 is used to set the height of the sensor float 13 up and down. Is detected and input to the control device 11. In this way, the control valve 7 is operated by the control device 11 based on the detection value of the potentiometer 14.

As shown in FIG. 1 and FIG. 2, this riding type rice transplanter is equipped with the hydrostatic continuously variable transmission 15 (corresponding to a traveling transmission). The hydrostatic stepless speed change 15 (Hydro-Static Transmission: HST) has a neutral stop position (N), and is configured to be steplessly operated on the forward side (F) and the reverse side (R). An electric cylinder 16 for shifting the continuously variable transmission 15 and a potentiometer 17 for detecting the extension position of the electric cylinder 16 are provided. The detection value by the potentiometer 17 is input to the control apparatus 11.

On the right side (or left side) of the steering wheel 18 shown in FIG. 1, as shown in FIG. 2, the neutral stop position N is inserted to operate on the forward side F and the reverse side R. FIG. This free shift lever 19 (equivalent to the shift control section) is provided. And the operation position of this shift lever 19 is detected by the potentiometer 19A, and this detection value is input into the control apparatus 11. As shown in FIG. Accordingly, when the shift lever 19 is operated, the hydrostatic stepless speed changer 15 is shifted by the control device 11 and the electric cylinder 16 so as to be a speed position corresponding to the shift position of the shift lever 19. .

As shown in FIG. 3, the automatic position is provided in the lever guide 12 of the operating lever 10, and then the operating lever 10 is operated in the automatic position. It demonstrates based on FIG.

If the operating lever 10 is operated at the automatic position, the clutch 8 to be planted is inserted in the same manner as the case of operating at the above-mentioned planting position, and the planting device 6 is set at the set height from the surface G. The planting device 6 is automatically lifted and operated so as to be maintained.

As shown in FIG. 1 and FIG. 2, a lever type lift switch 20 is provided on the right side (or left side) of the steering wheel 18, and the operation lever 10 is operated in an automatic position. When the lift switch 20 is operated once (step S1) (step S2), the clutch 8 planted by the motor 9 is moved when the seedling device 6 is lowered (step S3). The cutting operation is performed by the hydraulic cylinder 5, and the planting device 6 is operated up to an upper limit (step S4).

On the contrary, if the planting device 6 is operated up and down when the lift switch 20 is operated (steps S2 and S3), the planting device 6 is operated to descend to the surface G by the hydraulic cylinder 5 (step). S6). In this case, when the selection operation of the marker 21 shown in FIG. 1 is performed, the clutch 8 planted by the motor 9 is inserted and the planting device 6 is operated to descend to the surface G ( Step S6). The raising and lowering operation of the seedling device 6 by the lifting switch 20 is performed at the time of turning around the pile in the planting state.

Next, in the case where the operation lever 10 is operated at the automatic position (step S1), the shift lever 19 is operated from the forward side F or the neutral stop position N to the reverse side R. The lower surface (step S7) and the hydrostatic stepless speed change apparatus 15 are not shifted to the reverse side R, but are held at the neutral stop position N by the electric cylinder 16 (step S8). Next, the clutch 8 planted by the motor 9 is disconnected and operated (step S9), the hydraulic cylinder 5 is extended by the control device 11 and the control valve 7, and the planting device 6 ) Is operated up from the surface G (step S10) (corresponding to the forced ascending means). In this way, when the shift lever 19 is operated at the retracted position when the planting device 6 is at the working height, the reverse of the gas is prevented (without the HST shift control), so that the The forced ascent control is started, and at the same time, the alarm lamp 32 is turned on, and an alarm is output by the alarm sound generator 33 (corresponding to the notification means) (step S11). As long as the control is in the routine of the automatic lift control, the alarm sounds continuously to inform the operator of it.

When the planting device 6 is operated up in the manner as described above, the sensor float 13 descends to the lower limit of the setting range by its own weight or the like (a vertically lowered state with respect to the planting device 6). As a result, when the seedling device 6 is moved up (step S10), and the detection value A corresponding to the lower limit of the sensor float 13 is input from the potentiometer 14 to the control device 11 (step S12). , It is judged that the operation of the planting device 6 from the surface G to the level of complete separation, the control device 11 and the shifting position corresponding to the operating position of the reverse side (R) of the shift lever 19. The hydrostatic CVT 15 is shifted by the electric cylinder 16. As a result, the gas starts to reverse (step S15) (corresponds to the first reverse permitting means).

Moreover, as shown in FIG. 2, the pot 22 is provided in the base of the link mechanism 4 which detects the up-down angle of the link mechanism 4 with respect to a base body. Even if dirt or the like enters the supporting portion of the sensor float 13 and the sensor float 13 cannot be lowered to the lower limit of the setting range (the detection value A corresponding to the lower limit from the potentiometer 14 is transmitted to the control device 11). If it is detected by the potentiometer 22 that the link mechanism 4 has reached the upper limit near the upper limit (step S13), the raising operation of the planting device 6 is stopped (step S14), and the control device 11 And the hydrostatic stepless speed change device 15 are shifted by the electric cylinder 16, whereby the gas starts to reverse (step S15) (corresponding to the second reverse allowable means).

As described above, when the operating lever 10 is operated in the automatic position, the operating device 10 is automatically lifted up when the shift lever 19 is operated to the reverse side R. FIG. When the operating lever 10 is operated at the automatic position, the raising and lowering operation of the seedling device 6 can be performed by the lifting switch 20 (steps S2, S3, S4), but the shift lever 19 If it is operated to the reverse side R, the operation of lowering the seedling device 6 by the lifting switch 20 cannot be performed (steps S2, S3, S5).

When the operating lever 10 is operated in the automatic position in this way, when the shift lever 19 is operated to the reverse side R, the lowering operation of the seedling device 6 by the lifting switch 20 can be performed. none. By the way, even if the shift lever 19 is operated to the reverse side R by operating the operating lever 10 from the automatic position of the lever guide 12 in FIG. 6) can be lowered and raised (steps S1, S17, S18, S19).

In addition to the above-described control step, as shown by the symbol X in FIG. 5A, adding the subroutine X between step S12 and step S13 and immediately after it is determined to be no at step S13 is shown. It is possible. The subroutine X between step S12 and step S13 will be described below as shown in FIG. 5B. Any subroutine X provides an option for the lifting operation of the worker's seedling device.

That is, when the operator wants to stop the raising operation of the seedling device by the step S10, the shift lever 19 is moved from the current reverse position R to another position (neutral N or forward position F). ), It is possible to enter this subroutine X.

That is, in step S12, it is determined by the potentiometer 14 whether the sensor float 13 has reached the lower limit position. If the sensor float 13 has not reached the lower limit position, the flow proceeds to a no direction, that is, the sensor float. It is understood that the planting device is not rising to the extent that (13) deviates from the surface. In this case, when the operator wants to stop the forced raising of the planting apparatus, it is possible by shifting the shift lever 19 at the step 201 (see FIG. 5B) other than the reverse position. That is, in the case where the shift lever 19 is shifted to a position other than the backward position in this step 201, the process shifts to steps 203 and 204, and the forced raising operation of the planting device is temporarily stopped. Thereafter, when the operation lever 10 is shifted to the clutching position to be planted (step 205), the notification operation is stopped (step 206). The steps 205 and 260 are collectively referred to as automatic control release means later. In this step 205, the operation lever 10 escapes from the routine of the forced raising control of the planting device at the time when the operation lever 10 is operated with the clutch to be planted, and delivers it to the worker with the stop of the alarm of step 206. do. At the same time, the lowering operation of the planting apparatus is executed (step 207), and the lowering operation is continued until the grounding float is grounded to the paddy surface (step 208). In step 208, the potentiometer 14 of the sensor float 13 detects the ground of the sensor float 13 and simultaneously inserts and operates the clutch 8 to be planted.

If the operation lever 10 is not operated at the insertion position of the clutch for planting the operation lever 10 in step 205, the operation returns to step 201, and at this point, the operation lever 19 is shifted to the reverse position R again. In the case of being operated, the forced raising of the seedling device is continued (step 202). In this way, in step 7 shown in FIG. 5A, the shift lever 19 is operated toward the reverse side R to enter the routine of the automatic forced raising control of the planting apparatus.

Then, by temporarily shifting the shift lever 19 to the neutral position or the forward position, the automatic forced raising control of the planting apparatus can be temporarily stopped, and the steps 201, 203, 204, 205 and step 201 are again passed. It becomes possible to continue to carry out the automatic forced raising operation of the planting apparatus. Further, as described above, after the shift lever 19 is released from the reverse position, the shift lever 19 is shifted to the clutch insertion position for planting the operating lever 10, so that it is possible to escape from the routine of the automatic forced raising control of the planting device.

And it is also possible to add the said subroutine X immediately after the determination of step S13 of FIG. 5A is no, ie, when it is determined that the planting apparatus 6 is not reaching the setting height.

As described in the above-described subroutine X, if the seedling device does not reach the predetermined height at this point, but the operator wants to stop the automatic forced raising control of the seedling device as described above, the shift is performed as described above. This is enabled by shifting the lever 19 in addition to the reverse position R (step 201 and step 203). Since the above description is applicable as it is to step 204 and above, it will be omitted.

And since the said subroutine X is an option, it is also possible to perform backward control of a vehicle body in the state which abbreviated.

Next, in the case where the operating lever 10 is operated in the automatic position based on FIG. 6, as shown in FIG. 6, when the high pile Z exits from the rice field Y, Explain.

As described above, when the operation lever 10 is operated automatically, the raising and lowering operation of the seedling device 6 is performed by the lifting switch 20, so that the pile Z as shown in FIG. In the case of turning over, first, the raising and lowering switch 20 is operated to raise the seedling device 6 (steps S2, S3, S4). Next, the shift lever 19 is operated toward the forward side F (step S7), the gas is advanced (step S16), and the paddle Z is turned over.

In this state, the worker abandons the high top pile Z at this position, reverses the body and attempts to overtake the top pile Z at another position, so that the shift lever 19 is reversed (R). Let's say that the operation was performed (step S7). In this case, after the hydrostatic stepless speed change device 15 is maintained at the neutral stop position N, the planting clutch 8 is cut off to operate the planting device 6 up (steps S8, S9, 10), At the time when the elevating switch 20 is operated, the clutch 8 already planted is cut off to operate the planting device 6 (steps S2, S3, S4).

As described above, in the state where the shift lever 19 is operated to the reverse side R, as shown in FIG. 6, the front wheel 1 ascends to the stack Z and the body is lifted up. Even if the seedling device 6 is not grounded to the surface G and the sensor float 13 reaches the lower limit of the set range (step S12), the process proceeds to step S15 without any problem and the gas starts to move backward. (Corresponds to the first reverse permitting means), and then, the gas may be moved to another position of the stack Z.

On the contrary, in the state where the shift lever 19 has been operated to the reverse side R as described above, as shown in FIG. 6, the front wheel 1 climbs up the paddle Z to lift the body forward. If it is in the attitude | position, if the seedling apparatus 6 is grounded to the surface G, and the sensor float 13 cannot fall to the lower limit of a setting range, as mentioned above, in step S12 step S15. Cannot be transferred to).

However, even in such a case, since the link mechanism 4 (planting device 6) has already been operated up to the upper limit near the time when the elevating switch 20 is operated (steps S2, S3, S4), step S13 is performed. In step S15, the gas starts to reverse (corresponds to the second reverse allowable means), and then the gas may be moved to another position of the stack Z.

And although not disclosed in the flow of control, when the back of the gas is started, the control which causes the bag buzzer 34 (FIG. 2) to operate and recognizes that the gas is moving backward can also be performed.

Other Examples

The present invention can be applied not only to a riding type rice transplanter, but also to a farm tractor in which a rotary cultivation device (corresponding to a ground work device) is freely connected by a lifting mechanism by a link mechanism at the rear of the body. In this case, what is necessary is just to use the float (grounding body) of this invention as the rotary cover for lifting control by which the up-and-down fluctuation was supported freely in the rear part of a rotary tiller.

It is also possible to provide a load detector for detecting a load applied to the float in the vicinity of the sensor float. As a result, in the state where the sensor float cannot reach the lower limit, but the planting device is detected as reaching the upper limit position, and an excessive load is generated in the float when the gas is reversed by the second reverse permitting means, the overload is applied. It is possible to have a buzzer, etc. to detect and warn it, and to avoid damage to the sensor float.

In addition, although the reference | claim is attached | subjected to the term | claim of a claim for convenient contrast with drawing, Therefore, this invention is not limited to the structure of an accompanying drawing.

Claims (4)

An earth work device 6 on which the lifting and lowering of the gas is freely provided through the lifting mechanism 4 at the rear of the body; And an actuator 5 for elevating and driving the elevating mechanism 4. And an operating lever (10) capable of switching and operating between the actuator and the earth work device and a free position. And a lifting and lowering control device of the ground working device having a grounding body 13 for grounding, in which the lifting and lowering is freely set within the setting range of the ground working device 6; The elevating control device responds to operating the shift operation mechanism 19 for switching the gas shift transmission device 15 to the reverse side R with the operation lever 10 set at the free position. Forced restraining means for restraining the reverse of the gas by the transmission 15 for driving, and for operating the actuator 5 upwardly; When the grounding body 13 reaches the lower limit of the set range due to the lift of the earth work device 6 by the forced raising means, the reverse check is released by the forced raising means and the gas is allowed to reverse. 1 retraction permitting means; When the elevating mechanism 4 reaches the set height near the upper limit of the elevating range by the elevating of the earth work device 6 by the forced elevating means, the reverse check is released by the forced elevating means, and the reverse of the gas is performed. Lifting control device of the ground work device of the work vehicle, characterized in that it has a second reverse allowance means for allowing. 2. The lift control device according to claim 1, wherein the lift control device further includes notification means (32, 33) for continuing the operation while the actuator (5) is operated to the rising side by the forced lift means. Lifting control device for the earth work device of the work vehicle. 2. The lift control device according to claim 1, wherein the lift control device further responds to an operation of inserting a clutch C that transmits power from the traveling body 3 to the ground work device 6, and the lift-up control device causes A lift control device for an earth work apparatus of a work vehicle, characterized by comprising a control releasing means for terminating the operation operation to the rising side of the actuator (5). The transmission device according to any one of claims 1 to 3, wherein the speed change device (15) is a hydrostatic stepless speed change device, and the speed change control tool (19) is shiftable between forward, neutral, and reverse. A lift control device for a land work device for a work vehicle, characterized by a pot (19A) for detecting a shift position of an operating tool.