KR101276976B1 - Agricultural work vehicle - Google Patents

Abstract

Prevents mud scattered by the rear wheels from adhering to the agricultural work equipment. In the agricultural work machine in which the farm work device 5 is lifted and connected to the rear part of the travel device main body 3, the rear wheel 2 of the travel device main body 3 is rearward in front of the farm work device 5. A mud removal cover 79 for picking up mud scattered from the ground is disposed over the upper portion of the rear wheel shaft from the vicinity of the paddy field, and the mud removal cover is moved up and down in the same direction as the agricultural work device 5 moves up and down. It consists.

Work apparatus, actuator, inclination detection means, electric motor, apparatus body

Description

Farming Equipment {AGRICULTURAL WORK VEHICLE}

The present invention relates to an agricultural work machine in which a farm work device is liftably connected to a rear portion of a traveling machine main body.

In the agricultural work machine, the agricultural work device is connected to the rear portion of the main body of the traveling machine so as to be lifted and lowered.

An object of the present invention is to prevent the mud scattered by the rear wheels from adhering to an agricultural work device.

The characteristic structure of the rolling control apparatus of the working machine which concerns on this invention is

In front of the agricultural work device, a mud removal cover for collecting mud scattered rearward by the rear wheel of the traveling machine main body is disposed over the upper portion of the rear wheel shaft from near the paddy field, and the mud removal cover is disposed. It is configured to move up and down in the same direction as the elevating.

As a result, since the agricultural work device is positioned at a predetermined working height relative to the rice paddy field, the agricultural work device is raised with respect to the traveling machine main body in a deep paddy field, and the agricultural work device is lowered with respect to the running machine main body in a shallow paddy field. As the agricultural work equipment moves up and down, the mud removal cover is moved up and down. Therefore, regardless of the depth of the discussion, the mud, which is widely covered from near the paddy field to the top of the rear wheel shaft center without being immersed in the paddy ground, and which is widely scattered up and down by the rear wheel, is applied to the front exposed portion of the agricultural work device. Attachment deposition is prevented.

Therefore, it is possible to reliably prevent the mud scattered widely up and down by the rear wheels toward the rear by attaching to the agricultural work device, and the mud adheres to the sliding part to speed up the wear, or the operation resistance increases to drive Increased load can be avoided beforehand. Mud does not adhere to the detail of the machinery in the agricultural work device, and cleaning after work also becomes easy.

Moreover, the said mud removal cover is provided in the said agricultural work device. As a result, the mud removal cover can be easily moved up and down in the same direction as the agricultural work device is lifted and lower, so that the mud removal cover can exhibit a good mud removal function without ruining the rice paddy.

Further, the agricultural work device is a seedling transplanting device in which a stationary float is arranged so as to be adjustable in height with respect to an implantation apparatus, and in the shallowest implantation state in which the stationary float is adjusted downward to the implantation apparatus, a lower end portion of the mud removing cover Is positioned at approximately the same height as the upper end of the stationary float located behind it. Therefore, even in the shallowest transplantation state in which the stationary float is positioned downward, the mud can be prevented from scattering backwards between the lower end of the mud removal cover and the stationary float, so that suitable mud removal can be performed regardless of the implant depth. have.

Moreover, the said mud removal cover is arrange | positioned by right and left pairs facing a rear wheel. Therefore, by arranging the mud removal covers facing the left and right mud scattering sources (rear wheels) individually, it is possible to effectively prevent mud adhesion without using a large mud removal cover covering the entire surface of the agricultural work device.

Further, a cutout or an opening through which the operation member provided in the agricultural work device passes may be formed in the mud removing cover. Moreover, you may equip the said mud removal cover with the support part of the member connected with the said agricultural work device. Further, the mud removing cover may be provided with a supporting portion of the member connected to the agricultural work device. Moreover, you may shape | mold the said mud removal cover with resin material, and may form the thin cutting line for external shape adjustment.

According to the present invention, it is possible to reliably prevent the mud scattered widely up and down by the rear wheels toward the rear by attachment to the agricultural work device, and the mud adheres to the sliding part to speed up the wear, or the operating resistance This increase in driving load can be avoided in advance. Mud does not adhere to the detail of the mechanical apparatus in the agricultural work device, and cleaning after work also becomes easy.

As an example of the agricultural work machine which concerns on this invention in FIG. 1, the side view of the riding type electric machine with a fertilizer apparatus is shown in FIG. This riding type electric machine has a front wheel (1) and a rear wheel (2) and is connected to the rear portion of the main vehicle body (3) configured to be capable of four-wheel drive traveling through a link mechanism (4) of parallel four-link structure. The seedling transplanting apparatus (working apparatus) 5 of a jaw transplantation specification is connected so that lifting and lowering is possible, and the fertilizing apparatus 6 is equipped in the back of an apparatus main body, and the spare seedling loading stand 7 is provided in the left and right of an apparatus main body front part. It has become one structure, and the seedling implanting apparatus 5 can be lifted-controlled by moving the said link mechanism 4 up and down with the hydraulic cylinder 8, and to make it oscillate. The seedling implanting device 5 is connected to the rear end of the link mechanism 4 so as to be rollable around the front-rear support point X, and to the rolling drive mechanism 9 provided at the upper rear end of the link mechanism 4. By this, the seedling transplant apparatus 5 is controlled to roll as mentioned later.

The engine 10 is mounted on the front portion of the traveling device main body 3, and its output is transmitted to a continuously variable transmission such as a hydraulic continuously variable transmission (HST) 11 capable of continuously shifting forward and backward, and the transmission output thereof. It is input to this mission case 12, is gear-shifted by the sub transmission device which is not shown in figure, is transmitted to the front left and right wheels 1 supported by the mission case 12, and is taken out rearward from the mission case 12. The driving system power thus transmitted is transmitted to the rear transmission case 14 via the transmission shaft 13 and is transmitted to the left and right rear wheels 2 supported by the rear transmission case 14. After the forward rotational power in the shift output transmitted from the hydraulic continuously variable transmission 11 to the mission case 12 is branched as working power, and gear shifted in an intermediate transmission not shown, which is incorporated in the mission case 12, the mission is performed. It is taken out from the back of the case 12, and is transmitted to the seedling implanting apparatus 5 via the transmission shaft 15 and the expansion-contraction transmission shaft 16. As shown in FIG.

As shown in Figs. 2 and 3, the seedling transplanting apparatus 5 includes a transplant frame 21 having a cylindrical shape that is long and horizontally long, a feed case 22 that receives work power extracted from the traveling device main body 3, Four implant cases 25 having seedling mounts 23 reciprocating horizontally from side to side in a predetermined stroke, eight sets of rotary implant mechanisms 24, and two sets of implant mechanisms 24 on the left and right sides of the rear portion. And five stop floats 26 for stopping the implantation site of the paddy field T on the average.

The center of the five stationary floats 26 arranged in parallel is used as the grounding sensor SF which detects the height with respect to the rice paddy bottom T of the seedling implanting apparatus 5. As shown in Fig. 5, the up-and-down swinging displacement around the rear support point b of the ground sensor SF is electrically detected by the potentiometer 27, and the detection information is inputted to the control device 28 to calculate. The rice field bottom T of the seedling transplanting apparatus 5 is operated by operating the electronic control valve 29 which processes and operates the said hydraulic cylinder 8 so that the up-down swinging attitude | position of the ground sensor SF may be set. Automatic implant depth control is performed to keep the implant depth stable by keeping the height constant.

As shown in Fig. 4, the rolling drive mechanism 9 is a rolling drive member supported by the bracket 50 connected to the upper rear end of the link mechanism 4 so as to swing left and right around the front and rear support points x ( 51 and an electric motor 53 (an example of an actuator) that swings and drives the gear through the gear reduction mechanism 52. As shown in Fig. 3, the support frame 55 is horizontally connected over the upper end of the support pillar 54 which is installed from the left and right of the transplant frame 21, and is mounted on the left and right portions of the support frame 55. The guide member 56 is coupled to the guide rail 57 horizontally coupled to serve as a reinforcing frame behind the seedling loading table 23, and the upper part of the seedling loading table 23 is guided to move left and right. The upper free end portion of the rolling drive member 51 and the left and right portions of the support frame 55 are connected via a flexible spring 58.

According to this configuration, the seedling implanting apparatus 5 is elastically supported to be freely rollable in a predetermined small range with respect to the rolling drive member 51 via the flexible spring 58, and the seedling implanting apparatus 5 is fixed to the stationary float ( In the state which is grounded to the paddy ground T via 26, even if the traveling device main body 3 is inclined a little to left and right, the seedling implanting apparatus 5 will follow the paddy ground T within the range of elasticity fusion. have.

The electric motor 53 of the rolling drive mechanism 9 is operationally controlled based on the detection information from the inclination angle detecting means described later, which is installed in the seedling implanting apparatus 5, and the traveling device main body 3 is light. Even if the seedling implanting apparatus 5 is inclined left and right due to the unevenness or the like, the seedling implanting apparatus 5 is rolled controlled in the direction of restoring the inclination, and is always stably maintained at the set rolling posture (horizontal to the normal), Therefore, the transplantation with little difference in the implantation depth by each transplantation mechanism 24 is made. When the rocking position of the rolling drive member 51 is detected by the potentiometer 60 and the rolling drive member 51 reaches the set rocking position, the electric motor 53 is energized and controlled so as to be maintained at the rocking position so that the rolling drive member The fluctuation range of 51 is limited.

A return spring 59 is provided over the left and right portions of the guide rail 57 on the rear surface of the bracket 50 and the seedling loading table 23 connected to the upper rear end of the link mechanism 4, Since the spring 59 for the return direction on the moving direction side is extended by the horizontal movement of the seedling loading table 23, the collapse of the weight balance around the support point x for rolling accompanying the seedling loading table horizontal movement is corrected. The rotational force in the direction is caused by the returning spring 59 extended.

As means for detecting the inclination angle of the seedling implanting apparatus 5 in the left-right direction, the gravity angle sensor 61 and the oscillation gyro type angular velocity sensor 62 which detects the angular velocity in the left-right direction are used, and the support point for rolling is used. It is provided in the implantation frame 21 in the vicinity of (x). As shown in the control block diagram of FIG. 6, detection signals from both sensors 61 and 62 are input to the control device 28, and a detection inclination angle θ for rolling control of the seedling implanting device 5 is shown. Is calculated as follows and rolling control is executed.

The detected value θg of the angle sensor 61 passes through the low pass filter 63 so that only the low frequency component is obtained, and the detected value e of the angular velocity sensor 62 is the low pass cut filter 64. After passing through, the integral is processed to calculate the inclination angle. The calculated value passes through the low pass filter 65 so that only the high frequency component is obtained. Then, based on the detected value? G of the angle sensor 61, The inclination angle θ1 of the obtained low frequency component and the inclination angle θ2 of the high frequency component acquired based on the detected value e from the angular velocity sensor 62 are added, and this value is detected inclination angle θ. )

In addition, since the detected value θg from the angle sensor 61 is removed by the smoothing characteristic of the gravity sensor itself, a part of the high frequency component of the detection signal is disturbed together with the disturbance, the angle sensor ( A low pass filter 64 having a characteristic corresponding to that of 61 is introduced. In addition, the characteristics of the low pass filter 65 are set so as to supplement the high frequency components removed by the low pass filter 63.

That is, when the seedling implanting apparatus 5 is inclined rapidly, since the detection value (theta) g from the angle sensor 61 may contain the disturbance by a vibration etc., the reverse signal may be output by the influence of inertia, The value which removed the high frequency component containing these is acquired as a basic inclination-angle (theta) 1. Then, in order to compensate for the removed high frequency component of the inclination angle fluctuation, the inclination angle θ2 of the high frequency component calculated and calculated on the basis of the detected value e of the angular velocity sensor 62 is added, and the overall excellent response and high The detection inclination angle [theta] is calculated with accuracy.

The detected inclination angle θ calculated as described above is calculated and compared with the target inclination angle θ0 set by the inclination angle setter 66, and the insensitiveness in which the deviation | θ0-θ | When larger than the band (epsilon), the electric motor 53 is energized and controlled in the direction which the deviation enters into a dead zone, and the seedling implantation apparatus 5 is stably maintained at target inclination angle (theta) 0.

In addition, since most of the paddy field T is horizontal in the transfer machine, by setting the target inclination angle θ0 horizontally, the seedling transplanting apparatus 5 is held in a horizontal posture parallel to the paddy field T. Although the depth of transplantation in the entire tank can be made uniform, the inclination angle setter (when transplanting at the edge of the paddy field in the paddy field in which the paddy field T is inclined left and right at the paddy edge) 66), the target inclination angle θ0 is adjusted in accordance with the inclination of the paddy field T, so that the transplantation can be performed in parallel with the inclined paddy ground T so that the implantation depth can be made uniform.

The driver 70 of the electric motor 53 is configured to duty-control the drive current of the electric motor 53 based on the command from the control device 28. As shown in the flowchart of Fig. 7, the drive output duty T1 is calculated according to the magnitude | size of the deviation | theta | 0 | theta || of the detected inclination angle (theta) and the target inclination angle (theta) 0 computed as mentioned above ( The larger the S01 and S02 and the drive output duty T1, the larger the amount of current flowing to the electric motor 53. However, the maximum value of the drive output duty T1 is set in advance, and excessive current does not flow to the electric motor 53 or the driver 70.

The drive load (load torque) of the electric motor 53 is estimated from the variation speed of the detection value from the said potentiometer 60 with respect to the calculated drive output duty T1 (S03). That is, the smaller the moving speed of the rolling drive member 51 in driving at a certain amount of current is, the larger the driving load is, and the variation speed of the detection value from the potentiometer 60 and the drive output duty T1 are based on the map data. By contrast, the driving load of the electric motor 53 is estimated.

It is determined whether the estimated driving load is within a preset allowable range (S04), and when the limit of the allowable range is reached, the magnitude of the deviation | θ0-θ | of the target tilt angle θ0 and the detected tilt angle θ | Prior to the drive output duty T1 calculated according to the above, the electric motor 53 is energized and controlled at the drive output duty T1 'which maintains the limit of the drive load (S05, S06). If it is recognized that the estimated driving load is less than the predetermined amount (hysteresis amount) below the limit of the allowable range (S07), depending on the magnitude | variation | θ0-θ | of the target inclination angle θ0 and the detected inclination angle θ | The operation returns to the general control state where the electric motor 53 is energized by the calculated drive output duty T1.

As shown in the flowchart of FIG. 8, when the rolling drive member 51 reaches the left or right limit in the preset operating range, it is detected based on the information from the potentiometer 60 and is operated. The electric motor 53 is energized and controlled to hold the rolling drive member 51 in the limit position until a rolling operation command in the direction of returning to the range is issued.

As shown in the flowchart of Fig. 9, when the seedling transplant apparatus 5, which has been raised to the upper limit, is lowered to the rice paddy ground T, a falling command is generated by the operator, and rolling control is executed immediately even when the lowering starts. The rolling drive member 51 is held in the position at the start of the lowering until the ground sensor SF is detected by the change in the output of the potentiometer 27, and the seedling implanter (5) is lowered while maintaining the posture at the start of lowering. When the ground sensor SF contacts the paddy field T and an output change occurs in the potentiometer 27, it is determined that the seedling implanting apparatus 5 is grounded, and after that, normal rolling control is performed.

When the seedling implanting device 5 is forcibly raised based on the rising instruction generated by the operator in the rice field turning at the edge of the paddy field, etc., the link mechanism 4 is raised to the upper limit and the upper limit limit switch ( The rolling control is executed until the operation 30 is turned on, and even if the left and right weight balance of the seedling transplant apparatus 5 is broken due to the consumption state of the seedlings loaded on the seedling loading table 23, the seedling transplant apparatus 5 is Ascending while maintaining the horizontal position. When reaching the upper limit is detected by the upper limit limit switch 30, the control valve 29 is automatically neutralized to control the return of the seedling implanting apparatus 5, and the rolling control is also stopped. Moreover, the seedling transplant apparatus 5 which reached the upper limit is fixed by the contact of the link mechanism 4 in a posture parallel to the traveling machine main body 3, and rolling is prevented arbitrarily during a run.

In addition, in the above-mentioned embodiment, as a means for detecting the drive load of the electric motor 53, the drive load torque can also be detected directly by equipping the output shaft of the electric motor 53 with a torque sensor.

[First Other Example]

In the agricultural work machine according to the present embodiment, as shown in FIG. 10, the rear portion of the center ground float 26 is supported to swing up and down around the horizontal axis core b of the seedling transplanting apparatus 5, and seedling transplantation is performed. The potentiometer 27 which detects the height of the center ground float 26 with respect to the apparatus 5 is provided, and the detection value of the potentiometer 27 is input into the control apparatus 28. As shown in FIG. With the progress of the apparatus main body, the center ground float 26 follows the ground on the paddy field, and the height of the center ground float 26 relative to the seedling implanting device 5 is determined by the detection value of the potentiometer 27. By detecting, the height from the paddy field (center ground float 26) to the seedling transplant apparatus 5 can be detected.

As shown in Fig. 10, a rising control valve 29a for supplying hydraulic oil to the hydraulic cylinder 8 and a lowering control valve 29b for discharging the hydraulic oil from the hydraulic cylinder 8 are provided. The rising and falling control valves 29a and 29b are operated by the operation signal of). When the hydraulic oil is supplied to the hydraulic cylinder 8 by the lift control valve 29a, the hydraulic cylinder 8 is contracted and the seedling implanting device 5 is lifted up, and the hydraulic cylinder 8 is lowered by the drop control valve 29b. When the hydraulic oil is discharged from 4), the hydraulic cylinder 8 is extended and the seedling implanting device 5 is lowered.

As shown in Fig. 10, the rising control valve 29a is configured to be electronically operable to operate at two positions of the supply position and the shutoff position of the hydraulic oil, and the lower control valve 29b is the discharge position and the shutoff position of the hydraulic oil. It is composed of an electronically controllable operation in two positions. Duty control in which the rising and falling control valves 29a and 29b are repeatedly operated at high speed at the supply position (discharge position) and the cutoff position is performed, and is a ratio of the time operated at the supply position (discharge position) to the unit time. By changing the duty, it is possible to change the flow rate of the hydraulic oil supplied from the lift control valve 29a (the flow rate of the hydraulic oil discharged from the lower control valve 29b).

In this case, the duty is set by the control device 28, and the up and down control valves 29a and 29b are moved to the supply position (discharge position) and the shutoff position by the operation signal (duty) of the control device 28. It is repeatedly operated at a high speed, and the flow rate control of the hydraulic oil by the raising and lowering control valves 29a and 29b is performed.

As shown in Fig. 10, the height of the center ground float 26 relative to the seedling implantation device 5 (the height from the non-floor (the center ground float 26) to the seedling implantation device 5) is determined. On the basis of the seedling transplanting apparatus 5 to be maintained at the set height from the paddy field (the detection value of the potentiometer 60 (up-down gap between the potentiometer 27 and the center ground float 26) is kept at the set value), In response to the operation signal (duty) of the control device 28, the up and down control valves 29a and 29b are operated so that the hydraulic cylinder 8 is stretched and operated, and the seedling implanting device 5 automatically moves up and down (above, Automatic elevating control).

In this case, as the seedling implanting device 5 deviates greatly from the set height, the flow rate of the hydraulic oil rapidly delivered and operated to the hydraulic cylinder 8 increases (to allow the hydraulic cylinder 4 to expand and contract at high speed), and to move up and down. Flow rate control of the hydraulic oil by control valve 29a, 29b is performed.

Next, the rolling structure of the seedling transplant apparatus 4 is demonstrated. As shown in Fig. 10, a duty control is performed in which a current supplied from the control device 28 to the electric motor 53 (an example of an actuator) is repeatedly operated at high speed in a supply state and a stop state. By changing the duty T1 which is the ratio of the time of the supply state to the unit time, the current value supplied to the electric motor 53 can be changed (the larger the duty T1, the larger the current value, and the operation of the electric motor 53). Speed increases], the operation speed of the electric motor 53 can be controlled.

In this case, in the continuous state in which the duty T1 (0%) is in the stopped state, the electric motor 53 is in the stopped state, and in the continuous state in which the duty T1 (100%) is in the supply state, the electric motor ( 53) is operating at maximum speed. If the duty T1 is a positive value, for example, the electric motor 53 is operated in the forward rotation direction so that the seedling implanting device 5 is driven rolling in the right downward direction as viewed from the rear, and the duty T1 is If the value is negative, for example, the electric motor 53 operates in the reverse rotation direction so that the seedling implanting device 5 is rolled in the left downward direction as viewed from the rear.

Next, the first half of the rolling control (corresponding to the posture control means) included in the control device 28 will be described.

10, the inclination sensor 61 which detects the inclination angle (theta) of the left-right direction of the seedling implantation apparatus 5 with respect to the horizontal is connected to the support frame 55, and the inclination sensor 61 The detected value is input to the control device 28. An inclination setter 87 is provided for setting the inclination angle in the horizontal direction with respect to the horizontal, and the set value of the inclination setter 87 is input to the control device 28, and the driver artificially sets the inclination setter 87. By operating, the inclination angle (theta) of the left-right direction of the seedling implantation apparatus 5 which should be maintained with respect to the horizontal is set as target inclination angle (theta) 0 (corresponding to a predetermined posture).

As shown in Fig. 12, when the rolling control is in operation, the inclination angle [theta] is detected and input to the control device 28 at every minute of elapsed time (step S1). When one inclination angle θ is detected, the angle difference B1 between the inclination angle θ and the target inclination angle θ0 is calculated in the control device 28 (step S2), and the angle difference B1 is determined. Therefore, the duty T1 (corresponding to the operation signal of the posture control means) is set (step S3), and the square value of the duty T1 is calculated (step S4).

In this case, if the angle difference B1 is a positive value, as shown by the solid line in Fig. 13, for example, the seedling transplant apparatus 5 is judged to be in the left-down state with respect to the target inclination angle θ0, and seedling transplantation is performed. The positive duty T1 for operating the electric motor 53 in the forward rotational direction is set so that the device 5 is rolled in the right downward direction as viewed from the rear. On the contrary, when the angle difference B1 is a negative value, for example, the seedling implanter 5 is judged to be in the right lowered state with respect to the target inclination angle θ0, and the seedling implanter 5 is viewed from the rear in the left downward direction. The negative duty T1 for operating the electric motor 53 in the reverse rotation direction is set so as to be driven in a rolling manner. The closer the angle difference B1 is to 0, the closer the duty ratio T1 is to 0%. The larger the absolute value of the angle difference B1 is, the larger the absolute value of the duty T1 is. Absolute value of T1) is 100%].

As shown in Fig. 12, when the square value of the duty T1 is calculated (step S4), the present point at which the duty ratio T1 is set (the present point at which the inclination angle? Corresponding to the duty T1 is detected) is determined. As a reference, the first moving average value C1 (corresponding to the average value) of the square value of the duty ratio T1, the second moving average value C2 (corresponding to the average value) of the square value of the duty ratio T1, and the duty ( The third moving average value C3 (corresponding to the average value) of the square value of T1) is calculated (steps S5, S7, S9).

In this case, as shown in Fig. 11, the first set time D1 (equivalent to the set time), the second set time D2 (equivalent to the set time), and the third set time D3 (equivalent to the set time) ) Is set (case relation of D3> D2> D1), and the average value of the square values of the duty ratios T1 between the present time and the past for the first set time D1 is the first moving average value C1. Is calculated. Similarly, the average value of the square values of the duty T1 between the past by the present time and the second set time D2 is calculated as the second moving average value C2, and is past by the present time by the third set time D3. The average value of the square values of the plurality of duty cycles T1 is calculated as the third moving average value C3 (steps S5, S7, S9).

As shown in Fig. 11, the first setting operation signal CA1 (corresponding to the setting operation signal) for the first setting time D1, and the second setting operation signal CA2 (for the second setting time D2). The third setting operation signal CA3 (corresponding to the setting operation signal) is set for the setting operation signal and the third setting time D3. In this case, the magnitude relationship of CA1> CA2> CA3 is set in the first, second, and third setting operation signals CA1, CA2, CA3 (the first setting operation signal CA1 is set to the high speed operation side). 2nd setting operation signal CA2 is set to the medium speed operation side, and the 3rd setting operation signal CA3 is set to the low speed operation side.

Thereby, the 1st moving average value C1 is below 1st setting operation signal CA1 (low speed operation side) (step S6), and simultaneously, 2nd moving average value C2 is below 2nd setting operation signal CA2 (low speed If the operating side) (step S8) and the third moving average value C3 are equal to or less than the third setting operation signal CA3 (low speed operating side) (step S10), the duty from the control device 28 on the basis of FIG. (T1) is outputted as it is to the electric motor 53 (step S11), the electric motor 53 is operated at the operating speed based on the duty T1, and the inclination angle of the left-right direction of the seedling implantation apparatus 5 is carried out. [theta] is maintained at the target inclination angle [theta] 0 (corresponds to the stop state of the suppression means).

Next, the second half of the rolling control (corresponding to the posture control means) included in the control device 28 will be described.

As shown in Fig. 12, when the first moving average value C1 exceeds the first setting operation signal CA1 (when displaced to the high speed operation side) (step S6), or the second moving average value C2 is the second one. When the setting operation signal CA2 is exceeded (when displaced to the high speed operating side) (step S8), or when the third moving average value C3 exceeds the third setting operation signal CA3 (when displaced to the high speed operating side) (step S10), the process proceeds to step S12.

In step S12, as shown by the solid line in FIG. 14, a relatively low upper limit TA1 is set for the duty T1, the duty T1 is corrected based on the solid line in FIG. 14, and based on FIG. The duty T1 corrected from the control device 28 is output to the electric motor 53 (step S12), the electric motor 53 is operated at an operating speed based on the corrected duty T1, and The inclination angle θ in the left and right directions of the implantation device 5 is maintained at the target inclination angle θ0 (the operating state of the suppression means for operating the actuator at an operation speed lower than the operation speed by the operation signal of the posture control means). Equivalent to).

In this case, as shown in Fig. 11, a relatively large first setting operation signal CA1 is set for a relatively short first setting time D1, and a second intermediate that is intermediate to the second setting time D2 which is intermediate. The setting operation signal CA2 is set, and a relatively small third setting operation signal CA3 is set for the relatively long third setting time D3.

Even if a relatively large duty T1 is output from the control device 28, if this state is temporary, the heat generation of the electric motor 53 is not so large (the load on the electric motor 53 is not so great). Therefore, the relatively large first setting operation signal CA1 is set for the relatively short first setting time D1. Thereby, the state which only transitions relatively to the relatively large duty T1 from the control apparatus 28 in the comparatively short 1st set time D1 temporarily to step S12 is prevented.

On the contrary, even if a relatively small duty T1 is output from the control device 28, if this state continues for a long time, the heat generation of the electric motor 53 becomes large (the load on the electric motor 53 becomes large). As a result, a relatively small third setting operation signal CA3 is set for the relatively long third setting time D3. Thereby, in the comparatively long 3rd set time D3, relatively small duty T1 is output from the control apparatus 28 for a long time, and heat_generation | fever of the electric motor 53 becomes large (the electric motor 53 takes Load increases] is prevented.

Steps S1 to S12 in Fig. 12 are performed each time the inclination angle θ is detected and inputted to the control device 28 for each passage of the minute time. Thereby, even if one inclination angle (theta) is detected and it moves to step S11, the next inclination angle (theta) will be detected and it will go to step S12 by the 1st, 2nd, and 3rd moving average values C1, C2, C3. There is also a state of transition. On the contrary, even if one inclination angle θ is detected and the process proceeds to step S12, the next inclination angle θ is detected and the process proceeds to step S11 by the first, second and third moving average values C1, C2 and C3. There is also a state (equivalent to a state in which the suppression means is stopped when the operation signal of the posture control means exceeds the setting operation signal and is displaced to the low speed operation side).

In addition, in step S12 of FIG. 12 mentioned above, duty T1 is output as it is from the control apparatus 28 as it is in step S12 of FIG. 12, without correct | amending the duty T1 based on the solid line of FIG. The current control device (corresponding to the suppression means) (not shown) provided between the control device 28 and the electric motor 53 may be configured to suppress the current.

In the above-described "optimal mode for carrying out the invention", an electronically operated control that uses hydraulic cylinders (equivalent to actuators) (not shown) in place of the electric motor 53, and rapidly supplies and operates hydraulic oil to the hydraulic cylinders. A valve may be provided and configured to duty control the current supplied to the control valve.

[Second Embodiment]

In the above-described embodiment, the inclination angle detecting means is preferably provided as follows. That is, as shown in Figs. 15 to 17, the angle sensor 61 and the angular velocity sensor 62 are equipped with a horizontally long cylindrical support frame 55 arranged horizontally in the agricultural work device and traveling. While connecting the transmission case 14 to which work power derived from the apparatus main body is transmitted to the support frame 55, the angle sensor 61 and the angular velocity sensor 62 are mounted in the vicinity of the rolling support point of the support frame 55. I support it.

Specifically, the bracket 82 for sensor installation is connected and fixed to the upper surface of the said transmission case 12, and the angular velocity sensor 62 and the angle sensor 61 are provided in this bracket 82. As shown in FIG. The bracket 82 is composed of a high rigidity in which the steel sheet is refracted into a box shape that is opened rearward, and the bottom plate portion 82a is firmly fastened to the upper surface of the transmission case 14 by a pair of bolts 83. It is. The angular velocity sensor 62 is fixed to the back surface of the front plate portion 82b in the bracket 82 by two bolts 84, and on the outside of one side plate 82c in the bracket 82. The angle sensor 61 is connected and fixed by the positioning pin 85 and one bolt 86 in a predetermined posture. The attachment hole formed in the bottom plate portion 82a of the bracket 82 is slightly larger than the diameter of the bolt, and the attachment posture of the bracket 82 is unadjusted so that the axial axis of the angular velocity sensor 62 is accurately positioned in the front and rear direction of the main body of the device. Can be.

The angular velocity sensor 62 performs detection without delay, but because of its high responsiveness, the angular velocity sensor 62 is sensitively sensitive to disturbances such as vibration, and a countermeasure for removing unnecessary signals through a filter is necessary. However, as described above, by mounting and supporting the angular velocity sensor 62 on the high rigidity and hardly vibrating transmission case 14, it can be sensed without error detection, and highly accurate angle detection is possible without requiring filter processing or the like. Become. In this case, it is possible to omit the low pass filter 63 and the low pass cut filter 64 in FIG.

Incidentally, the angle sensor and the angular velocity sensor may be provided on the support frame 55. The support frame 55 is robustly configured to support various mechanisms and structures for work, including the transmission case 14. For this reason, by attaching and supporting the angular velocity sensor 62 to the support frame 55 which is rigid and hard to vibrate, the influence of vibration can be made less sensitive.

[Third Embodiment]

18 and 19 show a riding type electric machine with a fertilizer device, which is an example of the agricultural work machine according to the present invention. This riding type electric machine is composed of six sets of transplanting specifications, and is provided with a front wheel 1 and a rear wheel 2 and driven by a hydraulic cylinder 8 at a rear portion of the traveling device main body 3 configured as a four wheel drive type. The elevating link mechanism 4 of the parallel quadruple link structure is equipped, and at the lower rear end of the elevating link mechanism 4, the seedling implanting device 5 is connected and supported so as to roll around the front-rear support point x, The fertilizing device 6 is mounted on the rear portion of the traveling device main body 3.

The seedling transplanting apparatus 5 cuts seedlings one by one from the lower end of the seedling loading table 23 which is loaded with 6 trillion mat type seedlings and is reciprocally moved in a predetermined stroke, and then the rice field. Six sets of rotary implant mechanisms 24 to be transplanted to T), three stationary floats 26 arranged in parallel to average the transplant sites of the paddy field T, and the running reference line for the next stroke to the paddy ground T. A pair of left and right markers 31 and the like to be formed are provided.

In the seedling transplant apparatus 5, the front lower part is equipped with the transplant frame 21 of the cylindrical shape extended to the left and right by the extrusion molding of the aluminum material, and this implantation frame 21 is the said lifting link mechanism 4 It is connected to the lower rear end of the rolling through the feed case 22. The feed case 22 which receives power from the traveling device body is connected to the left and right centers of the transplant frame 21, and the implant case 25 has a rear cantilever shape at four left and right positions on the rear surface of the implant frame 21. The implantation mechanism 24 is attached to both left and right ends of the implantation drive shaft 32 that extends across the rear end portion of each implant case 25.

The implantation mechanism 24 is connected to and fixed to an end of the implantation drive shaft 32, and is rotated to rotate integrally with the implantation drive shaft 32, and a horizontal axis in the horizontal outer side of both ends of the rotation case 33. A claw case 34 pivotally supported rotatably around is provided, and each claw case 34 is equipped with a grafting hook 35 and a seedling extruder 36.

The rotary case 33 is rotated by the constant speed in the forward rotation direction (counterclockwise in Fig. 18) by the implantation drive shaft 32, and the hook case 34 is incorporated in the rotary case 33. It is rotated by the inconstant speed gear transmission mechanism (not shown) in the reverse direction at an inconstant speed, whereby the graft hook 35 has a longitudinal length tip over the seedling outlet of the lower end of the seedling loading table 23 and the paddy field T. The rotational movement trajectory S is drawn to circulate. The seedling extruder 36 protrudes to the end of the hook and transplants the seedling held at the time when the transplanted hook 35 cuts off the lower end of the seedling loading table 23 and holds the seedling held in the paddy field T. Separated from the hook 35 is configured to press into the ground.

As shown in FIG.20 and FIG.21, the sliding rail 38 which receives and supports the lower end part of the seedling loading stand 23 so that left and right can slide left and right across the upper part of the transplant case 25 is spread horizontally. The sliding rail 38 is supported by the guide rod 39 so as to be displaceable in the inclined direction of the seedling loading table 23, and the sliding rail 38 is positioned to distal the seedling loading table 23. By moving up and down with respect to the rotation movement trajectory S, it is possible to change and adjust the seedling taking-out amount by the transplant hook 35. In order to adjust the position of the sliding rail 38, the seedling take-out amount adjusting lever 40 which is rocked around the support point a is used, and the seedling take-out amount adjusting lever 40 which is swing-adjusted is provided in the implantation frame 21. By locking to the notch 42 of one lever guide 41, it is comprised so that the sliding rail 38 may be fixed and supported at arbitrary adjustment positions.

The float support point shaft 43 is horizontally and horizontally disposed below the front part of the transplant case 25, and the said stop is provided in the rear end of three sets of float support arms 44 which protruded back from this float support point axis 43. The float 26 is connected and supported so that up-and-down swinging is possible around the support point b, respectively. The float support arm 44 which can be swung around the support point c integrally with the float support point shaft 43 is oscillated by the implantation depth adjusting lever 45 extending upward from the float support point shaft 43. By moving the float support arm 44 upward, the tip rotational movement trajectory S of the transplant hook 35 is not found with respect to the paddy field T, so that the depth of implantation is deepened, and the float support arm 44 is moved. By moving downward, the tip rotational movement trajectory S is found with respect to the paddy field T, so that the implantation depth becomes shallow. The implant depth adjustment lever 45 can be locked to the notch 46 of the lever guide 41 and fixed and supported in any adjustment position. In addition, as shown in Fig. 22, the implantation depth adjustment lever 45 is a plate material that is bent in a cross-section U-shape and has a high bending strength with respect to the swinging operation direction, and firmly grounds the ground load of the entire stationary float 26. I can support it.

The work power taken out from the traveling device main body 3 is transmitted to the feed case 22 via the telescopic transmission shaft 16, and the seedling loading table 23 is horizontally transferred by the power transmitted to the feed case 22. (Back and forward feed) Driven and the seedling feed belt 47 with which the seedling mounting base 23 was equipped for each stroke end part is driven by a fixed pitch. The transverse shaft power taken out from the feed case 22 is input to the front part of each transplant case 25.

A plurality of guide rollers 56 can be provided in the horizontal frame 55 which is supported by the support pillar 54 upright from the left and right of the transplant frame 21, and is temporarily installed over the support pillar 54, These The guide roller 56 is coupled to the guide frame 57 horizontally connected to the upper rear surface of the seedling loading table 23, and the upper part of the seedling loading table 23 held in the forward falling position can be moved left and right or moves up and down. It is received and is supported.

The rolling drive device 81 is provided above the rear end of the lifting link mechanism 4. A shock absorbing spring 58 is constructed across the left and right portions of the operation wire 58 and the horizontal frame 55 drawn out from the rolling drive device 81 on the left and right sides, and the left and right operation is performed by the electric motor 47. The entire seedling implanting device 5 is driven to swing around the front-rear direction support point P by releasing the wire 58 in and out. The rolling drive device 81 is connected to the inclination sensor which is not shown which detects the left and right inclination of the seedling implantation apparatus 5, and the traveling device main body 3 is inclined right and left by the ups and downs and unevenness of a seedling transplantation apparatus ( When 5) is inclined following, it is detected by the inclination sensor, the electric motor 47 is operated and controlled, and the seedling implanting apparatus 5 is controlled to return to the left-right horizontal position. In addition, since the shock absorbing spring 58 is provided between the rolling drive device 81 and the seedling implanting device 5, the seedling implanting device 5 is the shock absorbing spring 58 even when the rolling drive device 81 is in an idle state. It is possible to operate free rolling while deforming, and even if the traveling device main body 3 is slightly inclined left and right, the seedling implanting apparatus 5 follows the ground of the rice field T.

A balance spring 59 is provided over the upper rear end of the elevating link mechanism 4 and the left and right portions of the guide frame 57 behind the seedling loading table. When the seedling loading stand 23 moves horizontally, the balance spring 59 on the opposite side to the movement direction is extended, and the rolling force by the spring tension is added to the seedling implanting apparatus 5, and the horizontal direction of the seedling loading stand 23 is carried out. Inclination of the seedling implanting apparatus 5 by the change of the weight balance by movement is prevented automatically.

The marker 31 is mounted on the left and right ends of the implantation frame 21 so as to allow swinging and swinging. The marker 31 is supported so as to be swingable in a swinging posture and a standing posture extended laterally and outwardly, and the fixed position of the electric motor 48 is fixed. It is comprised so that the said two postures may be switched by a rotation and a reverse rotation operation.

The fertilizing device 6 is mounted on the traveling device main body 3 between the driving seat 37 and the seedling implanting device 5 whose main portion is disposed at the rear of the traveling device main body 3. Each of the seedling transplanting apparatuses 5 through the fertilizer hopper 71 which stores a standing fertilizer, the rotary extraction mechanism 72 which feeds the fertilizer in this fertilizer hopper 71, and the extracted fertilizer through the supply hose 73. Three take-out mechanisms in which the electric blower 75 carrying wind power to the small size device 74 provided in the stationary float 26 and the conveying wind from the electric blower 75 are arranged in parallel in two sets. And a blower duct 76 for dispensing and supplying to 72).

The front part of the seedling transplant apparatus 5 comprised as mentioned above is equipped with the left-right paired mud removal cover 79 which receives the mud which bounced rearward from the rear wheel 2. The mud removing cover 79 is blow-molded with a resin material and is formed in a plate shape. As shown in FIG. 24, the left and right portions of the upper end portion are bolted and fixed to the horizontal frame 55 through the bracket 77. At the same time, both the left and right portions of the lower portion of the mud removing cover 79 are fastened and fixed by using the through bolts 78 that connect the transplant case 25 to the implant frame 21. In addition, the through bolt 78 is tightened to the receiving plate 54 of the cross-sectional L-shape disposed along the implantation frame 21.

Each mud removal cover 79 is vertically long from the front end of the left and right stop floats (side floats) 10 to the rear wheels 2 from the rear of the rear wheel center x upwards and downwards to a position higher than the rear wheels. It is formed in the left and right stop floats 26 so that they may overlap from the front. The upper and lower middle portions 79a of the mud removing cover 79 are slightly expanded toward the front, and the electric motor 48 of the marker 31 is disposed behind the upper and lower middle portions 79a of the mud removing cover 79. It is. Although there is much mud scattered from the rear wheel 2, it can pick up in the range which extends downward from the upper limit intermediate part 79a of the mud removal cover 79, and it flows down.

Even in the shallowest implanted state in which the stationary float 26 is positioned at the bottom, the lower end of the mud removal cover 79 is approximately the same height as the upper end of the stationary float (side float) 10 located behind it. Preferably, it is comprised so that it may be located in the position lower than the upper end part of the stop float 26, and the mud is prevented from scattering rearward between the lower end part of the mud removal cover 79 and the stop float 26. FIG.

A cutout 80 is formed in the peripheral portion of each mud removing cover 79. The supply hose 73 is inserted through the cutout portion 80 and is held deep inside the cutout portion 80 by the elastic restoring force of the hose itself, and is supported without being unsuitably shifted. In this case, an opening may be formed in the upper portion of the mud removing cover 79 instead of the cutout 80, and the supply hose 73 may be inserted through the opening.

The left and right mud removing cover 79 is produced using the left and right symmetrical cover material 79A molded with the same metal mold | die. A thin cutting line h is formed in the cover material 79A, and the outer shape can be adjusted by cutting along the thin cutting line h. In this example, the left and right mud removing covers 79 are different from each other. It is arbitrarily adjusted in shape.

In this embodiment, as mentioned above, the mud removal cover which catches the mud scattered to the rear by the rear wheel of the traveling equipment main body in front of the said agricultural-work apparatus is arrange | positioned from near the paddy field to the upper part of the rear wheel shaft center, The mud removing cover is configured to move up and down in the same direction as the agricultural work device moves up and down.

As a result, since the agricultural work device is positioned at a predetermined working height relative to the rice paddy field, the agricultural work device is raised with respect to the traveling machine main body in a deep paddy field, and the agricultural work device is lowered with respect to the running machine main body in a shallow paddy field. As the agricultural work equipment moves up and down, the mud removal cover is moved up and down. Therefore, regardless of the depth of discussion, the mud scattered widely from the bottom of the paddy field to the upper side of the rear wheel shaft without widening the paddy field cover and spreading up and down by the rear wheels is applied to the front exposed part of the agricultural work device. Attachment deposition is prevented.

Therefore, it is possible to reliably prevent the mud scattered widely up and down by the rear wheels toward the rear by attaching to the agricultural work device, and the mud adheres to the sliding part to speed up the wear, or the operation resistance increases to drive Increased load can be avoided beforehand. Mud does not adhere to the details of the mechanical device in the agricultural work machine, and cleaning after work also becomes easy.

Moreover, the said mud removal cover is provided in the said agricultural work device. As a result, the mud removal cover can be easily moved up and down in the same direction as the agricultural work device is lifted and lower, so that the mud removal cover can exhibit a good mud removal function without ruining the rice paddy.

Further, the agricultural work device is a seedling transplanting device in which a stationary float is arranged so as to be height-adjustable with respect to the implantation apparatus, and in the shallowest transplantation state where the stationary float is adjusted downward to the implantation apparatus, the lower end of the mud removing cover Is positioned at approximately the same height as the upper end of the stationary float located behind it. Therefore, even in the shallowest transplantation state in which the stationary float is positioned downward, the mud can be prevented from scattering backwards between the lower end of the mud removal cover and the stationary float, so that suitable mud removal can be performed regardless of the implant depth. have.

Moreover, the said mud removal cover is arrange | positioned by right and left pairs facing a rear wheel. Therefore, by arranging the mud removal covers facing the left and right mud scattering sources (rear wheels) individually, it is possible to effectively prevent mud adhesion without using a large mud removal cover covering the entire surface of the agricultural work device.

In the above [Third Other Embodiment], when the mud removal cover 79 is formed wider as shown in FIG. 26, the implantation depth adjustment lever which is an operation member provided in the seedling transplanting apparatus 5 It is good to form the notch 57 which penetrates 45 and the seedling taking-out adjustment lever 40 in the mud removal cover 79.

In addition, the mud removal cover is provided with an opening corresponding to the lever guide 41 (notch 42) as the mud removal cover 79 to the part of the notch 57 instead of the above notch 57 for inserting members. It may be provided at 79, and the implantation depth lever 28 and the seedling extraction amount adjusting lever 40 may be inserted into this opening.

Thus, if it forms the notch or opening which the member arrange | positioned between the said traveling device main body and the said agricultural work device passes, the hoses, cords, wires, etc. which are arrange | positioned over the traveling device main body and the agricultural work device The mud removal cover having a large mud support area can be arbitrarily disposed to avoid the member.

The mud removing cover 79 may also be mounted on the rear end of the elevating link mechanism 4.

Moreover, you may comprise so that the upper part of the mud removal cover 79 may extend upward rather than the guide frame 57, and cover the guide frame 57 with the mud removal cover 79. FIG.

In addition, in the seedling transplant apparatus 5 which is not provided with the transplant frame 21, the lower part of the mud removal cover 79 may be connected to the feed case 22 or the front part of the transplant case 25.

Moreover, from the rear wheel fender 60 (refer FIG. 18) provided in the left-right rear part of the traveling body main body 3, the mud removal cover 79 which coats the rear wheel 2 from the back to the paddy field T is near. At the same time, the mud removal cover 79 is raised and lowered in conjunction with the lifting and lowering of the seedling transplanting device (agricultural work device) 6, and the lower end of the mud removal cover 79 is immersed in the paddy ground T. It may also be configured to be placed directly on one rice field (T).

[Other Embodiments]

The present invention can be applied not only to the rolling control for rolling the work device around the front and rear shaft centers of the main body of the device, but also to the lifting control for lifting and lowering the work device in a predetermined posture. The present invention is not only a riding type electric machine, but also an agricultural tractor supporting a rotary tillage device (equivalent to a work device) so as to be lifted and rolled on the rear part of the machine main body, and a harvesting unit (equivalent to a work device). It can also be applied to work vehicles such as couplings supported to move up and down.

In addition, although the example using the electric motor 53 as an actuator was demonstrated, you may use other than an electric motor, such as a hydraulic motor, for example.

1 is an overall side view of the electric machine.

2 is an overall plan view of the electric machine.

Fig. 3 is a rear view of the seedling transplant apparatus viewed from the front of the instrument body;

4 is a longitudinal side view of the rolling drive device body;

5 is a block diagram showing an outline of an entire control system.

6 is a block diagram of a rolling control system.

7 is a flowchart of a rolling control system.

8 is a flowchart of rolling limit control.

Fig. 9 is a flowchart showing the related operation of lifting and rolling control.

Fig. 10 is a diagram showing the relationship between the potentiometer, the rise and fall control valve, the hydraulic cylinder, the inclination sensor, the inclination setter, and the electric motor in the first other embodiment.

Fig. 11 is a diagram showing a relationship between first, second and third set time, first, second and third set operation signals and first, second and third moving average values.

12 illustrates the flow of rolling control.

Fig. 13 is a diagram showing a relationship between an angle difference and a duty in a state where the duty is output as it is from the control device.

Fig. 14 is a diagram showing a relationship between an angle difference and a duty in a state where a duty corrected from a control device is output;

Fig. 15 is a side view of a seedling transplant device according to another second embodiment.

Fig. 16 is a rear view showing the inclination angle detecting means attaching structure.

Fig. 17 is an exploded perspective view of the inclination angle detecting means attaching structure.

Fig. 18 is an overall side view of the pot machine of the third other embodiment.

Figure 19 is a front front view of the seedling transplant apparatus.

20 is a side view of a seedling transplant apparatus.

Fig. 21 is a side view showing the supporting structure of the bottom of a stationary float and seedling loading table.

Figure 22 is a cross-sectional view of the implant depth adjustment lever.

Fig. 23 is a front view showing the mud removing cover before the appearance is adjusted.

Fig. 24 is a vertical side view showing the top mounting structure of the mud removing cover.

Fig. 25 is a vertical side view showing the lower mounting structure of the mud removing cover.

Fig. 26 is a front front view of the seedling transplanting apparatus equipped with the mud removal cover of another embodiment.

<Explanation of symbols for the main parts of the drawings>

1: front wheel

2: rear wheel

3: device body

4: link mechanism

5: seedling implanting device (working device)

6: fertilizer

7: spare seedling loading table

8: hydraulic cylinder

9: rolling drive mechanism

10: engine

11: hydraulic continuously variable transmission (HST)

12: mission case

13, 15, 16: electric shaft

14: electric case

22: feed case

23: seedling loading table

24: implantation apparatus

25: transplant case

26: stop float

27, 60: potentiometer

28: control unit

29: control valve

50: bracket

51: rolling drive member

52: gear reduction mechanism

53: electric motor

55: support frame

57: guide rail

58: flexible spring

59: return spring

61: angle sensor

62: angular velocity sensor

66: tilt angle setter

T: rice field

Claims (13)

The agricultural work device which is connected to the rear of the main body of the traveling device so that the agricultural work device can be lifted up and down, and the left and right support columns which support the seedling loading stand from the lower part of the agricultural work device so as to be able to move horizontally and horizontally In In front of the agricultural work device, a mud removal cover for collecting mud scattered rearward by the rear wheel of the traveling machine main body is disposed from near the paddy field to near the upper end of the support column, The mud removing cover is arranged in a pair of left and right facing the left and right rear wheels, and the lifting link extends in the front-rear direction of the traveling device main body between the mud removing cover on the left side and the mud removing cover on the right side so that the traveling device The main body and the agricultural work device is connected, And said mud removing cover is attached to said agricultural work device in a forward falling inclined position, and said mud removing cover is moved up and down in the same direction as the agricultural work device moves up and down. delete The mud according to claim 1, wherein the agricultural work device is a mother transplant apparatus in which a stationary float is arranged to be height-adjustable with respect to an implantation apparatus, and in the shallowest implantation state in which the stationary float is adjusted downward to the implantation apparatus. And the lower end of the removal cover is positioned at the same height as the upper end of the stationary float located behind it. delete The agricultural work machine according to claim 1, wherein the mud removing cover has a cutout or an opening through which the member disposed over the traveling device main body and the agricultural work device passes. The agricultural work machine according to claim 1, wherein a cutout or an opening through which the operation member provided in the agricultural work device passes is formed in the mud removing cover. The agricultural work machine according to claim 1, wherein the mud removing cover is provided with a support of a member connected to the agricultural work device. The agricultural work machine according to claim 1, wherein the mud removing cover is molded of a resin material and a thin cutting line for adjusting the appearance is formed. The agricultural work device is connected to the rear part of the traveling device main body via an elevating link mechanism, and the support pillars on the left and right are installed standing up and down to support the seedling loading stand from the lower part of the agricultural work device so as to be able to move horizontally. The agricultural work is provided with a mud removing cover on the left side covering the surface facing the traveling device main body between the support column on the left side and the lifting link mechanism in the agricultural work device on the front side than the support column on the left side. The right mud removal cover which covers the surface which faces the said traveling device main body between the said right support pillar and the said lifting link mechanism in an apparatus is provided in front of the said right support pillar, The outer end of the left and right mud removing cover extends to the outside in the left and right directions until the state overlaps with the left and right support pillars in a front view, and the inner end of the left and right mud removing cover is close to the lifting link mechanism. Extend in the left and right direction until the state, The said left and right mud removal cover is arrange | positioned over the transplant frame which connects the front-end parts of a transplant case, and the seedling stand support part in the upper end side of the said left-right support pillar, The agricultural work machine which extends to the lower part vicinity of the guide frame which supports the upper end part of the said left and right mud removal cover so that the upper part of the said seedling loading stand can be slidably moved to the left and right support pillars. The lower part of the said left and right mud removal cover is connected to the said transplant frame, and the upper end side of the said left and right mud removal cover is supported by the seedling loading stand support point in the upper end side of the said support pillar. Agricultural work machine. The agricultural work device can be lifted and lowered through a lifting link mechanism at the rear portion of the traveling device main body, and the implantation case is supported by the left and right implantation frame disposed below the farm work device, and the left and right support is supported from the transplant frame. Erect a pillar upright, The left and right mud removal covers that receive mud scattered rearward by the rear wheels of the traveling device main body are vertically stretched across the seedling loading stand support points on the upper end side of the implantation frame and the support column. The mud removal cover covers the surface facing the traveling device main body between the support pillar on the left side of the agricultural work device and the lifting link mechanism, and the mud removal cover on the right side is the right side in the agricultural work device. It is formed in the left and right width covering the surface facing the traveling device main body between the support pillar and the lifting link mechanism, In front of the agricultural work device, the left and right mud removing cover is disposed in the forward falling position along the left and right support columns, The agricultural work machine which is comprised so that the said left and right mud removal cover may move up and down in the same direction according to the lifting of the said agricultural work device. The lower end side of the left and right mud removal covers is connected to the transplant frame, and the upper end side of the left and right mud removal covers is supported at a seedling loading stand support point at the upper end side of the support column. Farm worker. In the agricultural work machine which connected the agricultural work device to the back part of the traveling device main body so that the lifting and lowering was possible, The front side of the said agricultural work device, the mud removal cover which catches the mud scattered back by the rear wheel of the said traveling device main body from the lower part of the said agricultural work device to the front over the location located above the rear wheel shaft inclination inclination posture Place it in, A mud drop guide surface is provided on the upper and lower middle portions of the mud remove cover, and the mud drop guide surface is a direction in which the face of the mud drop guide surface faces in the direction of the front face down slope of the bottom of the mud remove cover. And the slant is inclined at an angle lowered more than the forward fall slope of the mud removing cover so that the surface of the mud dropping guide surface faces downward downward.

Images