KR20120127496A - Agricultural work vehicle - Google Patents

Abstract

The agricultural work vehicle which realized the automatic lifting control of the work machine at the time of turning by simple structure is provided.
The side clutch operation mechanism 45 cuts off the side clutch when the steering wheel 7 is operated more than a predetermined operation amount. The clutch sensors 49L and 49R can detect the operation state of the side clutch. The control unit controls driving of the lifting cylinder for lifting and lowering the planting unit. The planting clutch is capable of switching the presence or absence of driving force transmission to the planting portion. Further, the control unit can detect the blocking of the planting clutch, the blocking of the side clutch, and the reverse operation during the operation of the planting unit as the start trigger of the automatic lift control when turning. The control unit raises the planting unit when detecting any one of the start triggers, and then lowers the planting unit when detecting the connection of the side clutch.

Description

Agricultural work vehicle {AGRICULTURAL WORK VEHICLE}

The present invention relates to an agricultural work vehicle. Specifically, the present invention relates to a control for automatically elevating the work machine when the agricultural work vehicle is turned.

The agricultural work vehicle may include a work machine attached to the rear of the vehicle body so as to be movable up and down. For example, the rice transplanter is equipped with the seedling planting apparatus in the back part, and performs planting of a seedling, linearly running to one end of rice fields. And when it reaches to the end of discussion, it turns 180 degree | times and returns, and planting of a seedling is performed linearly aiming at the other end of discussion.

In the rice transplanter as described above, if the vehicle body is turned while the seedling planting apparatus is lowered, the seedling planting apparatus may collide with the ground or the head, resulting in damage. In this respect, for example, Patent Literature 1 discloses a riding type seedling implanter that automatically lifts and lifts a work machine (seedling work device) when the vehicle body is turned. Thus, by raising a seedling planting apparatus at the time of turning, it can prevent that the said seedling planting apparatus collides with the ground, and is damaged. Moreover, the riding type rice transplanter of patent document 1 is comprised so that the operation angle of a steering wheel may be detected by a potentiometer, and if the steering wheel is detected that a predetermined amount was turned, the raising device (working machine) will be raised.

Moreover, patent document 2 and patent document 3 are disclosing the structure which interrupts the side clutch of the rear wheel located in the inside of a turning vehicle body, and measures the rotation speed of the drive shaft located downstream of the said side clutch. Patent document 2 and patent document 3 are the structures which judge the timing which restarts operation | movement of a rice transplanter based on the said rotation speed. Patent document 2 makes it hard to be influenced by a slip etc. by detecting the rotation speed of the turning rear inner wheel in which the side clutch was interrupted, and can make the measurement precision high.

Japanese Patent Publication No. 2007-74991 Japanese Patent No. 4088780 Japanese Patent Publication No. 2008-72976

However, in the case of the structure which raises and lowers a working machine based on the detection result of a potentiometer like patent document 1, since the process which compares the detection value of a potentiometer with a predetermined amount is needed, the structure of the passenger rice transplanter has become complicated. In addition, since a relatively expensive potentiometer is needed, there is room for improvement in terms of cost reduction.

Moreover, when turning a vehicle body, when the clutch of a turning direction inner rear wheel was interrupted like patent document 2 and patent document 3, the said inner rear wheel will be in the following rotation state. Since the turning of the rice transplanter is done to make the radius of rotation as small as possible in the sludge, there is a possibility that the turning inner rear wheel slips. Since patent document 2 and patent document 3 are the structures which measure the rotation speed of the drive shaft of a turning direction inner rear wheel, when a slip generate | occur | produces in the said inner rear wheel, planting can not be resumed at a desired timing. For this reason, in the rice transplanter of the structure of patent document 2 and patent document 3, the seedling of the heat planted immediately before turning and the seedling of the heat started to plant immediately after turning cannot be matched with a horizontal line, and are managed at the time of growth and harvesting. There was a problem that it would interfere with the efficiency of the.

This invention is made | formed in view of the above situation, The main objective is to provide the agricultural work vehicle which realized the automatic lifting control of the work machine at the time of turning with a simple structure.

The problem to be solved by the present invention is as described above. Next, the means for solving this problem and its effect will be described.

According to the viewpoint of this invention, the agricultural work vehicle comprised as follows is provided. That is, this agricultural work vehicle is equipped with a side clutch, a side clutch operation mechanism, a clutch sensor, a lifting cylinder, a control part, and a work clutch. The side clutch can switch the presence or absence of driving force transmission to the axle of the left and right rear wheels. The side clutch operation mechanism blocks the side clutch. The clutch sensor can detect the operation of the side clutch. The lifting cylinder is for driving up and down the work machine. The control unit controls the driving of the lifting cylinder. The work clutch is capable of switching the presence or absence of driving force transmission to the work machine. The control unit is capable of automatic elevating control during the following turning. That is, the control unit raises the working machine when it detects the blocking of the working clutch during the operation of the working machine, and stores the moving distance from the closing of the working clutch until the turning start. Further, the control section determines that the turning start is detected when the shutoff of the side clutch is detected. When the control unit detects the connection of the side clutch, the controller determines that the turning is completed based on this, and lowers the work machine. When the control unit detects that the vehicle has traveled the distance obtained by adding the moving distance and the predetermined offset distance after the turning is finished. The work clutch is connected.

According to another aspect of the present invention, there is provided an agricultural work vehicle configured as follows. That is, this agricultural work vehicle is provided with the control part which can carry out automatic lifting control at the time of the following turning. That is, when the control unit detects the backward operation of the vehicle body during the operation of the work machine, the control unit raises the work machine to measure the moving distance from the start of the reverse to the start of the turn, and determines that the start of the turn is detected when the side clutch is blocked. do. Moreover, when a control part detects the connection of the said side clutch, it determines that turning is complete based on this, and lowers the said work machine. The control unit connects the work clutch when it detects that the vehicle has traveled a distance obtained by subtracting the movement distance from a predetermined offset distance after the turning ends.

This configuration makes it possible to detect the start and end of turning by detecting the presence or absence of side clutch connection. Therefore, for example, an agricultural work vehicle can be comprised simply and inexpensively compared with the structure which detects the operation amount of a steering operation tool by a potentiometer. As described above, the work can be resumed at an appropriate position after the end of the turning by measuring the moving distance up to the turning start.

It is preferable that the said agricultural work vehicle is comprised as follows. That is, this agricultural work vehicle is provided with the side clutch operation mechanism which cuts off the said side clutch, when a steering operation tool is operated more than predetermined | prescribed operation amount, and the clutch sensor which can detect the operation state of the said side clutch. The side clutch operating mechanism includes a left clutch operating member for operating the left side clutch, a right clutch operating member for operating the right side clutch, and a steering linkage lever that rotates about an axis in association with the operation of the steering operating tool. The left clutch operating member is disposed near the vehicle body left end of the steering linkage lever. The right clutch operating member is disposed near the vehicle body right end of the steering linkage lever. Further, when the steering operation tool is operated by a predetermined amount on either of the left and right sides, the steering mechanism interlocking lever presses the left clutch operating member or the right clutch operating member to block the side clutch on the corresponding side. The clutch sensor is composed of a left clutch sensor for detecting the movement of the left clutch operating member and a right clutch sensor for detecting the movement of the right clutch operating member.

Thereby, the operation state of a side clutch can be detected with a simple structure.

It is preferable that the said agricultural work vehicle is comprised as follows. That is, this work vehicle is provided with the rotation sensor which detects the rotation speed of the drive shaft which transmits a driving force to the axle of the said rear wheel, upstream of the said side clutch. And the said control part acquires the said moving distance based on the detection value of the said rotation sensor.

Thus, the control part can determine the timing which connects a work clutch accurately compared with the conventional method which uses the rotation speed of the inner axle which concerns about slipping by using the detected value of the upstream rotation sensor of a side clutch.

In the agricultural work vehicle, the clutch sensor is a proximity switch, and the control unit preferably recognizes connection / disconnection of the side clutch by detecting ON or OFF of the proximity clutch.

As a result, the connection / disconnection of the side clutch can be detected accurately.

It is preferable that the agricultural work vehicle is provided with a notification unit for notifying when the work machine is lifted and the work clutch is connected.

Thereby, the operator can confirm that the automatic lifting control of the work machine at the time of turning is performed suitably.

In the agricultural work vehicle, the controller preferably determines the end of the turning in consideration of the number of times the drive shaft of the rear wheel rotates in addition to the detection of the side clutch connection.

That is, by considering the number of rotations of the drive shaft, it is possible to determine whether or not the vehicle body has turned to the proper direction. Therefore, it is possible to determine the turning end more accurately by considering the number of rotations of the drive shaft in addition to the detection of the side clutch connection.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the whole structure of the rice transplanter which concerns on one Embodiment of this invention.
2 is a skeleton diagram showing a drive transmission path of a rice transplanter.
3 is a perspective view of a rear axle case.
It is a schematic diagram which shows the structure of a side clutch operation mechanism.
5 is a hydraulic circuit diagram of a rice transplanter.
6 is a control block diagram of planting lift.
7 is a flowchart showing a process of starting automatic lift control at the time of turning in the control unit.
8 is a flowchart showing a first pattern of automatic lift control when turning.
Fig. 9 is a flowchart showing a second pattern of automatic lift control when turning.
10 is a flowchart showing a third pattern of automatic lift control when turning.
It is a figure explaining the 1st pattern of the automatic lifting control at the time of turning.
It is a figure explaining the 2nd pattern of the automatic lifting control at the time of turning.
It is a figure explaining the 3rd pattern of the automatic lifting control at the time of turning.

Next, an embodiment of the present invention will be described with reference to the drawings. 1 is a side view of a passenger rice transplanter 1 as an agricultural work vehicle according to an embodiment of the present invention.

The passenger rice transplanter 1 is comprised from the vehicle body 2 and the planting part (working machine) 3 arrange | positioned behind the said vehicle body 2.

The vehicle body 2 includes a pair of left and right front wheels 4 and a pair of left and right rear wheels 5. Moreover, the vehicle body 2 is equipped with the driver's seat 6 between the front wheel 4 and the rear wheel 5 in the front-back direction. In the vicinity of the driver's seat 6, a steering wheel (steering operation tool) 7 for steering operation of the vehicle body 2, a shift pedal 8 for adjusting the traveling speed of the vehicle body 2, and the vehicle body 2 Various operation tools, such as the forward-backward switching lever 9 for switching forward / backward of (), are arrange | positioned.

In the vehicle body 2, an engine 10 is disposed below the driving seat 6, and a mission case 11 is disposed in front of the engine 10. On the other hand, the rear linkage mechanism 12 for attaching the planting portion 3 to the rear of the vehicle body 2, the PTO shaft 13 for outputting the driving force of the engine 10 to the planting portion 3, the planting portion ( A lifting cylinder 14 or the like for raising and lowering 3) is disposed.

In addition, although not shown in FIG. 1 etc., the vehicle body 2 is equipped with the control part. The control unit is made of, for example, a microcontroller, and is configured to control each configuration of the rice transplanter 1 based on a signal such as a sensor provided in each part of the rice transplanter 1.

The planting part 3 includes a planting case 15, a plurality of floats 16, and a seedling stand 17.

The lifting link mechanism 12 is connected to the planting case 15. The lifting link mechanism 12 has a parallel link structure composed of a top link 18, a lower link 19, and the like. The planting case 15 is driven by driving the lifting cylinder 14 connected to the lower link 19. Is configured to be capable of raising and lowering up and down (therefore, the entire planting part 3 can be elevated up and down).

At least one planting unit 20 is attached to the planting case 15. The planting unit 20 is comprised as a rotary planting apparatus provided with the two planting claws 22 in the rotating case 21. As shown in FIG. Moreover, the driving force of the engine 10 is input to the planting case 15 through the said PTO shaft 13, and the rotation case 21 is rotationally driven by this driving force. Since the structure of a rotary planting apparatus is already known, detailed description is abbreviate | omitted, but it is comprised so that the front-end | tip part of the planting claw 22 may be driven up and down, drawing a predetermined | prescribed trajectory by rotating the rotation case 21. FIG. When the distal end of the planting claw 22 moves from top to bottom, the seedlings for one aeration are scraped off from the lower end of the seedling mats mounted on the seedling stand 17 described later, and then moved downward while maintaining the bottom of the seedlings. It is configured to plant.

The float (buoy) 16 is installed symmetrically on the lower part of the planting portion (3). The float 16 is brought into contact with the ground to hold the planting part 3 horizontally with respect to the ground, to stabilize the planting posture, and to perform accurate planting.

Further, at least one of the plurality of floats 16 is provided with a float sensor (ground detection unit), not shown, to be configured to detect whether or not the float 16 is in proper contact with the ground. Based on the detection result of this float sensor, it can be judged whether the planting part 3 is set to an appropriate height with respect to the ground. In addition, the detection result of the float sensor is output to the control unit.

The seedling stand 17 is for mounting a large number of seedling mats (seedlings before planting), and is installed inclined toward the rear side made of reinforced plastic. This seedling stand 17 is supported by the upper guide rail 62 and the lower guide rail 63 so as to reciprocally slide in the vehicle body left and right directions above the planting case 15. Moreover, the planting part 3 is equipped with the transverse feed mechanism not shown in figure which reciprocally drives the seedling stand 17 from side to side within the range of the left-right width of a seedling mat. Thereby, the seedling mat mounted on the seedling stand 17 can be made to move relative to the planting unit 20 from side to side. Moreover, the seedling stand 17 is equipped with the seedling feed belt (paper feed mechanism) which intermittently feeds a seedling mat downward (that is, toward the planting unit 20 side). In the above structure, seedlings are sequentially supplied to each planting unit 20 by appropriately interlocking a lateral feed mechanism and a paper conveyance mechanism, and planting can be performed continuously.

In addition, in the rice transplanter 1 of this embodiment, the said planting part 3 is comprised so that separation from the vehicle body 2 is possible. Specifically, the car body 2 and the planting section 3 can be separated from each other by separating the connection between the elevating link mechanism 12 and the PTO shaft 13 and the planting section 3. In addition, it is possible to attach other kinds of work machines (for example, weeders, choppers, etc.) to the vehicle body 2 from which the planting part 3 is separated. Thus, the rice transplanter 1 of this embodiment is comprised as what is called a multipurpose rice transplanter.

In addition, the rice transplanter 1 of this embodiment is provided with the notification part not shown. This notification part is specifically comprised as a buzzer, and the operation is controlled by the control part.

Next, the drive transmission path in the rice transplanter 1 of this embodiment is demonstrated with reference to FIG.

The engine 10 is arrange | positioned between the front wheel 4 and the rear wheel 5 in the front-back direction of the vehicle body 2, and is called what is called a midship layout. Moreover, the engine 10 is arrange | positioned substantially in the center part in the left-right direction of the vehicle body 2, and is arrange | positioned so that the longitudinal direction of the drive output shaft (crankshaft) 10a may follow the left-right direction of a vehicle body (so-called horizontal). arrangement). This drive output shaft 10a protrudes toward the left side of the vehicle body from the housing of the engine 10. In addition, a drive transmission belt 34 is disposed at the left end of the drive output shaft 10a.

The driving force of the engine 10 is input to the HMT (hydraulic mechanical continuously variable transmission) 25 disposed in the mission case 11 disposed in front of the engine 10 via the drive transmission belt 34. The HMT 25 is composed of an HST (hydrostatic continuously variable transmission) 26 and a planetary gear mechanism 27.

The HST 26 has the structure which connected the variable displacement hydraulic pump 28 and the fixed displacement hydraulic motor 29 by the hydraulic circuit. The variable displacement hydraulic pump 28 has an input shaft 28a, which serves as a drive input shaft of the HST 26. Moreover, the fixed displacement hydraulic motor 29 is provided with the output shaft 29a, and this becomes a drive output shaft of the HST 26.

As shown in FIG. 2, the input shaft 28a of the variable displacement hydraulic pump 28 is arrange | positioned along the left-right direction of the vehicle body 2, and protrudes left and right from the housing of the HST 26. As shown in FIG. The said drive transmission belt 34 is arrange | positioned at the left edge part of this input shaft 28a, and the output of the engine 10 is input. In addition, a hydraulic pump 24 is connected to the right end of the input shaft 28a. That is, since the variable displacement hydraulic pump 28 and the hydraulic pump 24 are connected to the input shaft 28a, the variable displacement hydraulic pump 28 and the hydraulic pump are driven by rotating the input shaft 28a by the driving force of the engine 10. It is comprised so that both of the 24 may be driven simultaneously.

The oil discharged by driving the variable displacement hydraulic pump 28 is supplied to the fixed displacement hydraulic motor 29, and is configured to rotationally drive the output shaft 29a of the fixed displacement hydraulic motor 29. In addition, the oil discharge amount of the variable displacement hydraulic pump 28 is configured to be changed in conjunction with the operation amount of the shift pedal 8. Thereby, the rotation speed of the output shaft 29a of the fixed displacement hydraulic motor 29 can be changed steplessly by an operator operating the shift pedal 8. In addition, the said hydraulic pump 24 is mentioned later.

The planetary gear mechanism 27 is composed of a sun gear 30, a planetary carrier 32 that rotatably supports the planetary gear 31, and an outer gear 33. The drive force from the input shaft 28a of the variable displacement hydraulic pump 28 into which the drive force of the engine 10 is input is input to the planet carrier 32. In addition, the sun gear 30 is fixed to the output shaft 29a of the fixed displacement hydraulic motor 29. The outer gear 33 is fixed to the output shaft 25a of the HMT 25.

In the above configuration, the output (rotation of the input shaft 28a) of the engine 10 and the output (rotation of the output shaft 29a) of the HST 26 are combined in the planetary gear mechanism 27 to output the output shaft of the HMT 25. It is output from 25a. Here, since the output of the HST 26 can be shifted steplessly according to the operation of the shift pedal 8, the output of the HMT 25, which is a combination of the output of the HST 26 and the output of the engine 10, is also shown. It is possible to shift steplessly. That is, the HMT 25 makes it possible to shift the output of the engine 10 steplessly in accordance with the operation of the shift pedal 8.

A part of the rotational driving force output from the output shaft 25a of the HMT 25 is inputted to the gear type peripheral speed 36 via the main clutch 35 arranged in the mission case 11 and shifted suitably. Moreover, the peripheral speed part 36 is equipped with the reverse gear not shown, and is comprised so that switching of a vehicle body forward-backward can be performed. The rotational drive force shifted by the peripheral speed portion 36 is output to the front axle case 37. The front axle case 37 is disposed in front of the mission case 11 and is integrally formed with the mission case 11. The rotational driving force from the peripheral speed portion 36 is transmitted to the left and right front axles 38 and 38 disposed in the front axle case 37 to drive the left and right front wheels 4 and 4.

In addition, a part of the rotational driving force output from the peripheral speed portion 36 is drawn out of the mission case 11 and is located at the rear of the engine 10 via the propeller shaft (drive wheel drive transmission shaft) 39. Is delivered).

The detail of the rear axle case 40 is shown in FIG. As shown in FIG. 3, both left and right rear axles 42R and 42L protrude from the rear axle case 40, and are provided. The rear wheels 5 are attached to the front ends of the rear axles 42R and 42L. The rotational driving force input into the rear axle case 40 is transmitted to the left rear axle 42L and the right rear axle 42R through the gear and the side clutch described later. The left rear axle 42L drives the left rear wheel 5, and the right rear axle 42R drives the right rear wheel 5.

By the above structure, the rotation speed of the front wheel 4 and the rear wheel 5 can be changed steplessly according to operation of the shift pedal 8. That is, it is comprised so that an operator can drive the vehicle body 2 at a desired vehicle speed by operating the shift pedal 8.

The left side clutch 41L is arranged between the drive transmission paths from the propeller shaft 39 to the left rear axle 42L. Similarly, right side clutch 41R is arrange | positioned between the drive transmission path from the propeller shaft 39 to the right rear axle 42R. The left and right side clutches 41L and 41R can independently switch connection / disconnection. As a result, for example, when the rapid turning of the vehicle body 2 is performed, the transmission of the driving force to the inner rear wheel can be interrupted, so that the smooth turning can be realized.

2, the propeller shaft 39 is attached with the rotation sensor 44 which detects the rotation of the said propeller shaft 39. As shown in FIG. The detection result of this rotation sensor 44 is input to the said control part. In the control unit, the approximate distance traveled by the vehicle body 2 can be obtained by detecting the number of rotations of the propeller shaft 39 based on the detection result of the rotation sensor 44.

In addition, a part of the output of the HMT 25 is taken out from the planting drive take-out part 51 provided at the position near the right side of the rear part of the mission case 11. The planting drive lead-out part 51 is connected to the planting drive transmission shaft 52 via a universal joint. This planting drive transmission shaft 52 is connected to the planting transmission part 43 arrange | positioned at the back of the mission case 11.

The planting transmission part 43 is provided with the transmission which consists of a some gear, and is comprised so that the input driving force may be suitably shifted and it may output from the PTO shaft 13. The planting part 3 is driven by the driving force which this PTO shaft 13 transmits. By the above structure, since the speed which rotationally drives the rotation case 21 can be changed, the interval which plant | plants a seedling can be changed. Moreover, in the planting transmission part 43, it is comprised so that a driving force may be transmitted to the PTO shaft 13 via the planting clutch 50. FIG. By interrupting the planting clutch 50, the driving of the planting unit 3 can be stopped. This planting clutch 50 is comprised so that a control part can switch connection / blocking. In addition, the planting clutch 50 is configured to be able to switch the connection / disconnection by operating an planting clutch operation tool (not shown). Further, a planting clutch detection switch (not shown) for detecting the connection / disconnection of the planting clutch 50 is disposed near the planting clutch 50. The detection result of the planting clutch detection switch is output to the control unit.

Next, a configuration for switching the connection / disconnection of the side clutches 41L and 41R will be described with reference to FIGS. 3 and 4. The typical structure of the side clutch operation mechanism 45 is shown by FIG.

The side clutch operation mechanism 45 is composed of left and right clutch operation arms (clutch operation arms) 46L and 46R, a steering linkage lever (steering linkage lever) 47, and a steering operation transmission link 48. As shown in FIG.

The clutch operation arms 46L and 46R are disposed outside the rear axle case 40. The clutch operating arms 46L and 46R are formed of an elliptical plate, and are fixed to one end of the arm shaft 67 arranged in the vertical direction. The female shaft 67 is interlocked with the side clutches 41L and 41R, and the female shafts 67 are rotated so that the side clutches 41L and 41R are connected / blocked. Accordingly, the side clutches 41L and 41R on the corresponding side can be operated by rotating the clutch operating arms 46L and 46R around the axis of the arm shaft 67.

More specifically, when the left clutch operating arm 46L is rotated to the "clutch connection position", the left side clutch 41L is connected to the left side, and when the left clutch operating arm 46L is rotated to the "clutch blocking position", the left side The side clutch 41L is configured to be in a blocking state. Similarly, when the right clutch operation arm 46R is rotated to the "clutch connection position", the right side clutch 41R is connected, and when the right clutch operation arm 46R is rotated to the "clutch disconnection position", the right side clutch is rotated. It is comprised so that 41R may become a blocking state. In addition, the biasing force is applied to the left and right clutch operation arms 46L and 46R so that it may become a "clutch connection position" by the biasing member which is not shown in figure. Accordingly, the left and right side clutches 41L and 41R are connected together in a state in which no operation force is applied to the left and right clutch operation arms 46L and 46R. In this state, the ends of the clutch operation arms 46L and 46R face each other (state of FIG. 4).

The steering linkage lever 47 is disposed outside the rear axle case 40. Moreover, the steering interlocking lever 47 is attached to the support shaft 47a in the longitudinal center part, and is comprised so that rotation is possible centering on this support shaft 47a.

The steering operation transmission link 48 is configured to transmit the operation of the steering wheel 7 by the operator to the support shaft 47a of the steering linkage lever 47. More specifically, the steering operation transmission link 48 is composed of a rod 48a and a pivot arm 48b.

As shown in FIG.3 (b), the said rotational arm 48b is fixed to the lower end of the support shaft 47a of the steering interlocking lever 47, and the other end is connected to the rod 48a as shown in FIG. It is. The rod 48a is comprised so that it may move to the front-back direction according to the rotation operation of the steering wheel 7. By this structure, when the rod 48a moves to the front-back direction according to the operation of the steering wheel 7, the support shaft 47a can be rotated through the rotation arm 48b. Thereby, it is comprised so that the steering interlocking lever 47 may rotate in accordance with the operation amount of the steering wheel 7. In detail, when the steering wheel 7 is rotated in the clockwise direction (that is, at the time of priority rotation), the rod 48a moves forward, and the steering linkage lever 47 is centered on the support shaft 47a. It is configured to rotate clockwise. On the other hand, when the steering wheel 7 is rotated in the counterclockwise direction (that is, in the left turning position), the rod 48a moves backward, and the steering linkage lever 47 is centered on the support shaft 47a in FIG. 4. It is configured to rotate in the counterclockwise direction.

The steering linkage lever 47 is configured to be able to operate the left and right clutch operation arms 46L and 46R by rotating around the support shaft 47a. Specifically, it is as follows. The right clutch operation arm 46R is disposed near the right end portion 47c of the steering linkage lever 47. When the steering wheel 7 is rotated in the clockwise direction for a predetermined amount or more, the right end portion 47c of the steering linkage lever 47 contacts the right clutch operation arm 46R, and the right clutch operation arm 46R is pressed to rotate it. It is configured to. The left clutch operating arm 46L is disposed near the left end 47b of the steering linkage lever 47. And when the steering wheel 7 is rotated more than a predetermined amount in the counterclockwise direction, the left end 47b of the steering linkage lever 47 contacts the left clutch operating arm 46L, and the left clutch operating arm 46L is pressed to It is configured to rotate.

According to the above configuration, by rotating the steering wheel 7 clockwise by a certain amount (when sharply turning to the right side), the right clutch operating arm 46R can be rotated against the biasing force to be the "clutch blocking position". . In addition, by rotating the steering wheel 7 in a counterclockwise direction for a predetermined amount or more (when sharply turning to the left side), the left clutch operating arm 46L can be rotated against the biasing force to be the "clutch blocking position". As described above, when the steering wheel 7 is operated more than a predetermined amount from side to side (when sharply turning), transmission of driving force to the inner rear wheel 5 is interrupted, so that the pavement is roughened by the inner rear wheel 5. A smooth turning can be realized while preventing it.

In addition, the steering interlocking lever 47 is comprised so that it may take the neutral position (state of FIG. 4) which does not operate both the left and right clutch operation arms 46L and 46R.

In addition, as shown in FIG. 4, clutch sensors 49L and 49R are attached in the vicinity of clutch operation arms 46L and 46R on either side. These clutch sensors 49L and 49R are specifically comprised as a switch. That is, when the clutch operating arms 46L and 46R are rotated to the "clutch cutoff position", the switch is turned on by pressing the clutch sensors 49L and 49R on the corresponding side so as to detect the shutoff of the side clutch. As a result, it is possible to detect whether the side clutches 41L and 41R are connected with a simple configuration. The detection results of the clutch sensors 49L and 49R are input to the control unit.

Next, the hydraulic line installed in the rice transplanter 1 is demonstrated with reference to FIG. As shown in FIG. 5, this hydraulic pipe line is configured to supply pressure oil from the hydraulic pump 24 to the lifting cylinder 14 via the power steering valve 55 and the lifting control valve unit 56.

The power steering valve 55 is a valve for switching the flow of oil for operating the power steering mechanism 60 included in the vehicle body 2, and the spool 55a driven in accordance with the operation of the steering wheel 7 is provided. Equipped.

The lifting control valve unit 56 includes the lifting control valve 57 and the stop valve 58 as one unit. The hydraulic oil conveyed from the hydraulic pump 24 via the power steering valve 55 passes in order of the lift control valve 57 and the stop valve 58, and then is supplied to the lift cylinder 14.

The lift control valve 57 is a solenoid valve for switching the driving direction of the lift cylinder 14 and includes a spool 57a driven based on a control signal from the control unit. By changing the position of the spool 57a, it is possible to switch the oil supply passage so as to supply oil to the lifting cylinder 14 or to discharge oil from the lifting cylinder 14. The controller can drive the lift cylinder 14 to raise or lower the planting section 3 by appropriately controlling the lift control valve 57.

The stop valve 58 is a valve which can block the flow of oil between the lifting cylinder 14 and the lifting control valve 57, and is comprised so that an operator can operate directly. The stop valve 58 is left open during normal operation so that oil from the lift control valve 57 is supplied to the lift cylinder 14. On the other hand, when the engine 10 is stopped or the like, the stop valve 58 is closed as necessary. By closing the stop valve 58, oil can be prevented from flowing out of the lifting cylinder 14, so that the position of the planting part 3 can be maintained even when the engine 10 is stopped.

Next, the float control (automatic grounding control) by a control part is demonstrated. Float control is control which maintains the said planting part 3 to a suitable height with respect to the ground by following up the unevenness | corrugation of the ground, and lifting up the planting part 3 during planting work.

Specifically, the control is as follows. As described above, the detection result of the float sensor is input to the control unit. The control unit can determine whether or not the planting unit 3 is at an appropriate height relative to the ground based on the detection result of the float sensor. When the control section determines that the planting section 3 is too high relative to the ground based on the detection result of the float sensor, the control section lowers the planting section 3 by operating the spool 57a of the lift control valve 57. Moreover, the control part raises the planting part 3 by operating the spool 57a of the elevation control valve 57, when it determines with the planting part 3 being too low with respect to the ground based on the detection result of a float sensor. In addition, when the planting part 3 is at an appropriate height with respect to the ground based on the detection result of the float sensor, the control part maintains the height of the planting part 3.

By the above float control, the planting part 3 can always be maintained at a suitable height with respect to the ground, and the seedlings can be planted appropriately.

By the way, when planting operation | work is carried out while performing a float control as mentioned above, when a vehicle body reaches to the edge part of a pavement (a ridge), it is necessary to turn a vehicle body by U-turn and continue planting work. Here, the planting section 3 is in a position approaching the ground when the float control is in full swing. Turning the vehicle body in a U-turn in this state may cause the planting section 3 to collide with the head and cause damage or the like. There is this. Therefore, the rice transplanter 1 of this embodiment performs the automatic elevating control at the time of turning to raise automatically until the planting part 3 becomes a sufficient distance from the ground, when turning the vehicle body 2 during a planting operation. It is configured to.

Next, the automatic lifting control at the time of turning is demonstrated concretely.

6 shows a control block diagram for lifting and lowering the planting part 3 of the rice transplanter 1. The control unit 64 monitors the rotation speed of the propeller shaft 39 detected by the rotation sensor 44. Further, the control unit 64 controls the connection / disconnection of the planting clutch 50 by the planting clutch detection switch 50a, and the connection / disconnection of the side clutches 41 (41L, 41R) by the clutch sensor [49 (49L, 49R). Moreover, the control part 64 is comprised so that the lowering of the planting part 3 may be instructed. The storage unit 65 is for accumulating and storing the rotation speed measured by the rotation sensor 44 for a predetermined time, or for storing a predetermined value, a correction value, or the like in advance, and according to the instruction by the control unit 64, Perform the operation.

Automatic lifting control at the time of turning is started by detecting predetermined operation of an operator as a trigger. As shown in the flowchart of FIG. 7, when the control part detects any one of three triggers of "side clutch disconnection operation", "planting clutch disconnection operation", and "reverse operation", as shown in the flowchart of FIG. The control unit is configured to start automatic lifting control at the time of turning. The control unit is configured to automatically select and execute one of the three control patterns according to which of the three triggers is detected.

First, the first control pattern will be described with reference to the flowcharts of FIGS. 7 and 8. This control pattern assumes a situation in which the operator sharply turns (U-turn) the vehicle body 2 by operating the steering wheel 7 largely during the planting work.

The control unit proceeds to S104 when the shutoff of the side clutches 41L and 41R is detected as a trigger based on the detection results of the clutch sensors 49L and 49R during the planting operation (condition branch of S101), and the first control pattern (pattern (1 control) to perform automatic lift control when turning.

As mentioned above, the rice transplanter 1 of this embodiment is comprised so that one of the side clutches 41L and 41R may be interrupted only when the steering wheel 7 is operated more than a fixed amount. Since it is comprised in this way, the simple sensor (specifically, switch) of clutch sensors 49L and 49R can detect that an operator operated the steering wheel 7 largely, and started the U-turn turning of the vehicle body 2. As shown in FIG. Therefore, in order to judge the start of a U-turn turning, for example, an expensive rotation amount sensor or the like for detecting the rotation amount of the steering shaft is not necessary, and the rice transplanter 1 can be configured simply and inexpensively.

As described above, when the operation amount of the steering wheel 7 is less than the predetermined amount, the side clutches 41L and 41R are not blocked. Therefore, the automatic lifting and lowering control at the time of turning is not started by the delicate operation when the vehicle body 2 is going straight. Thereby, automatic lifting control can be prevented from starting at the timing which does not comply with the meaning of an operator.

When the control unit 64 detects the blocking of the side clutches 41L and 41R (the start of the U-turn turning), the control unit 64 proceeds to S201 of FIG. 8 and sounds a notification sound by the notification unit, and then blocks the planting clutch 50 (S202). It is comprised so that the planting part 3 may be raised (S203). In this way, when the start of the U-turn swing is detected, the planting section 3 is automatically raised, and thus, the planting section 3 can be prevented from colliding with the dung and the like when the vehicle body 2 is turned. In addition, since the planting clutch 50 is automatically shut off when the planting portion 3 is raised, useless operation of the planting portion 3 can be prevented. In addition, when raising the planting part 3, the said float control is stopped.

And as mentioned above, the rice transplanter 1 of this embodiment is comprised so that notification by a notification part may be made beforehand when raising the planting part 3 automatically. Thereby, since the raising of the planting part 3 can be notified to the person and operator themselves which are around the rice transplanter 1, the safety at the time of automatically raising and lowering the planting part 3 can be improved.

When the planting part 3 is raised, the control part 64 determines whether the side clutch of the side from which the interruption | blocking was detected by S101 was connected again (S204). When the connection of the side clutch is detected, since the steering wheel 7 has been returned to the neutral position, it can be determined that the U-turn turning is finished. In this case, the control unit 64 sounds the notification by the notification unit (S205) and then lowers the planting unit 3. In this manner, when the planting portion 3 is automatically lowered by triggering the connection of the side clutch, the notification portion is notified in advance so that the safety when the planting portion 3 is automatically raised and lowered can be improved.

In addition, as shown in FIG. 11, when the U-turn turn is started (the point of detecting the cut off of the side clutch) and immediately after the end of the U-turn turn (the point of detecting the connection of the side clutch), When viewed from the front-back direction, there exists an offset distance equivalent to about one of the rice transplanters 1. Therefore, in the rice transplanter 1 of this embodiment, the control part 64 is comprised so that planting may be resumed after advancing the distance equivalent to about 1 unit after detecting the connection of the side clutch (the end of a U-turn turning). have.

More specifically, it is as follows. That is, when detecting the connection of the side clutch (S204), the control part 64 starts counting the number of rotations of the propeller shaft 39 based on the detection result of the said rotation sensor 44. FIG. Then, it is determined whether the number of rotations is equal to or greater than the number of rotations corresponding to about one unit of the rice transplanter 1 (whether or not the vehicle has traveled the distance of about one unit) (S207). When the control unit 2 determines that the vehicle body 2 has traveled about one distance of the rice transplanter 1, the control unit is configured to connect the planting clutch 50 (S208) to resume planting.

Thus, in this embodiment, the timing which connects the planting clutch 50 is determined based on the frequency | count of rotation of a propeller shaft. Thereby, since planting can be restarted from the position corresponding to the time which stopped planting (point of time when the cutoff of a side clutch was detected), the seedling planting position can be set before and after automatic turning lifting control.

In addition, although the offset distance was made into about 1 distance of the rice transplanter 1 in the above, the said offset distance differs according to the turning performance of the vehicle body 2, etc. Therefore, the rice transplanter 1 may be equipped with the thing similar to the adjustment dial for the operator to increase and decrease the said offset distance.

When the planting clutch 50 is connected to resume planting, the control unit 64 resumes float control and sounds a notification sound by the notification unit (S209). As a result, the operator can be notified that the planting has been resumed normally, and therefore malfunctions can be prevented, for example, when planting is not resumed for some reason.

Next, the second control pattern will be described with reference to FIGS. 8 and 10. This control pattern assumes a situation in which the operator cuts off the planting clutch during planting to stop planting, and then turns the vehicle body 2 sharply (U-turn) after traveling straight a little distance. This operation is performed when planting in a certain section is not performed in order to secure a space when the rice transplanter 1 escapes from the pavement in the duplex.

When the planting clutch 50 is blocked by the operator operating the planting clutch operating arm (not shown), transmission of the driving force from the PTO shaft 13 to the planting case 15 is interrupted. Moreover, when the planting clutch 50 is cut off, the planting clutch detection switch 50a provided adjacent to the planting clutch 50 turns OFF, and this control part 64 detects this as a trigger (condition branch of S102). In this case, the control unit 64 proceeds to S105 to perform automatic lift control with the second control pattern (control of the pattern 2).

In the control of the pattern 2, the control part 64 is comprised so that a notification sound may sound first (S301), and after that, float control may be interrupted and the planting part 3 may be raised (S203). Subsequently, the control unit starts a process of counting the number of rotations of the propeller shaft 39 based on the detection result of the rotation sensor 44 (S303), and shuts off the side clutches 41L and 41R (starting the U-turn turning). Upon detection (determination of S304), the count ends (S305). Thereby, as shown in FIG. 12, the distance (advancing distance) which the vehicle body 2 advanced before stopping planting and starting U-turn turning can be acquired.

Subsequently, the control unit 64 detects that the side clutch of the side on which the cutoff is detected in S304 is again connected (the end of the U-turn turning) (the determination in S306), and the notification unit sounds a notification sound (S307) thereafter. The planting part 3 is lowered (S308). Here, as shown in FIG. 12, when the planting clutch 50 is cut off and planting is stopped, and immediately after the U-turn turn is finished, when viewed in the forward and backward direction of the vehicle body 2, the (advancing distance) + [rice transplanter] is shown. Offset distance corresponding to about one unit of (1)] exists. Therefore, the control part 64 counts the number of rotations of the propeller shaft 39 based on the detection result of the said rotation sensor 44, after detecting the connection of the side clutch (end of a U-turn turn), and the vehicle body 2 It is determined whether or not the vehicle has traveled a distance corresponding to the deviation (S309). And it is comprised so that the planting clutch 50 may be connected (S310) after determining that the vehicle body 2 has completed traveling by the said distance by the said shift | offset | difference. In addition, when the planting clutch 50 is connected, the control unit 64 resumes float control, resumes planting, and is configured to sound a notification sound by the notification unit (S311).

Next, a third control pattern will be described with reference to FIGS. 7 and 10. This control pattern assumes a situation in which the operator sharply turns (U-turn) the vehicle body 2 after reversing the vehicle body 2 during the planting operation. Such operation is performed when the planting is to be carried out to a position enough to reach the head.

The control unit 64 proceeds to S106 when the operator detects that the operator has started to reverse the vehicle body 2 by operating the forward / backward switching lever (condition branch of S103), and proceeds to the third control pattern (control of the pattern 3). Automatic lifting control is performed.

In this case, the control unit 64 is configured to sound a notification sound (S401), cut off the planting clutch 50 (S402), stop the float control, and raise the planting unit 3 (S403). Subsequently, the control unit 64 starts the process of counting the number of rotations of the propeller shaft 39 on the basis of the detection result of the rotation sensor 44 (S404), and shuts off the side clutches 41L and 41R (U-turn rotation). The count is terminated (S406) when detecting the start). Thereby, as shown in FIG. 13, the distance (reverse distance) which the vehicle body 2 receded after starting backward and starting to turn U-turn can be acquired.

Subsequently, when the control unit 64 detects that the side clutch on the side where the interruption is detected in S405 is again connected (the end of the U-turn turning) (determination in S407), the notification unit sounds a notification sound (S408). After that, the planting part 3 is lowered (S409). At this time, as shown in FIG. 13, when the reverse start is started (the planting stops) and immediately after the end of the U-turn turn, when viewed in the front-rear direction of the vehicle body 2, about one unit of the rice transplanter 1 is used. Offset distance corresponding to [] and [reverse distance] exist. Therefore, the control part 64 counts the number of rotations of the propeller shaft 39 based on the detection result of the said rotation sensor 44, after detecting the connection of the side clutch (end of a U-turn turn), and the vehicle body 2 It is determined whether or not the vehicle has traveled a distance corresponding to the deviation (S410). Then, after determining that the vehicle body 2 has completed traveling by the distance corresponding to the shift, the planting clutch 50 is connected (S411). When the planting clutch 50 is connected, the control unit resumes float control to resume planting and sounds a notification sound by the notification unit (S412).

As described above, the rice transplanter 1 of the present embodiment must notify the notification unit before automatically raising or lowering the planting unit 3 in any of the three control patterns of the automatic lifting and lowering control at the time of turning. Consists of. Thereby, the safety at the time of automatically raising and lowering the planting part 3 can be improved.

In addition, in the above description, it is determined that the U-turn turn is completed only when the side clutch 41 is connected, but in addition to this, or in place of this, the end of the U-turn turn is determined in consideration of the detection result of the rotation sensor 44. You may comprise so that. For example, when the side clutch 41 is connected after the side clutch 41 is cut off and the body 2 does not travel a sufficient distance, it can be determined that the turning operation is completed without completing the U-turn turning. . In this way, when the U-turn is not completed, it is considered that the operator did not turn with the intention of continuing the planting work. Therefore, even if the side clutch 41 is connected, the planting part 3 does not automatically descend. I like it. Accordingly, the control unit 64 counts the number of rotations of the propeller shaft 39 by the rotation sensor 44 after detecting the blocking of the side clutch 41 (S102, S304 or S405), and the number of rotations is a predetermined number of times. It can be configured so that the planting part 3 is not automatically lowered because it is determined that the U-turn turn is not completed until the above.

Next, the automatic raising control of the planting part 3 at the time of reverse movement is demonstrated.

For example, the vehicle body 2 may be reversed in order to align the vehicle body 2 in the rung area. In this case, in order to prevent the planting portion 3 from colliding with the head, it is preferable to automatically raise the planting portion 3 regardless of whether or not planting is performed.

Therefore, in the rice transplanter 1 of this embodiment, when the control part 64 detects that the operator started backward of the vehicle body 2 by operating the forward / backward switching lever, the said control part 64 will be notified to a notification part. It is comprised so that the planting part 3 may be raised after a notification sound. In this manner, even when the planting portion 3 is automatically lifted up at the time of reversing, notification is made before the planting portion 3 is automatically raised, so that the safety can be improved.

Moreover, the rice transplanter 1 of this embodiment is comprised so that the planting part 3 can be isolate | separated as mentioned above. By the way, the operation | movement which attaches a planting part 3 or another work machine with respect to the vehicle body 2 in the state which removed the planting part 3 is performed as follows, for example. That is, the work machine which is going to be attached to the vehicle body 2 is installed on the ground or a suitable stand behind the vehicle body 2. Then, the vehicle body 2 is moved backward while the lifting link mechanism 12 is maintained at an appropriate height, and the lifting link mechanism 12 is connected to the connection location of the work machine to connect the lifting link mechanism and the work machine.

As described above, the vehicle body 2 needs to be reversed while the height of the elevating link mechanism 12 is maintained at the time of attaching the work machine. In this case, it is preferable not to perform the automatic raising control at the time of reverse. . Therefore, the rice transplanter 1 of this embodiment is equipped with the appropriate sensor which detects whether a work machine is attached to the vehicle body 2, and when it does not have a work machine, it does not perform automatic lifting control at the time of reverse movement. Consists of.

Next, the manual lifting operation of the planting part 3 in a planting operation is demonstrated.

That is, when planting work is in full swing, the height of the planting part 3 may be temporarily changed for some reason. In preparation for such a case, the rice transplanter 1 of this embodiment is equipped with the manual lifting switch (not shown) comprised so that the height of the planting part 3 can be adjusted by a manual operation by an operator.

In the middle of the planting operation, when the planting is temporarily stopped and the height of the planting section 3 is to be changed, the operator performs the operation of blocking the planting clutch 50 and also operates the manual lifting switch to operate the planting section ( Adjust 3) to the desired height. The control unit 64 is configured to drive the lifting cylinder 14 to lift and lower the planting unit 3 when the operation of the manual lifting switch is detected, to enter the standby mode, and to stop the float control.

As mentioned above, when changing the height of the planting part 3 temporarily in the middle of a planting work, it is preferable that a planting work can be resumed quickly by performing predetermined operation. Therefore, in the rice transplanter 1 of this embodiment, when an operator performs the operation which connects the planting clutch 50 during the standby mode, the control part 64 exits the said standby mode and sounded a notification sound by the notification part. After the float control is configured to resume. When the float control is resumed, the planting part 3 automatically moves up and down to the position before the operator changes the height, so that the planting work can be resumed appropriately. In this manner, the planting operation can be quickly resumed only by the operation of connecting the planting clutch 50.

Moreover, in the rice transplanter 1 of this embodiment, it is comprised so that notification by a notification part may be performed before resuming float control automatically as mentioned above. That is, when the float control is resumed in the state where the height of the planting part 3 is changed, the planting part 3 automatically moves up and down to the original height, so it is preferable to notify the surroundings of the automatic lifting and lowering. In this regard, by notifying the planting unit 3 automatically ascending and lowering by notifying before resuming the float control as described above, safety can be improved.

As described above, the rice transplanter 1 of this embodiment has the side clutches 41L and 41R, the side clutch operating mechanism 45, the clutch sensors 49L and 49R, the lifting cylinder 14, and a control part. 64 and the planting clutch 50 are provided. The side clutches 41L and 41R are capable of switching the presence or absence of driving force transmission from the engine 10 to the axles of the left and right rear wheels 5 and 5. The side clutch operation mechanism 45 blocks the side clutches 41L and 41R. The clutch sensors 49L and 49R can detect the operation status of the side clutches 41L and 41R. The lifting cylinder 14 lifts and drives the planting part 3. The control unit 64 controls the driving of the lifting cylinder 14. The planting clutch 50 can switch the presence or absence of the transmission of the driving force to the planting part 3. The control unit is capable of automatic elevating control during the following turning. That is, if the control unit detects the blocking of the planting clutch 50 during the operation of the planting unit 3, the control unit raises the planting unit 3, and stores the forward distance until the planting clutch 50 is shut off and turning starts. . Further, the control section determines that the turning is started when the shutoff of the side clutch is detected. Moreover, when the said control part detects the connection of a side clutch, it determines that turning is complete based on this, and makes the planting part 3 lower. The control unit connects the planting clutch 50 when it detects that the vehicle has traveled the distance obtained by adding the advance distance and the predetermined offset distance after the turning ends.

In addition, in the rice transplanter 1 of this embodiment, the control part is capable of the following automatic swing control. That is, when the control unit detects the backward operation of the vehicle body 2 during the operation of the planting unit, the control unit raises the planting unit, and measures the reverse distance from the start of the reverse to the start of turning. In addition, the control unit determines that the swing is started when the side clutch is blocked. Moreover, when a control part detects a connection of a side clutch, it determines that turning is complete based on this, and lowers a planting part. The control unit then connects the planting clutch 50 when it detects that the vehicle has traveled a distance obtained by subtracting the reverse distance from the predetermined offset distance after the end of the turning.

With this configuration, the start and end of the swing can be detected by detecting the presence or absence of the connection of the side clutches 41L and 41R. Therefore, for example, the rice transplanter 1 can be comprised easily and inexpensively compared with the structure which detects the operation amount of a steering operation tool by a potentiometer. Then, as described above, by measuring the moving distance up to the start of the swing, the work can be resumed at an appropriate position after the end of the swing.

In addition, the rice transplanter 1 of this embodiment is comprised as follows. That is, the side clutch operation mechanism 45 includes a left clutch operation arm 46L for operating the left side clutch 41L, a right clutch operation arm 46R for operating the right side clutch 41R, and a steering wheel ( And a steering linkage lever 47 that rotates about an axis in association with the operation of 7). The left clutch operating arm 46L is disposed near the left end 47b of the steering linkage lever 47. The right clutch operation arm 46R is disposed near the right end portion 47c of the steering linkage lever 47. In addition, when the steering wheel 7 is operated a predetermined amount on either of the left and right sides, the steering interlocking lever 47 presses the left clutch operating arm 46L or the right clutch operating arm 46R to shut off the side clutch on the corresponding side. It is configured to be. In addition, the clutch sensor is comprised by the left clutch sensor 49L which detects the movement of the left clutch operation arm 46L, and the right clutch sensor 49L which detects the movement of the right clutch operation arm 46R.

Thereby, the operation state of the side clutches 41L and 41R can be detected with a simple structure.

In addition, the rice transplanter 1 of this embodiment is comprised as follows. That is, this rice transplanter 1 is equipped with the rotation sensor 44 which detects the rotation speed of the propeller shaft 39 which transmits a driving force to the axle of a rear wheel, upstream of side clutch 41L, 41R. And the said control part acquires the said moving distance based on the detection value of the rotation sensor 44. FIG.

Thus, the timing of connecting the planting clutch 50 compared with the conventional method which uses the rotation speed of the inner axle which is concerned about slipping by using the detected value of the upstream rotation sensor 44 of the side clutches 41L and 41R. Can be accurately determined by the controller.

In the rice transplanter 1 of this embodiment, the clutch sensors 49L and 49R are proximity switches, and the said control part recognizes connection / disconnection of the side clutches 41L and 41R by detecting ON or OFF of the said proximity clutch. It is desirable to.

As a result, the connection / disconnection of the side clutches 41L and 41R can be detected accurately.

Moreover, the rice transplanter 1 of this embodiment is provided with the notification part which makes a notification at the time of the lifting of the planting part 3, and the connection of the planting clutch 50. As shown in FIG.

Thereby, the operator can confirm that the automatic lifting control of the work machine at the time of turning is performed suitably.

In addition, in the rice transplanter 1 of this embodiment, the said control part can also be comprised so that determination of the said turning end may be made considering the frequency | count of rotation of the propeller shaft 39 of a rear wheel in addition to detection of a side clutch connection.

That is, by considering the number of rotations of the propeller shaft 39, it is possible to determine whether or not the vehicle body has turned to the proper direction. Therefore, it is possible to determine the turning end more accurately by considering the number of rotations of the propeller shaft 39 in addition to the detection of the side clutch connection.

As mentioned above, although preferred embodiment of this invention was described, the said structure can be changed as follows, for example.

In the said embodiment, the rice transplanter which can realize automatic lifting control at the time of turning of three patterns from the pattern 1 to the pattern 3, and can switch these three patterns according to the situation was demonstrated. However, the agricultural work vehicle does not need to realize all three of these control patterns, and may be configured to realize only one or two control patterns.

In the said embodiment, it was set as the structure in which the HMT 25 which consists of the HST 26 and the planetary gear mechanism 27 is arrange | positioned in the mission case 11 as a continuously variable transmission. It is good also as a structure provided only HST26 as a continuously variable transmission instead of this structure. However, compared with the HST-only structure, the HMT combining the HST and the planetary gear mechanism is advantageous from the viewpoint of transmission efficiency.

In the said embodiment, although the clutch sensor was demonstrated as a switch, it is not limited to this. As long as the sensor can detect that the clutch operation arm has been operated, another type of sensor can be employed.

In the said embodiment, although the planting part 3 used as a rotary planting part, it may be a crank type.

The notification unit is not limited to the buzzer and may be configured to announce, for example, "the planting unit rises" by a mechanical voice or the like. In addition, the notification by the notification part is not limited to a sound, For example, the structure of lighting an alarm lamp may be sufficient.

In the turning automatic lifting control of the above embodiment, the control of the planting clutch is performed after the notification is performed in the control of the pattern 1 and the pattern 3, but the configuration may be performed after the planting clutch is shut off. The urine needs only to be notified before raising and lowering the planting part 3.

In the turning automatic lifting control of the above embodiment, the offset distance is about one distance of the rice transplanter 1, but in addition to this, the offset distance can be increased or decreased depending on the soil quality (whether or not the soil is highly viscous). You may comprise it.

The clutch sensors 49L and 49R may be attached to the outside of the rear axle case or may be attached to the inside of the rear axle case. For example, FIG. 4 shows an example in which the clutch sensors 49L and 49R are provided outside the rear axle case.

3 (c) shows an example in which the right clutch sensor 49R is disposed inside the rear axle case. In this case, one end of the elliptical arm 68 is fixed to one end of the arm shaft 67 of the right clutch operating arm 46R, and the right clutch sensor 49R is disposed near the arm 68. The right clutch sensor 49R is provided to contact the arm 68 when the arm 68 rotates. When the clutch operating arm 46R rotates, the arm 68 also rotates integrally, and the clutch sensor 49R turns on, so that the rotation of the clutch operating arm 46R can be detected by the clutch sensor 49R. In this manner, the clutch sensor may be configured to not directly contact the clutch operation arm.

In addition, the structure of this invention is not limited to a rice transplanter, It is applicable also to the other agricultural work vehicles provided with the work machine which moves up and down.

1: rice transplanter (working vehicle for agriculture) 2: body
3: planting part (working machine) 7: steering wheel (steering operation tool)
14 lifting cylinder 41L, 41R: side clutch
49L, 49R: Clutch Sensor

Claims (7)

And side clutch which can switch the presence or absence of driving force transmission to right and left rear axle,
A side clutch operating mechanism for blocking the side clutch;
A clutch sensor capable of detecting an operation state of the side clutch;
A lifting cylinder for lifting and lowering the work machine;
A control unit for controlling driving of the lifting cylinder;
A work clutch that can switch the presence or absence of drive force transmission to the work machine;
The control unit,
If the blocking of the work clutch is detected during operation of the work machine, the work machine is raised,
Measure the moving distance from the operation clutch to the start of turning,
Detecting the shut off of the side clutch determines that the swing starts.
If it detects the connection of the said side clutch, it judges that turning is complete based on this, and lowers the said working machine,
And an automatic lifting and lowering control during turning to connect the work clutch when detecting that the moving distance and the predetermined offset distance are added after the turning is completed. Detecting reverse operation of the vehicle body during operation of the work machine raises the work machine,
Measure the travel distance from the start of the reverse to the start of the turn,
Detecting the shut off of the side clutch determines that the swing starts.
If it detects the connection of the said side clutch, it judges that turning is complete based on this, and lowers the said working machine,
And a control unit capable of automatically elevating control during turning to connect the work clutch when detecting that the driving distance is subtracted from the predetermined offset distance after the turning ends. The method according to claim 1 or 2,
A side clutch operating mechanism which cuts off the side clutch when the steering operation tool is operated over a predetermined operation amount;
A clutch sensor capable of detecting an operation state of the side clutch,
The side clutch operation mechanism,
A left clutch operating member for operating the left side clutch,
A right clutch operating member for operating the right side clutch,
It is provided with a steering linkage lever which is linked to the operation of the steering operation tool to rotate about the axis,
The left clutch operating member is disposed near the vehicle body left end of the steering linkage lever,
The right clutch operating member is disposed near the vehicle body right end of the steering linkage lever,
When the steering operation tool is operated a predetermined amount on either of the left and right sides, the steering clutch interlocking lever is pressed against the left clutch operating member or the right clutch operating member to block the side clutch of the corresponding side.
The clutch sensor,
A left clutch sensor detecting a movement of the left clutch operating member;
An agricultural work vehicle, comprising: a right clutch sensor for detecting movement of the right clutch operating member. The method according to claim 1 or 2,
A upstream side of the side clutch is provided with a rotation sensor for detecting the rotational speed of the drive shaft that transmits the driving force to the axle of the rear wheel,
And the control unit acquires the movement distance based on the detected value of the rotation sensor. The method of claim 3, wherein
The clutch sensor is a proximity switch,
And the control unit recognizes connection / disconnection of the side clutch by detecting ON or OFF of the proximity clutch. The method of claim 1,
And a notifying unit for notifying when the work machine is lifted and the work clutch is connected. The method according to claim 1 or 2,
The control unit,
In addition to the detection of the side clutch connection,
And the end of the turning is determined in consideration of the number of times the drive shaft of the rear wheel has rotated.

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