JP2011188825A - Agricultural working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an agricultural working vehicle capable of detecting the start and finish of a swinging operation by a simple constitution. <P>SOLUTION: The side clutch operation mechanism 45 cuts off the side clutch in the case that a steering wheel 7 is operated at or more than a predetermined operational amount. The clutch sensors 49L, 49R can detect the operating state of the side clutch. The controlling part controls the drive of the lifting up and down cylinder for driving the lifting up and down of a transplanting part. The transplanting clutch can switch the presence or absence of the transmission of the driving force to the transplanting part. Also, the controlling part can detect the cut off of the transplanting clutch, the cut off of the side clutch and a retreating operation as the starting triggers of the automatic lifting up and down in swinging time during the operation of the transplanting part. And, on detecting any one of the starting triggers, the controlling part ascends the transplanting part, and then descends the transplanting part on detecting the connection of the side clutch. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an agricultural work vehicle. Specifically, the present invention relates to a configuration for detecting the start and end of turning of an agricultural work vehicle.

  An agricultural work vehicle may be provided with a work machine that can be moved up and down. As this type of work machine, for example, there is a planting work machine provided in a rice transplanter.

  When working on such an agricultural work vehicle, the work machine is lowered to the lowered position. On the other hand, when the work vehicle is turned, if the work machine is in the lowered position, the work machine may be damaged due to a collision with the ground or the like. Therefore, when turning the work vehicle, the work implement is raised to the raised position.

  If the operator has to manually perform the lifting / lowering operation of the work machine every time, a heavy burden is placed on the operator. Therefore, conventionally, a configuration has been proposed in which the working machine is automatically driven up and down.

  For example, Patent Document 1 discloses a riding seedling transplanting machine that automatically raises and lowers a working machine (seedling transplanting apparatus) when turning a vehicle body. The riding type rice transplanter described in Patent Document 1 is configured to detect an operation angle of a steering handle with a potentiometer, and to raise the rice transplanter (work machine) when detecting that the steering handle is rotated by a predetermined amount. ing.

JP 2007-74991 A

  However, in the case of the configuration in which the working machine is raised and lowered based on the detection result of the potentiometer as in Patent Document 1, a process for comparing the detected value of the potentiometer with a predetermined amount is required, which complicates the configuration of the riding rice transplanter. It was. In addition, since a relatively expensive potentiometer is required, there is room for improvement from the viewpoint of cost reduction.

  The present invention has been made in view of the above circumstances, and a main object thereof is to provide an agricultural work vehicle capable of detecting the start and end of a turning operation with a simple configuration.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof 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 includes a steering operation tool, a side clutch, a side clutch operation mechanism, a clutch sensor, a work implement, an elevating cylinder, a control unit, and a work clutch. The steering operation tool is for performing a steering operation of the vehicle body. The side clutch can switch whether or not the driving force is transmitted to the axles of the left and right rear wheels. The side clutch operation mechanism disengages the side clutch when the steering operation tool is operated by a predetermined operation amount or more. The clutch sensor can detect an operating state of the side clutch. The raising / lowering cylinder is for raising / lowering the working machine. The control unit controls driving of the elevating cylinder. The working clutch can be switched between transmission and non-transmission of driving force to the working machine. In addition, the control unit can detect the disengagement of the work clutch, the disengagement of the side clutch, and the reverse operation during the operation of the work implement as start triggers of the automatic lifting control during turning. The control unit raises the work implement when detecting any one of the pre-start triggers, and then lowers the work implement when detecting the connection of the side clutch.

  That is, since the side clutch is configured to be disconnected when the steering operation tool is operated by a predetermined amount or more as described above, the steering operation tool can be detected by detecting whether or not the side clutch is connected. It can be determined whether or not the operation is greater than a predetermined amount. Therefore, for example, an agricultural work vehicle can be configured easily and inexpensively compared to a configuration in which the operation amount of the steering operation tool is detected by a potentiometer.

  The agricultural work vehicle is preferably configured as follows. That is, the side clutch operating mechanism rotates around the shaft in conjunction with the operation of the left clutch operating member for operating the left side clutch, the right clutch operating member for operating the right side clutch, and the steering operation tool. A steering interlocking lever that moves. The left clutch operating member is disposed in the vicinity of the left end of the steering interlocking lever. The right clutch operating member is disposed in the vicinity of the right side end of the steering interlocking lever. In addition, when the steering operation tool is operated by a predetermined amount to the left or right, the steering clutch interlock lever pushes the left clutch operating member or the right clutch operating member, so that the corresponding side clutch is disconnected. It is configured. The clutch sensor includes a left clutch sensor that detects the movement of the left clutch operating member, and a right clutch sensor that detects the movement of the right clutch operating member.

  Thereby, the operating condition of the side clutch can be detected with a simple configuration.

  The agricultural work vehicle is preferably configured as follows. That is, the control unit, when detecting the disengagement of the side clutch as the start trigger during the operation of the work implement, determines that the turn is started and raises the work implement. Moreover, the said control part will determine the completion | finish of turning based on this, and will lower the said working machine, if the connection of the said side clutch is detected. And if the said control part detects having drive | worked the predetermined offset distance after completion | finish of the said turning, it will connect the said working clutch.

  As a result, when the steering operation tool is operated to start a sudden turn, the work implement can be automatically raised and lowered automatically at the end of the turn. This can be prevented. Further, by setting the offset distance to an appropriate value, the work can be resumed at an appropriate position.

  The agricultural work vehicle is preferably configured as follows. That is, when the control unit detects the disconnection of the work clutch as the start trigger during operation of the work implement, the control unit raises the work implement and stores a movement distance from the release of the work clutch to the start of turning. To do. Moreover, the said control part will determine with turning start, if the cutting | disconnection of the said side clutch is detected. And when the said control part detects the connection of the said side clutch, based on this, it determines with the completion | finish of turning, descends the said working machine, and after the completion | finish of turning, the distance which added the said movement distance and predetermined offset distance When it is detected that the vehicle has traveled, the working clutch is connected.

  As a result, the work implement can be automatically moved up and down even if the work is interrupted at a predetermined position and then turned after a certain degree of advance, thus preventing the work implement from colliding with the ground during turning. can do. Further, by setting the offset distance to an appropriate value, the work can be resumed at an appropriate position.

  The agricultural work vehicle is preferably configured as follows. That is, when the control unit detects a backward operation of the vehicle body as the start trigger during the operation of the work machine, the control unit raises the work machine, measures a moving distance from the start of the reverse drive to the start of turning, When the disconnection of the side clutch is detected, it is determined that the turn is started. Further, when detecting the connection of the side clutch, the control unit determines that the turn is finished based on this and lowers the work implement. When the control unit detects that the vehicle has traveled a distance obtained by subtracting the movement distance from a predetermined offset distance after the turn, the control clutch is connected.

  Thereby, even when turning after moving backward, the work implement can be automatically moved up and down, so that the work implement can be prevented from colliding with the ground or the like during turning. Further, by setting the offset distance to an appropriate value, the work can be resumed at an appropriate position.

  It is preferable that the agricultural work vehicle includes a notification unit that performs notification when the working machine is raised and lowered and when the work clutch is connected.

  Thereby, the operator can confirm that the automatic raising / lowering control of the work machine at the time of turning is appropriately performed.

  In the agricultural work vehicle, it is preferable that the control unit determine the end of the turn in consideration of the number of rotations of the drive shaft of the rear wheel in addition to the detection of the connection of the side clutch.

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

The side view which shows the whole structure of the rice transplanter which concerns on one Embodiment of this invention. The skeleton figure which shows the drive transmission path | route of a rice transplanter. The schematic diagram which shows the structure of a side clutch operation mechanism. Hydraulic circuit diagram of rice transplanter. The flowchart which shows the start process of the automatic raising / lowering control at the time of turning in a control part. The flowchart which shows the 1st pattern of automatic raising / lowering control at the time of turning. The flowchart which shows the 2nd pattern of automatic raising / lowering control at the time of turning. The flowchart which shows the 3rd pattern of automatic raising / lowering control at the time of turning. The figure explaining the 1st pattern of the automatic raising / lowering control at the time of turning. The figure explaining the 2nd pattern of automatic raising / lowering control at the time of turning. The figure explaining the 3rd pattern of automatic raising / lowering control at the time of turning.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a riding rice transplanter 1 as an agricultural working machine according to an embodiment of the present invention.

  The riding rice transplanter 1 includes a vehicle body 2 and a planting part 3 disposed behind the 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. Further, the vehicle body 2 includes a driver seat 6 between the front wheel 4 and the rear wheel 5 in the front-rear direction. In the vicinity of the driver seat 6, a steering handle (steering operation tool) 7 for performing a steering operation of the vehicle body 2, a speed change pedal 8 for adjusting the traveling speed of the vehicle body 2, and a forward / backward movement of the vehicle body 2 are switched. Various operation tools such as the forward / reverse switching lever 9 are arranged. In addition, a fertilizer application device 23 is disposed behind the driver seat 6 in the vehicle body 2.

  In the vehicle body 2, an engine 10 is disposed below the driver seat 6, and a mission case 11 is disposed in front of the engine 10. On the other hand, on the rear side of the vehicle body 2, a lifting link mechanism 12 for attaching the planting unit 3, a PTO shaft 13 for outputting the driving force of the engine 10 to the planting unit 3, and driving the planting unit 3 up and down. The elevating cylinder 14 is arranged.

  The vehicle body 2 includes a control unit (not shown). A control part consists of microcontrollers, for example, and is constituted so that each composition of rice transplanter 1 may be controlled based on signals, such as a sensor with which each part of rice transplanter 1 was equipped.

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

  The elevating link mechanism 12 is connected to the planting case 15. The elevating link mechanism 12 has a parallel link structure including a top link 18, a lower link 19, and the like. By driving an elevating cylinder 14 connected to the lower link 19, the planting case 15 is moved up and down. It is comprised so that it can drive (Thereby, the planting part 3 whole can be raised / lowered up and down).

  One or more planting units 20 are attached to the planting case 15. The planting unit 20 is configured as a rotary planting device that includes two planting claws 22 in a rotating case 21. The planting case 15 receives a driving force of the engine 10 through the PTO shaft 13, and the rotating case 21 is rotationally driven by the driving force. Since the configuration of the rotary planting device is well known, detailed description is omitted, but by rotating the rotating case 21, the tip of the planting claw 22 is driven up and down while drawing a predetermined locus. It is configured. When the tip of the planting claw 22 moves from the top to the bottom, one seedling is scraped from the lower end of a seedling mat placed on a seedling mount 17 described later, and the root of the seedling is held. It is configured to move downward and to be implanted in the ground.

  The float 16 is provided symmetrically at the bottom of the planting part 3. By bringing the float 16 into contact with the ground, the planting unit 3 can be kept horizontal with respect to the ground, and the planting posture can be stabilized to perform accurate planting.

  In addition, at least one of the plurality of floats 16 is attached so as to be swingable around a fulcrum, and is configured to detect the swing angle by a float sensor (grounding detection unit) (not shown). . Since the float 16 swings by contacting the ground, it is possible to detect whether or not the float 16 is properly in contact with the ground by detecting the swing angle by the float sensor. . That is, based on the detection result of the float sensor, it can be determined whether or not the planting unit 3 has an appropriate height with respect to the ground. The detection result of the float sensor is output to the control unit.

  The seedling stage 17 is disposed above the planting case 15. The seedling stage 17 is supported on a guide rail (not shown) so as to be slidable in the left-right direction of the vehicle body. And the planting part 3 is provided with the horizontal feed mechanism of the omission of illustration which reciprocates the seedling mounting stand 17 right and left within the range of the left-right width of a seedling mat. Thereby, the seedling mat placed on the seedling placing stand 17 can be moved relative to the planting unit 20 from side to side. In addition, the seedling mount 17 includes a seedling feeding belt (vertical feeding mechanism) that intermittently feeds the seedling mat downward (that is, toward the planting unit 20 side). With the above configuration, by appropriately interlocking the horizontal feed mechanism and the vertical feed mechanism, seedlings can be sequentially supplied to each planting unit 20 and planted continuously.

  Moreover, in the rice transplanter 1 of this embodiment, said planting part 3 is comprised so that removal from the vehicle body 2 is possible. Specifically, the vehicle body 2 and the planting part 3 can be separated from each other by removing the connection between the lifting link mechanism 12 and the PTO shaft 13 and the planting part 3. . Further, other types of work machines (for example, weeding machines, grooving machines, etc.) can be attached to the vehicle body 2 from which the planting part 3 has been removed. Thus, the rice transplanter 1 of this embodiment is comprised as what is called a multipurpose rice transplanter.

  Moreover, the rice transplanter 1 of this embodiment is provided with the alerting | reporting part of illustration. This notification unit is specifically configured as a buzzer, and its operation is controlled by the control unit.

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

  The engine 10 is disposed between the front wheels 4 and the rear wheels 5 in the front-rear direction of the vehicle body 2 and has a so-called midship layout. Further, the engine 10 is arranged at a substantially central portion in the left-right direction of the vehicle body 2 and is arranged so that the longitudinal direction of the drive output shaft (crankshaft) 10a is along the left-right direction of the vehicle body (so-called so-called). Horizontal placement). The drive output shaft 10a protrudes from the casing of the engine 10 toward the left side of the vehicle body. 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 transmission case 11 disposed in front of the engine 10 via the drive transmission belt 34. The HMT 25 includes an HST (hydrostatic continuously variable transmission) 26 and a planetary gear mechanism 27.

  The HST 26 has a configuration in which a variable displacement hydraulic pump 28 and a fixed displacement hydraulic motor 29 are connected by a hydraulic circuit. The variable displacement hydraulic pump 28 includes an input shaft 28a, which is a drive input shaft of the HST 26. The fixed displacement hydraulic motor 29 is provided with an output shaft 29a, which is a drive output shaft of the HST 26.

  As shown in FIG. 2, the input shaft 28 a of the variable displacement hydraulic pump 28 is disposed along the left-right direction of the vehicle body 2 and protrudes left and right from the housing of the HST 26. The drive transmission belt 34 is disposed at the left end of the input shaft 28a, and the output of the engine 10 is input thereto. 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 input shaft 28a is rotationally driven by the driving force of the engine 10, so that the variable displacement hydraulic pump 28 and the hydraulic pump 24 are driven. Both are configured to be driven simultaneously.

  Oil discharged when the variable displacement hydraulic pump 28 is driven is supplied to a fixed displacement hydraulic motor 29, and an output shaft 29a of the fixed displacement hydraulic motor 29 is driven to rotate. Further, the amount of oil discharged from the variable displacement hydraulic pump 28 can be changed in conjunction with the amount of operation 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 the operator operating the shift pedal 8. The hydraulic pump 24 will be described later.

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

  With the above configuration, the output of the engine 10 (rotation of the input shaft 28a) and the output of the HST 26 (rotation of the output shaft 29a) are combined in the planetary gear mechanism 27 and output from the output shaft 25a of the HMT 25. Here, since the output of the HST 26 can be steplessly changed 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, can also be changed steplessly. . In other words, the output of the engine 10 can be changed steplessly according to the operation of the shift pedal 8 by the HMT 25.

  A part of the rotational driving force output from the output shaft 25a of the HMT 25 is input to the gear-type main transmission unit 36 via the main clutch 35 disposed in the mission case 11, and is appropriately shifted. The main transmission unit 36 includes a reverse gear (not shown) and is configured to be able to switch the vehicle body forward and backward. Then, the rotational driving force shifted by the main transmission unit 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 formed integrally with the mission case 11. The rotational driving force from the main transmission unit 36 is transmitted to the left and right front axles 38, 38 disposed in the front axle case 37, and drives the left and right front wheels 4, 4.

  A part of the rotational driving force output from the main transmission 36 is taken out from the transmission case 11 and transmitted to the rear axle case 40 located behind the engine 10 via the propeller shaft (drive shaft) 39. . 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. The left rear axle 42L drives the right rear wheel 5, and the right rear axle 42R drives the right rear wheel 5.

  With the above configuration, the rotational speeds of the front wheels 4 and the rear wheels 5 can be changed steplessly in accordance with the operation of the shift pedal 8. That is, the vehicle body 2 can be caused to travel at a desired vehicle speed when the operator operates the shift pedal 8.

  A left side clutch 41L is disposed between the drive transmission path from the propeller shaft 39 to the left rear axle 42L. Similarly, a right side clutch 41R is disposed 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 between connection and disconnection. That is, the rice transplanter 1 according to the present embodiment is configured to be able to individually switch the presence or absence of transmission of driving force to the left and right rear wheels 5 and 5. As a result, when the vehicle body 2 makes a sudden turn, the transmission of the driving force to the inner rear wheel can be cut off, so that a smooth sudden turn can be realized.

  A rotation sensor 44 that detects the rotation of the propeller shaft 39 is attached to the propeller shaft 39. The detection result of the rotation sensor 44 is input to the control unit. In the control unit, the approximate distance traveled by the vehicle body 2 can be acquired by detecting the number of rotations of the propeller shaft 39 based on the detection result of the rotation sensor 44.

  Further, a part of the output of the HMT 25 is taken out from a planting drive take-out part 51 provided at a position on the rear right side of the mission case 11. A planting drive transmission shaft 52 is connected to the planting drive extraction portion 51 via a universal joint. The planting drive transmission shaft 52 is connected to a planting transmission 43 disposed behind the mission case 11.

  A speed change device including a plurality of gears is provided in the planting speed change unit 43, and is configured to appropriately change the input driving force and output it from the PTO shaft 13. The planting part 3 is driven by the driving force transmitted by the PTO shaft 13. With the above configuration, the speed at which the rotary case 21 is rotationally driven can be changed, so that the interval for planting seedlings can be changed.

  Further, in the planting transmission unit 43, the driving force is transmitted to the PTO shaft 13 via a planting clutch (working clutch) 50. By cutting the planting clutch 50, the driving of the planting unit 3 can be stopped. The planting clutch 50 is configured so that connection / disconnection can be switched by the control unit. The planting clutch 50 is also configured so that connection / disconnection can be switched by an operator operating an unillustrated planting clutch operating lever.

  Further, a fertilization clutch 53 is provided in the planting transmission unit 43. Part of the driving force input to the planting transmission unit 43 is configured to be output from the fertilization drive shaft 54 via the fertilization clutch 53. The fertilizer application drive shaft 54 is connected to the fertilizer application device 23. With the above configuration, the driving force is transmitted to the fertilizing device 23 and the fertilizing device 23 is driven, so that the fertilizer can be sprayed on the farm field.

  Next, a configuration for switching connection / disconnection of the side clutches 41L, 41R will be described with reference to FIG. FIG. 3 shows a schematic configuration of the side clutch operation mechanism 45.

  The side clutch operation mechanism 45 includes left and right clutch operation levers (clutch operation levers) 46L and 46R, a steering interlocking lever (steering interlocking lever) 47, and a steering operation transmission link 48.

  The clutch operation levers 46L and 46R are disposed outside the rear axle case 40. Further, the clutch operation levers 46L and 46R are configured to be able to operate the corresponding side clutch by rotating between the “clutch connection position” and the “clutch disengagement position” around the support shaft. ing. Specifically, when the left clutch operation lever 46L is rotated to the “clutch engagement position”, the left side clutch 41L is in the connected state, and when the left clutch operation lever 46L is rotated to the “clutch disengagement position”. The left side clutch 41L is configured to be in a disconnected state. Similarly, when the right clutch operation lever 46R is rotated to the “clutch connection position”, the right side clutch 41R is in the connected state, and when the right clutch operation lever 46R is rotated to the “clutch disengagement position” The side clutch 41R is configured to be in a disconnected state. The clutch operating levers 46L and 46R are applied with an urging force by an unillustrated urging member so as to be in the “clutch connection position”. Therefore, in a state where no operating force is applied to the left and right clutch operation levers 46L and 46R, the left and right side clutches 41L and 41R are both connected.

  The steering interlock lever 47 is disposed outside the rear axle case 40. The steering interlock lever 47 has a support shaft 47a attached to the center in the longitudinal direction thereof, and is configured to be rotatable about the support shaft 47a. The steering interlocking lever 47 is configured to be able to operate the left and right clutch operation levers 46L and 46R by rotating about the support shaft 47a.

  Specifically, the left clutch operation lever 46L is disposed in the vicinity of the left end 47b of the steering interlocking lever 47. The steering interlock lever rotates in one direction around the support shaft 47a, so that the left clutch operating lever 46L can be pushed by the left end 47b of the steering interlock lever 47. Yes. Thus, by pushing the left clutch operation lever 46L by the end 47b of the steering interlocking lever 47, the left clutch operation lever 46L is rotated against the urging force, and the left clutch operation lever 46L is moved to “clutch”. Cutting position ".

  The right clutch operation lever 46R is disposed in the vicinity of the right end 47c of the steering interlocking lever 47. The steering interlock lever 47 rotates in the other direction around the support shaft 47a so that the right clutch operation lever 46R can be pushed by the other end 47c of the steering interlock lever 47. It is configured.

  Thus, by pushing the right clutch operation lever 46R by the end 47c of the steering interlocking lever 47, the right clutch operation lever 46R is rotated against the urging force, and the right clutch operation lever 46R is moved to “clutch”. Cutting position ". Note that the steering interlock lever 47 is configured to be in a neutral position (the state shown in FIG. 3) in which neither of the left and right clutch operation levers 46L and 46R is operated.

  The steering operation transmission link 48 is configured to transmit the operation of the steering handle 7 by the operator to the support shaft 47 a of the steering interlocking lever 47. As a result, the steering interlock lever 47 can be rotated according to the operation amount of the steering handle 7, so that the connection / disconnection of the side clutches 41L, 41R can be switched according to the operation of the steering handle 7.

  More specifically, when the steering handle 7 is operated to the left by a certain amount or more, the end portion 47b of the steering interlocking lever 47 pushes the left clutch operating lever 46L to disconnect the left side clutch 41L. . Further, when the steering handle 7 is operated to the right by a certain amount or more, the end portion 47c of the steering interlocking lever 47 pushes the right clutch operation lever 46R to disconnect the right side clutch 41R.

  With the above configuration, when the steering handle 7 is operated to a certain amount from side to side (when making a sudden turn), transmission of driving force to the inner rear wheel 5 is cut off, so Smooth turning can be realized while preventing roughening.

  Also, clutch sensors 49L and 49R are attached in the vicinity of the left and right clutch operation levers 46L and 46R, respectively. The clutch sensors 49L and 49R are specifically configured as switches. That is, when the clutch operating levers 46L and 46R are rotated to the “clutch disengagement position”, the clutch clutch 49L and 49R on the corresponding side is pushed and the switch is turned on to detect the disengagement of the side clutch. Has been. Thereby, it is possible to detect whether or not 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, with reference to FIG. 4, the hydraulic line disposed in the rice transplanter 1 will be described. As shown in FIG. 4, the hydraulic line is configured to supply pressure oil from the hydraulic pump 24 to the lift cylinder 14 via the power steering valve 55 and the lift 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 provided in the vehicle body 2, and includes a spool 55 a that is driven according to the operation of the steering handle 7.

  The lift control valve unit 56 is configured by combining the lift control valve 57 and the stop valve 58 as one unit. The pressure oil sent from the hydraulic pump 24 via the power steering valve 55 passes through the lift control valve 57 and the stop valve 58 in this order, and then is supplied to the lift cylinder 14.

  The lift control valve 57 is a solenoid valve for switching the drive direction of the lift cylinder 14, and includes a spool 57a that is driven based on a control signal from the control unit. By changing the position of the spool 57a, the oil supply passage can be switched so that oil is supplied to the elevating cylinder 14 or discharged from the elevating cylinder 14. The control unit can drive the elevating cylinder 14 by appropriately controlling the elevating control valve 57 to raise or lower the planting unit 3.

  The stop valve 58 is a valve capable of blocking the flow of oil between the elevating cylinder 14 and the elevating control valve 57, and is configured to be directly operated by an operator. The stop valve 58 is opened during normal operation so that oil from the elevation control valve 57 is supplied to the elevation cylinder 14. On the other hand, when the engine 10 is stopped, the stop valve 58 is closed as necessary. By closing the stop valve 58, oil can be prevented from flowing out of the elevating cylinder 14, so that the position of the planting portion 3 can be maintained even when the engine 10 is stopped.

  Next, the float control (automatic grounding control) by the control unit will be described. Float control is control which maintains the said planting part 3 at the appropriate height with respect to the ground by raising / lowering the planting part 3 following the unevenness | corrugation etc. of the ground 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 with respect to the ground based on the detection result of the float sensor. When the control unit determines that the planting unit 3 is too high relative to the ground based on the detection result of the float sensor, the control unit lowers the planting unit 3 by operating the spool 57a of the elevation control valve 57. Further, when the control unit determines that the planting unit 3 is too low with respect to the ground based on the detection result of the float sensor, the control unit raises the planting unit 3 by operating the spool 57a of the elevation control valve 57. Let In addition, when the planting part 3 exists in suitable height with respect to the ground based on the detection result of a float sensor, a control part maintains the height of the said planting part 3. FIG.

  By the above float control, the planting part 3 can always be maintained at an appropriate height with respect to the ground, so that a seedling can be planted appropriately.

  By the way, if the vehicle body reaches the end of the field (grow) while performing the planting operation while performing the float control as described above, the planting operation is continued by turning the vehicle body in a U-turn. There is a need to. Here, during the float control, the planting part 3 is in a position close to the ground, so if the vehicle body is turned in a U-turn in this state, the planting part 3 collides with a rod or the like. May cause damage. Therefore, the rice transplanter 1 according to the present embodiment automatically turns up when turning the vehicle body 2 U-turns during planting work until the planting unit 3 is sufficiently separated from the ground. It is comprised so that raising / lowering control may be performed.

  Next, the above-described automatic lift control during turning will be specifically described.

  Automatic turning control during turning is started by detecting a predetermined operation of the operator as a trigger. As shown in the flowchart of FIG. 5, the control unit of the present embodiment performs any one of the three triggers of “side clutch disconnection operation”, “planting clutch disconnection operation”, and “reverse operation”. When detected by the control unit, the control unit is configured to start automatic lifting control during turning. The control unit is configured to automatically select and execute one of the three control patterns depending on which of the three triggers is detected.

  First, the first control pattern will be described with reference to the flowcharts of FIGS. This control pattern assumes a situation where the operator operates the steering handle 7 greatly to cause the vehicle body 2 to turn sharply (U-turn) during planting work.

  When the control unit detects the disconnection of the side clutches 41L and 41R as a trigger based on the detection results of the clutch sensors 49L and 49R during the planting operation (conditional branch in S101), the control unit proceeds to S104 and performs the first control. Automatic lift control during turning is performed with a pattern (control of pattern 1).

  As described above, the rice transplanter 1 of the present embodiment is configured such that one of the side clutches 41L and 41R is disconnected only when the steering handle 7 is operated by a certain amount or more. Since it is configured in this way, it is detected by a simple sensor (specifically, a switch) called clutch sensors 49L and 49R that the operator has greatly operated the steering handle 7 to start the U-turn turning of the vehicle body 2. be able to. Therefore, in order to determine the start of the U-turn start, for example, an expensive rotation amount sensor for detecting the rotation amount of the steering shaft is not necessary, and the rice transplanter 1 can be configured easily and inexpensively.

  As described above, when the operation amount of the steering handle 7 is less than the predetermined amount, the side clutches 41L and 41R are not disconnected. Therefore, in the delicate operation when the vehicle body 2 is moving straight, the automatic lifting control during turning is not started. Thereby, it is possible to prevent the automatic lifting / lowering control from starting at a timing that does not conform to the will of the operator.

  When the control unit detects disconnection of the side clutches 41L and 41R (start of U-turn turning), the control unit proceeds to S201 in FIG. 6 and makes a notification sound by the notification unit, and then disconnects the planting clutch 50 (S202). The planting part 3 is configured to rise (S203). As described above, when the start of the U-turn turning is detected, the planting unit 3 is automatically raised, so that it is possible to prevent the planting unit 3 from colliding with the eaves or the like when the vehicle body 2 is turned. . Moreover, since the planting clutch 50 is automatically disconnected when the planting unit 3 is lifted, useless operation of the planting unit 3 can be prevented. In addition, when raising the planting part 3, the said float control is interrupted.

  And as mentioned above, when the rice transplanter 1 of this embodiment raises the planting part 3 automatically, it is comprised so that the alerting | reporting part may alert | report beforehand. Thereby, since it can alert | report that the raising of the planting part 3 is performed with respect to the person around the rice transplanter 1 and the operator itself, the safety at the time of raising / lowering the planting part 3 automatically can be improved. it can.

  When the planting unit 3 is raised, the control unit determines whether the side clutch whose disconnection is detected in S101 is connected again (S204). When the connection of the side clutch is detected, it means that the steering handle 7 has been returned to the neutral position, so that it can be determined that the U-turn turning has ended. In this case, a control part sounds an alerting | reporting sound by an alerting | reporting part (S205), and lowers the planting part 3 after that. Thus, even when the planting unit 3 is automatically lowered using the side clutch connection as a trigger, since the notification by the notification unit is performed in advance, the safety when automatically raising and lowering the planting unit 3 is improved. Can do.

  As shown in FIG. 9, at the time when the U-turn turn is started (when the disconnection of the side clutch is detected) and the time point immediately after the end of the U-turn turn (when the connection of the side clutch is detected), When viewed in the front-rear direction of the vehicle body 2, there is an offset distance corresponding to about one rice transplanter 1. Therefore, in the rice transplanter 1 of the present embodiment, after detecting the connection of the side clutch (end of the U-turn turning), the control unit restarts the planting after proceeding a distance corresponding to about one vehicle. It is configured as follows.

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

  Thereby, planting can be restarted from the position corresponding to the time when planting is interrupted (the time when disconnection of the side clutch is detected). Thereby, the planting position of the seedling can be aligned before and after the automatic turning up and down control.

  In the above description, the offset distance is the distance of about one of the rice transplanters 1, but the offset distance varies depending on the turning performance of the vehicle body 2 and the like. Therefore, the rice transplanter 1 may be equipped with an adjustment dial for an operator to increase or decrease the offset distance.

  Then, when the planting clutch 50 is connected and the planting is resumed, the control unit is configured to resume the float control and sound a notification sound by the notification unit (S209). Accordingly, since it is possible to notify the operator that planting has been resumed normally, it is possible to prevent a malfunction when, for example, planting has not been resumed for some reason.

  Next, the second control pattern will be described with reference to FIGS. This control pattern assumes a situation in which the operator cuts the planting clutch during planting work, interrupts planting, travels straight ahead for a short distance, and then turns the vehicle body 2 suddenly (U-turn). Yes. Such an operation is performed, for example, when a certain section is not planted in order to secure a space for the rice transplanter 1 to escape from the field in the row.

  When the control unit detects that the planting clutch 50 has been disconnected by operating the planting clutch operating lever (not shown) as a trigger (conditional branching in S102), the control unit proceeds to S105 and performs the second control pattern. Automatic lift control is performed by (control of pattern 2).

  In this case, the control unit is configured to sound a notification sound (S301) and then raise the planting unit 3 by interrupting the float control (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 detects the disconnection of the side clutches 41L and 41R (start of U-turn turning) (S304). When the determination is made, the counting is finished (S305). As a result, as shown in FIG. 10, it is possible to acquire the distance (advance distance) that the vehicle body 2 has advanced between the time when planting is interrupted and the time when the U-turn turning starts.

  Subsequently, when the control unit detects that the side clutch whose disconnection is detected in S304 is connected again (end of U-turn turning) (determination in S306), the control unit sounds a notification sound (S307). Thereafter, the planting part 3 is lowered (S308). Here, as shown in FIG. 10, when the planting clutch 50 is disconnected and planting is interrupted, and immediately after the U-turn turning is finished, when viewed in the front-rear direction of the vehicle body 2 ( There is a positional deviation of (advance distance) + (offset distance corresponding to about one rice transplanter 1). Therefore, after detecting the engagement of the side clutch (end of the U-turn turning), the control unit counts the number of rotations of the propeller shaft 39 based on the detection result of the rotation sensor 44, and the vehicle body 2 is a distance corresponding to the deviation. It is determined whether or not the vehicle has traveled only (S309). Then, after determining that the vehicle body 2 has traveled a distance corresponding to the deviation, the planting clutch 50 is connected (S310). In addition, when the planting clutch 50 is connected, the control unit is configured to resume the float control and resume planting, and to generate a notification sound by the notification unit (S311).

  Next, the third control pattern will be described with reference to FIGS. This control pattern assumes a situation in which the operator turns the vehicle body 2 rapidly after turning the vehicle body 2 backward during planting work. Such an operation is performed, for example, when it is desired to perform planting up to the position of the last minute.

  When the control unit detects that the operator has started the reverse of the vehicle body 2 by operating the forward / reverse switching lever as a trigger (conditional branch of S103), the control unit proceeds to S106 and performs the third control pattern (pattern 3). Control).

  In this case, the control unit is configured to sound a notification sound (S401), disengage the planting clutch 50 (S402), interrupt the float control, and raise the planting unit 3 (S403). 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 (S404), and detects the disconnection of the side clutches 41L and 41R (start of U-turn turning) (S405). When the determination is made, the counting is finished (S406). As a result, as shown in FIG. 11, it is possible to acquire the distance (reverse distance) that the vehicle body 2 has moved backward from the start of reverse movement to the start of U-turn turning.

  Subsequently, when the control unit detects that the side clutch whose disconnection is detected in S405 is connected again (end of U-turn turning) (determination in S407), the control unit sounds a notification sound (S408). Thereafter, the planting part 3 is lowered (S409). At this time, as shown in FIG. 11, when the vehicle starts moving backward (when the planting is interrupted) and immediately after the U-turn turning is finished, There is a deviation corresponding to (offset distance corresponding to approximately one of the aircraft 1) − (reverse travel distance). Therefore, after detecting the engagement of the side clutch (end of the U-turn turning), the control unit counts the number of rotations of the propeller shaft 39 based on the detection result of the rotation sensor 44, and the vehicle body 2 is a distance corresponding to the deviation. It is determined whether or not the vehicle has traveled only (S410). Then, after determining that the vehicle body 2 has traveled a distance corresponding to the deviation, the planting clutch 50 is connected (S411). In addition, when the planting clutch 50 is connected, the control unit resumes the float control and resumes planting, and the notification unit sounds a notification sound (S412).

  As described above, the rice transplanter 1 according to the present embodiment must be notified by the notification unit before automatically raising or lowering the planting unit 3 in any of the three control patterns of the automatic lifting control during turning. Is configured to do. Thereby, the safety | security at the time of raising / lowering the planting part 3 automatically can be improved.

  In the above description, it is determined that the turn of the U-turn has ended only when the side clutch is connected. However, in addition to or instead of this, the detection result of the rotation sensor 44 is taken into consideration. You may comprise so that the end of turn turning may be judged. For example, after the side clutch is disconnected, when the side clutch is connected without the vehicle body 2 traveling a sufficient distance, it can be determined that the turning operation has been completed without completing the U-turn turning. When the U-turn turning is not completed in this way, it is considered that the operator did not turn with the intention of continuing the planting operation. Therefore, even if the side clutch is connected, the planting unit 3 It is better not to automatically descend. Therefore, after detecting the disengagement of the side clutch (S102, S304, or S405), the control unit counts the number of rotations of the propeller shaft 39 by the rotation sensor 44, and makes a U-turn turn until the number of rotations exceeds a predetermined number. Therefore, it can be determined that the planting unit 3 is not automatically lowered.

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

  For example, there is a case where the vehicle body 2 is moved backward in order to align the vehicle body 2 at the row. In such a case, in order to prevent the planting unit 3 from colliding with the cocoon, it is preferable to automatically raise the planting unit 3 regardless of whether planting is being performed.

  Therefore, in the rice transplanter 1 according to the present embodiment, when the control unit detects that the operator has started the backward movement of the vehicle body 2 by operating the forward / reverse switching lever, the control unit generates a notification sound by the notification unit. It is comprised so that the planting part 3 may be raised after it rings. Thus, also in the case of the automatic raising control of the planting part at the time of reverse travel, since the notification is performed before the planting part 3 is automatically raised, safety can be improved.

  In addition, the rice transplanter 1 of this embodiment is comprised so that the planting part 3 can be removed as mentioned above. By the way, the operation | work which attaches the planting part 3 or another working machine with respect to the vehicle body 2 of the state which removed the planting part 3 is performed as follows, for example. That is, a work machine to be attached to the vehicle body 2 is installed on the ground or an appropriate table 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 brought close to the connection point of the work implement to connect the lift link mechanism and the work implement.

  As described above, when the work machine is attached, it is necessary to reverse the vehicle body 2 while maintaining the height of the lifting link mechanism 12, and in this case, automatic ascent control during reverse traveling is not performed. It is preferable. Therefore, the rice transplanter 1 according to the present embodiment includes an appropriate sensor that detects whether or not the work machine is attached to the vehicle body 2. When the work machine is not attached, the rice transplanter 1 automatically moves up and down during reverse travel. It is configured not to perform control.

  Next, manual lifting operation of the planting unit 3 during planting work will be described.

  That is, during the planting operation, there is a case where it is desired to temporarily change the height of the planting unit 3 for some reason. In preparation for such a case, the rice transplanter 1 of the present embodiment includes a manual lift switch (not shown) configured so that the height of the planting unit 3 can be manually adjusted by an operator. Yes.

  In the middle of the planting operation, when the planting is temporarily interrupted and the height of the planting part 3 is to be changed, the operator performs an operation of disconnecting the planting clutch 50 and presses the manual lift switch. Operate and adjust the planting part 3 to a desired height. When detecting the operation of the manual elevating switch, the control unit is configured to drive the elevating cylinder 14 to drive the planting unit 3 up and down, and to shift to a standby mode and interrupt the float control.

  When the height of the planting part 3 is temporarily changed during the planting operation as described above, it is preferable that the planting operation can be resumed quickly by performing a predetermined operation. Therefore, in the rice transplanter 1 of the present embodiment, when the operator performs an operation of connecting the planting clutch 50 during the standby mode, the control unit exits the standby mode and causes the notification unit to sound the notification sound. The float control is configured to resume. When the float control is resumed, the planting unit 3 is automatically raised and lowered to the position before the operator changes the height, so that the planting operation can be appropriately resumed. Thus, the planting operation can be resumed quickly only by the operation of connecting the planting clutch 50.

  Moreover, in the rice transplanter 1 of this embodiment, it is comprised so that the alerting | reporting part may alert | report before resuming float control automatically as mentioned above. That is, when the float control is resumed from the state where the height of the planting unit 3 is changed, the planting unit 3 is automatically raised and lowered to the original height, so it is preferable to notify the surroundings of the automatic elevation. . In this respect, by performing the notification before resuming the float control as described above, it is possible to notify the surroundings that the planting unit 3 is automatically raised and lowered, and the safety can be improved.

  As described above, the rice transplanter 1 according to this embodiment includes the steering handle 7, the side clutches 41L and 41R, the side clutch operation mechanism 45, the clutch sensors 49L and 49R, the planting unit 3, and the lifting cylinder. 14, a control unit, and a planting clutch 50. The steering handle 7 is for performing a steering operation of the vehicle body 2. The side clutches 41L and 41R can switch whether or not the driving force is transmitted to the rear axles 42L and 42R of the left and right rear wheels 5 and 5. The side clutch operation mechanism 45 disconnects the side clutch when the steering operation tool is operated by a predetermined operation amount or more. The clutch sensors 49L and 49R can detect the operating state of the side clutches 41L and 41R. The raising / lowering cylinder 14 is for raising / lowering the planting part 3. The controller controls driving of the elevating cylinder 14. The planting clutch 50 can switch whether or not the driving force is transmitted to the planting unit 3. In addition, the control unit can detect the disconnection of the planting clutch 50, the disconnection of the side clutches 41L and 41R, and the reverse operation during the operation of the planting unit 3 as a start trigger of the turning automatic lifting control. And when the said control part detects any one among start triggers, the planting part 3 will be raised, and if the connection of the said side clutch is detected after that, the planting part 3 will be lowered | hung.

  That is, since the side clutch is disengaged when the steering handle 7 is operated for a predetermined amount or more as described above, the steering handle 7 is detected by the predetermined amount by detecting whether or not the side clutch is connected. It can be determined whether or not the operation has been performed. Therefore, for example, an agricultural work vehicle can be configured easily and inexpensively as compared with a configuration in which the operation amount of the steering handle 7 is detected by a potentiometer.

  Moreover, the rice transplanter 1 of this embodiment is comprised as follows. That is, the side clutch operating mechanism 45 is interlocked with the operation of the left clutch operating lever 46L for operating the left side clutch 41L, the right clutch operating lever 46R for operating the right side clutch 41R, and the operation of the steering handle 7. And a steering interlocking lever 47 that rotates about an axis. The left clutch operation lever 46L is disposed in the vicinity of the left end 47b of the steering interlock lever 47. The right clutch operation lever 46R is disposed near the right end 47c of the steering interlock lever 47. When the steering handle 7 is operated by a predetermined amount to either the left or right, the steering interlock lever 47 pushes the left clutch operation lever 46L or the right clutch operation lever 46R, so that the corresponding side clutch is disengaged. It is comprised so that. The clutch sensor is composed of a left clutch sensor 49L that detects the movement of the left clutch operation lever 46L, and a right clutch sensor 49L that detects the movement of the right clutch operation lever 46R.

  Thereby, the operating condition of the side clutches 41L and 41R can be detected with a simple configuration.

  Moreover, the rice transplanter 1 of this embodiment is comprised as follows. That is, when the control unit detects the disconnection of the side clutch as the start trigger during the operation of the planting unit, the control unit determines that the turning is started and raises the planting unit 3. Moreover, the said control part will determine the completion | finish of turning based on this, and will lower the planting part 3, if the connection of a side clutch is detected. And if the said control part detects having drive | worked the predetermined | prescribed offset distance after completion | finish of the said turning, the planting clutch 50 will be connected.

  Thereby, when the steering handle 7 is operated to start a sudden turn, the planting part 3 can be automatically raised and lowered automatically at the end of the turn. Collisions can be prevented. Further, by setting the offset distance to an appropriate value, the work can be resumed at an appropriate position.

  Moreover, the rice transplanter 1 of this embodiment is comprised as follows. That is, when the control unit detects the disengagement of the planting clutch 50 as the start trigger while the planting unit 3 is operating, the controller raises the planting unit 3 and starts turning after the planting clutch 50 is disconnected. Memorize the advance distance. Moreover, the said control part will determine with turning start, if the cutting | disconnection of a side clutch is detected. Moreover, the said control part will determine the completion | finish of turning based on this, and will lower the planting part 3, if the connection of a side clutch is detected. And if the said control part detects having drive | worked the distance which added the said advance distance and predetermined offset distance after completion | finish of the said turning, the planting clutch 50 will be connected.

  Accordingly, even when the work is interrupted at a predetermined position and then turned after a certain degree of progress, the planting unit 3 can be automatically moved up and down, so that the planting unit collides with the ground or the like during the turn. This can be prevented. Further, by setting the offset distance to an appropriate value, the work can be resumed at an appropriate position.

  Moreover, the rice transplanter 1 of this embodiment is comprised as follows. That is, when the control unit detects the backward operation of the vehicle body 2 as the start trigger 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 travel to the start of the turn. . Further, the control unit determines that the turn is started when it detects the disconnection of the side clutch. Moreover, if a control part detects the connection of a side clutch, based on this, it will determine with the end of turning, and will lower a planting part. When the control unit detects that the vehicle has traveled a distance obtained by subtracting the reverse travel distance from the predetermined offset distance after the turn, the planting clutch 50 is connected.

  Thereby, even if it is a case where it turns after it reverses once, since a planting part can be raised / lowered automatically automatically, it can prevent that a planting part collides with the ground etc. at the time of turning. Further, by setting the offset distance to an appropriate value, the work can be resumed at an appropriate position.

  Moreover, the rice transplanter 1 of this embodiment is provided with the alerting | reporting part which alert | reports when the planting part 3 raises / lowers and the planting clutch 50 is connected.

  Thereby, the operator can confirm that the automatic raising / lowering control of the work machine at the time of turning is appropriately performed.

  Further, in the rice transplanter 1 according to the present embodiment, the control unit determines the end of the turn in consideration of the number of times the propeller shaft 39 of the rear wheel has rotated in addition to the detection of the connection of the side clutch. It can also be configured.

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

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  In the above embodiment, the HMT 25 including the HST 26 and the planetary gear mechanism 27 is arranged in the transmission case 11 as a continuously variable transmission. Instead of this configuration, the continuously variable transmission may include only the HST 26. However, the HMT combining the HST and the planetary gear mechanism is more advantageous from the viewpoint of transmission efficiency than the configuration of only the HST.

  In the above embodiment, the clutch sensor is described as a switch, but the present invention is not limited to this. Any other type of sensor may be employed as long as it can detect that the clutch operating lever has been operated.

  In the said embodiment, although the planting part 3 of the rice transplanter 1 was removable, removal may be impossible.

  In the said embodiment, although the planting part 3 was made into the rotary type planting part, a crank type may be sufficient.

  The notification unit is not limited to a buzzer, and may be configured to make an announcement such as “the planting unit will rise” by using a machine voice or the like. In addition, the notification by the notification unit is not limited to sound, and may be configured to turn on an alarm lamp, for example.

1 Rice transplanter (passenger type rice transplanter)
2 Car body 3 Planting part (work machine)
14 Lifting cylinder

Claims (7)

A steering operation tool for steering the vehicle body;
A side clutch capable of switching the presence or absence of transmission of driving force to the axles of the left and right rear wheels;
A side clutch operation mechanism that disengages the side clutch when the steering operation tool is operated by a predetermined operation amount or more;
A clutch sensor capable of detecting the operating state of the side clutch;
A working machine,
A lifting cylinder for lifting and lowering the working machine;
A control unit for controlling the driving of the elevating cylinder;
A working clutch capable of switching the presence or absence of transmission of driving force to the working machine;
With
The control unit can detect the disengagement of the work clutch, the disengagement of the side clutch, and the reverse operation during the operation of the working machine as a start trigger of the automatic lifting control during turning,
Agricultural work characterized in that the control unit raises the work implement when detecting any one of the start triggers, and then lowers the work implement when detecting the connection of the side clutch. vehicle. The agricultural work vehicle according to claim 1,
The side clutch operating mechanism is
A left clutch operating member for operating the left side clutch;
A right clutch operating member for operating the right side clutch;
A steering interlock lever that rotates around the axis in conjunction with the operation of the steering control tool;
With
The left clutch operating member is disposed in the vicinity of the left end of the steering interlocking lever.
The right clutch operating member is disposed in the vicinity of the right side end of the steering interlock lever.
When the steering operation tool is operated by a predetermined amount to either the left or right, the side clutch on the corresponding side is disconnected by pushing the left clutch operating member or the right clutch operating member by the steering interlocking lever. Has been
The clutch sensor is
A left clutch sensor for detecting movement of the left clutch operating member;
A right clutch sensor for detecting movement of the right clutch operating member;
An agricultural work vehicle characterized by comprising: Agricultural work vehicle according to claim 1 or 2,
The controller is
When detecting the disengagement of the side clutch as the start trigger during operation of the work implement, it is determined that the turn is started and the work implement is raised,
When the connection of the side clutch is detected, it is determined that the turn is finished based on this, and the working machine is lowered,
An agricultural work vehicle that connects the work clutch when detecting that the vehicle has traveled a predetermined offset distance after the turn. An agricultural work vehicle according to any one of claims 1 to 3,
The controller is
When detecting the disengagement of the work clutch as the start trigger during operation of the work implement, raise the work implement,
Memorize the distance traveled from the disengagement of the working clutch to the start of turning;
When the disconnection of the side clutch is detected, it is determined that the turn starts,
When the connection of the side clutch is detected, it is determined that the turn is finished based on this, and the working machine is lowered,
An agricultural work vehicle that connects the work clutch when detecting that the vehicle has traveled a distance obtained by adding the moving distance and a predetermined offset distance after the turn. An agricultural work vehicle according to any one of claims 1 to 4,
The controller is
When a reverse operation of the vehicle body is detected as the start trigger during operation of the work machine, the work machine is raised,
Measure the moving distance from the start of reverse to the start of turning,
When the disconnection of the side clutch is detected, it is determined that the turn starts,
When the connection of the side clutch is detected, it is determined that the turn is finished based on this, and the working machine is lowered,
An agricultural work vehicle that connects the work clutch when it is detected that the vehicle has traveled a distance obtained by subtracting the travel distance from a predetermined offset distance after the turn. An agricultural work vehicle according to any one of claims 3 to 5,
An agricultural work vehicle comprising: a notification unit that performs notification when the working machine is raised and lowered and when the work clutch is connected. An agricultural work vehicle according to any one of claims 3 to 6,
The controller is
In addition to detecting the side clutch connection,
An agricultural work vehicle, wherein the end of turning is determined in consideration of the number of rotations of the drive shaft of the rear wheel.

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