JP5545232B2 - Ride type seedling transplanter - Google Patents

Description

  The present invention relates to a riding seedling transplanting machine in which a seedling transplanting device is mounted on a traveling vehicle via a lifting link device.

As this type of prior art, there is a riding type rice transplanter provided with a turning linkage mechanism that brakes by breaking the side clutch of the inside of the turning of the left and right rear wheels by a steering operation of a predetermined angle or more from a straight traveling state of the steering front wheel. is there. In this riding type rice transplanter, it is possible to perform turning with good operability by braking the rear wheel inside the turn only by performing a steering operation on the front wheel (see Patent Document 1) .
(See Patent Document 2).

Japanese Patent Laid-Open No. 11-94051

  However, at the time of turning, in addition to the turning operation of the aircraft, the operator has to perform turning on / off operation of the work device and raising / lowering the working device, and cannot concentrate on the turning operation at the time of turning, There was still a problem in terms of turning operability.

According to the first aspect of the present invention, the seedling transplanting device (3) is mounted on a traveling vehicle (1) provided with left and right front wheels (6) and left and right rear wheels (7) for steering, In the riding seedling transplanter provided with (195) and the marker operation switching operation tool (220) for stopping the operation of the left and right line drawing marker (195), the travel distance calculating means sets the steering handle (16) to a predetermined angle or more. The turning distance after the operation is calculated, and automatic turning control is performed to output a command for the seedling transplanting device (3) to descend according to the running distance, and the left and right rear wheels (7) are rotated during turning. This is a riding type seedling transplanter characterized in that a control device (170) that compares the numbers and switches the drawing marker (195) on one of the left and right sides with a large number of rotations to a drawing action state after turning is provided. .

According to the second aspect of the present invention, the seedling transplanting device (3) is mounted on the traveling vehicle (1) provided with the left and right front wheels (6) and the left and right rear wheels (7) for steering, In the riding seedling transplanter provided with (195) and the marker operation switching operation tool (220) for stopping the operation of the left and right line drawing marker (195), the travel distance calculating means sets the steering handle (16) to a predetermined angle or more. The travel distance after the operation is calculated, and the automatic turn control for starting the driving of the seedling transplanting device (3) according to the travel distance is performed, and the number of rotations of the left and right rear wheels (7) during the turn is determined. In comparison, the riding seedling transplanter is provided with a control device (170) for switching the drawing marker (195) on one of the left and right sides with a large number of rotations to a drawing action state after turning.

The invention according to claim 3 raises the seedling transplanting work device (3) after turning off the drive of the seedling transplanting work device (3) when the left and right front wheels (6) are steered to a predetermined angle or more in the automatic turning control. A command is output to raise the seedling transplanting work device (3), and after outputting a command for the seedling transplanting work device (3) to descend according to the travel distance calculated by the travel distance calculating means, the seedling transplanting work device ( 3. The riding seedling transplanter according to claim 1 or 2, wherein the driving of 3) is started and the drawing marker (195) is switched to a drawing action state .

According to a fourth aspect of the present invention, the control device (170) operates the marker actuating operation tool (220) so as to stop the operation of the left / right line drawing marker (195) or sets the speed change lever (90) on the road traveling speed position. 4. The riding seedling transplanter according to any one of claims 1 to 3, which is configured to switch to a state in which automatic turning control is not performed when operated to .

According to the first or second aspect of the invention, the automatic vertical movement of the left and right line drawing marker 195 is performed accurately, and it is possible to concentrate on the steering operation at the time of turning, and the aircraft can be turned easily and appropriately safely. .

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or claim 2, the drawing marker 195 is switched to the drawing action state according to the travel distance, and can be dedicated to the steering operation at the time of turning, The aircraft can be turned safely and easily.

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3 , the automatic turning control does not operate in a state where the operation of the right line drawing marker 195 is stopped or in a state of running on the road. So you can drive safely .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view showing an eight-row planting type rice transplanter that is an embodiment of the present invention. It is a whole top view of the riding type rice transplanter shown in FIG. It is a schematic plan view which shows the transmission structure of the traveling vehicle of the riding type rice transplanter shown in FIG. It is an expanded sectional view of the mission case of the riding type rice transplanter shown in FIG. It is a top view which shows the operation structure of the main clutch and rear-wheel brake of the riding type rice transplanter shown in FIG. It is a control block diagram of the riding type rice transplanter shown in FIG. It is a figure which shows the view of the turning control of the riding type rice transplanter shown in FIG. It is a flowchart figure of the turning control of FIG. It is a flowchart figure of left-right drawing marker operation | movement determination control. It is a front view of a rice transplanter. It is a sectional side view which shows the action state of a fertilizer application apparatus.

  An 8-row planted rice transplanter as an embodiment of the present invention will be described in detail with reference to the drawings. As shown in the side view of FIG. 1, the riding type rice transplanter is equipped with a rice planting device 3 which is a kind of seedling transplanting device with a lifting link device 2 on a traveling vehicle 1 and a fertilizer application device 4. It is configured to function as a rice transplanter. The traveling vehicle 1 is a four-wheel drive vehicle having a pair of left and right front wheels 6 and 6 and rear wheels 7 and 7 which are drive trains.

  A mission case 11 and an engine 12 are disposed on the main frame 10 in the front-rear direction, a hydraulic pump 13 is provided at the rear of the mission case 11, and a steering post 14 projects upward from the front of the mission case 11. It is installed.

  A steering handle 16 and an operation panel 17 are provided at the upper end of the steering post 14. A step 19 serving as a control floor is attached to the upper part of the fuselage, and a cockpit 20 is installed above the engine 12. The front wheels 6, 6 are pivotally supported by front wheel support cases 22, 22 provided on the left and right sides of the mission case 11 so that the direction can be changed. The rear wheels 7 and 7 are pivotally supported by rear wheel support cases 24 and 24 that are integrally attached to the left and right ends of the rear wheel lateral frame 23. The rear wheel lateral frame 23 is rotatably supported by a rolling shaft 25 protruding in the front-rear direction at the rear end portion of the main frame 10.

  The rotational power of the engine 12 is transmitted to the counter shaft 32 that is the drive shaft of the hydraulic pump 13 via the belt 31, and further transmitted from the counter shaft 32 to the input shaft 35 of the hydraulic transmission HST via the belt 33. The transmission is transmitted from the output shaft 36 of the hydraulic transmission HST to the mission input shaft 34 via a belt.

  A main clutch 43 is provided on the mission input shaft 34, and the driving force of the hydraulic transmission HST is transmitted to the mission input shaft 34 via the main clutch 43. The main clutch 43 is a well-known multi-plate clutch. As shown in FIG. 4, the main clutch shaft side friction plate 44, the mission input shaft side friction plate 45, the spring 46 pressing both friction plates, and a switching operation fixing member. 47 and a sliding member 48 and the like.

  The mission input shaft 34, the counter shaft 50, the traveling primary shaft 51, the traveling secondary shaft 52, the planting primary shaft 53, and the planting secondary shaft 54 are supported in parallel on the front portion of the casing 40 of the mission case 11. ing. The gear G1 of the mission input shaft 34 and the gear G2 of the counter shaft 50, and the gear G2 and the gear G3 of the traveling primary shaft 51 are engaged with each other, and the rotation of the mission input shaft 34 is transmitted to the traveling primary shaft 51 in the forward direction. It is done.

  As the main transmission K, the gears G3 and G4 are dedicated to fixed positions on the traveling primary shaft 51, and the gears G5 and G6 formed integrally with the traveling secondary shaft 52 are slidable in the axial direction. It is mated. When the gears G5 and G6 are moved by the shifter 56 and the gears G4 and G5 are engaged, the planting speed is low, and when the gears G3 and G4 are engaged, the road traveling speed is high. The position where the gears G5 and G6 do not mesh with any gear is neutral. A main transmission lever 90 operated by the main transmission K is provided on the operation panel 17.

  As the inter-strain transmission C, gears G9 and GLO formed integrally with the planting primary shaft 53 are slidably fitted in the axial direction, and gears G11 and G12 are mounted on the planting secondary shaft 54. Are attached to each. By appropriately moving the gears G9 and GL0 with the shifter 57, three combinations of the gear G9 and the gear G11, the gear G10 and the gear 11, and the gear G11 and the gear G12 can be obtained, and the three-stage stock switching can be performed. It is transmitted from the planting secondary shaft 54 to the planting part transmission shaft 58 via the bevel gears G13 and G14.

  Rear axles 60, 60 and front axles 61, 61 are supported at the rear of the casing 40, and are transmitted from the traveling secondary shaft 52 to the rear axles 60, 60 via the rear differential device D and from the rear differential device D to the front differential. It is transmitted to the left and right front axles 61 and 61 via the device E. The left and right front wheels 6 and 6 are driven and rotated by the left and right front axles 61 and 61, respectively.

  The rear differential device D includes a container 63 having a gear G16 that meshes with the gear G15 of the traveling secondary shaft 52 formed on the outer peripheral portion, a primary bevel gear G17 attached to a vertical axis 64 in the container, and left and right rear axles 60, 60. The secondary bevel gears G18 and G18 attached separately to each other are housed in a state where they mesh with each other, so that the driving force transmitted to each axle is appropriately changed.

  The front differential device E has the same configuration as the rear differential device D, and is attached to the container 65, the vertical axis 66, the rear differential device side gear G19, the front differential device side gear G20, the bevel gear G21 attached to the vertical axis 66, and the front axle 61. A bevel gear G22 is provided. The rear differential device D and the front differential device E are provided with differential lock devices F and H that stop the differential function and transmit the driving force equally to the left and right axles. The differential lock device F (H) includes a claw 69 (70) formed on the container 63 (65), a claw 73 (74) of a differential lock member 71 (72) fitted to a square rod portion of the axle, and an axle 60 (61). ) Are fixed to each other. A differential lock lever 91 for operating the rear wheel differential lock device F is provided on the operation panel 17.

  The front wheel differential lock device H is configured such that the differential function is stopped when the differential lock pedal 91 'provided in step 19 is depressed. The diff lock lever 91 and the diff lock pedal 91 'are both arranged at the front part of the aircraft. For example, when the vehicle is overtaken from the field and the aircraft is taken out of the field, the operator gets off the vehicle and is in front of the aircraft. Stand up (on the front edge of the aircraft to replace your body as a weight) and move the aircraft forward or backward to safely cross this heel.

  At this time, if any of the left and right front wheels 6, 6 or either of the left and right rear wheels 7, 7 is idle, the operator immediately operates the diff lock lever 91 and the diff lock pedal 91 'at the front of the aircraft in an easy posture. It can be done in the diff lock state and can be safely crossed.

  The rear axles 60, 60 are connected to the side clutch shafts 76, 76 by bevel gears G23, G24,..., And are further transmitted from the side clutch shafts 76, 76 to the rear output shafts 77, 77 via the side clutches I, I. . The side clutch I is a multi-plate clutch and includes a friction plate 80 on the side clutch shaft side and a friction plate 81 on the rear output shaft side. The operating cylinder 82 slidably fitted to the rear output shaft 77 is urged in a direction to press both friction plates 80 and 81 by a leaf spring 83, and is always in a state in which the side clutch I is engaged. . When the operating cylinder 82 is moved in the direction opposite to the urging direction by the shifter 85I, the side clutch I is disengaged.

  Further, rear wheel brake devices J and J are provided on the rear output shafts 77 and 77. The rear wheel brake device J applies pressure to the discs 87,... Attached to the rear output shaft 77 for braking, and the pressure plates 88,. That is, the side clutch I is normally engaged and the rear wheel brake device J is not engaged, and the side clutch I is disengaged by operating the shifter 85I to move the operating cylinder 82 in the direction opposite to the urging direction. When the shifter 85J is operated, the rear wheel brake device J is applied.

  The operation of the rear wheel brake devices J, J (the operation of the left and right shifters 85J and 85J) is performed by the pedal 140 provided on the step 19. That is, the left and right brake operation arms 86J and 86J are fixed to the left and right shifters 85J and 85J, respectively, and the left and right brake operation arms 86J and 86J are linked to the pedal 140 by the linkage mechanism 141. Further, the pedal 140 is linked to a fixing member 47 for switching operation of the main clutch 43, and when the pedal 140 is depressed, the left and right shifters 85J and 85J are rotated to operate the left and right rear wheel brake devices J and J. At the same time, the main clutch 43 is turned off, and the airframe stops.

  On the other hand, the bases of the left and right clutch operating arms 86I and 86I are fixed to the left and right shifters 85I and 85I of the side clutches I and I, and the left and right connecting rods 142 and 142 are respectively attached to the upper ends of the left and right clutch operating arms 86I and 86I. The rear end of the is linked. And the front-end | tip part of the right-and-left connection rod 142 * 142 is connected with the right-and-left both ends of the rocking | swiveling arm 144 rotatably supported by the spindle 143 with which the base was fixed to the body.

  An operating body 145 is fixed to a portion of the swing arm 144 through which the support shaft 143 passes. And the front part of the action body 145 is comprised by the gear 145a by planar view, and the rear part is comprised by the cam 145b in which the center was dented. Further, the front gear 145a of the operating body 145 is engaged with a drive gear 146a of an electric motor 146 provided in the machine body. Accordingly, the electric motor 146 swings the swing arm 144 around the support shaft 143, and the left and right connecting rods 142 and 142 rotate the side clutches I and I and the left and right shifters 85I and 85I. It is configured to allow I to be turned on and off.

  Further, a follower roller 149 provided at the tip of a swing arm 148 rotatably supported by a support shaft 147 is contacted with the rear cam 145b of the operating body 145 by a tension spring 150. ing. One end of the linkage wire 151 is connected to the other end of the swing arm 148, and the other end of the linkage wire 151 is connected to an operation arm for operating the differential lock member 71 of the differential lock device F of the rear differential device D. Therefore, when the swing arm 144 is swung around the support shaft 143 by the electric motor 146, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, and operates the differential lock member 71 to operate the rear differential device. When the differential lock device F of D is operated, the rear differential device D is differentially locked.

The electric motor 181 is configured to operate in cooperation with the operation of the steering handle 16 as will be described later.
The rear end portions of the rear output shafts 77 and 77 protrude out of the casing 40, and left and right rear wheel transmission shafts 89 and 89 that are transmitted to the rear wheel support cases 24 and 24 are connected to the protruding end portions. The left and right rear wheels 7 and 7 are driven and rotated by the left and right rear wheel transmission shafts 89 and 89, respectively.

  The operation position of the main transmission lever 90 is a planting work speed, a neutral position, and a road traveling speed in the order of operation from the rear to the front. When the diff lock lever 91 is operated forward, the diff lock is operated, and when operated backward, the diff lock lever 91 is operated.

  Reference numeral 110 denotes an HST operation lever, which is provided with an HST potentiometer PM-H at its rotation fulcrum, so that the operation position of the HST operation lever 110 can be detected. On the other hand, a shift electric motor MO-H is connected to the arm of the trunnion shaft for shifting the hydraulic transmission HST, and the shift electric motor actuating means of the controller 170 receives the input of the HST potentiometer PM-H. The electric motor MO-H is operated to shift the hydraulic transmission HST. That is, when the HST operation lever 110 is set to the middle of its operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor MO-H is operated by the variable speed electric motor operation means. Thus, the hydraulic transmission HST is set to neutral. As the HST operation lever 110 is operated forward from the intermediate position of the operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor MO is operated by the variable speed electric motor operating means. -H is actuated to speed up the hydraulic transmission HST forward. Conversely, as the HST operation lever 110 is operated backward from the intermediate position of the operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor is operated by the variable speed electric motor operating means. The MO-H is operated to increase the speed of the hydraulic transmission HST to the reverse side.

  The operation position of the main transmission lever 90 indicates the state in which the transmission electric motor MO-H operates the trunnion shaft arm for shifting the hydraulic transmission HST by operating the HST operation lever 110 to shift the hydraulic transmission HST. If the control is changed as follows according to (planting work speed, road traveling speed), the operability is good and safer rice transplanting work can be performed.

  That is, when the main transmission lever 90 is operated to the road traveling speed position, even if the HST operation lever 110 is operated to increase the speed from the intermediate position to the front and rear, conversely, the intermediate from the front or rear position. Even if the deceleration operation is performed toward the position, a continuous constant current flows through the variable speed electric motor MO-H, the variable speed electric motor MO-H operates quickly and the hydraulic transmission HST is quickly shifted. , Driving on the road can be done comfortably.

  In addition, when the main transmission lever 90 is operated to the planting work speed position, if the HST operation lever 110 is operated to increase speed from the intermediate position to the front and rear, a pulse current is supplied to the transmission electric motor MO-H. , The transmission electric motor MO-H is operated with pulse control, and the hydraulic transmission HST is gently shifted to prevent a sudden start at the time of planting and is safe and is gradually increased. Therefore, seedling planting performance is also improved. Conversely, when a deceleration operation is performed from the front or rear position toward the intermediate position, a continuous constant current flows through the variable speed electric motor MO-H, and the variable speed electric motor MO-H operates quickly and continuously. The HST shifts quickly and decelerates quickly, so it is safe. When turning the aircraft, the HST can be operated quickly and with good operability.

  Note that, regardless of whether the main transmission lever 90 is operated at the road traveling speed position or the planting work speed position, the HST operation lever 110 is decelerated even if it is operated to the speed increasing side near the intermediate position (neutral). Even if it is operated to the side, a pulse current flows through the variable speed electric motor MO-H, the variable speed electric motor MO-H is operated under pulse control, and the hydraulic transmission HST is shifted gently. It is easy to operate the hydraulic transmission HST neutrally.

  Therefore, when performing the rice transplanting work in the field, the diff lock lever 91 is set to the diff lock, the change lever is shifted to the working speed, the seedling is placed on the seedling stage of the rice transplanting device 3, and the fertilizer tank of the fertilizer application device 4 is granular. When the fertilizer is put in and each part is driven to move forward, the differential lock device F of the left and right rear wheels 7 and 7 is in the state of differential lock and the differential function is stopped. Can be done at the same time. In the case of traveling on the road, if both the rear differential device D and the front differential device E are operated in a state in which the differential function works, the vehicle can travel safely.

  Reference numerals 195 and 195 denote left and right line drawing markers provided on the left and right sides of the rice transplanting apparatus 3, which are respectively driven by left and right electric motors MO-M and MO-M that are driven and controlled by the marker vertical movement control means of the control device 170. It is configured to be movable up and down, and when it is moved down by the electric motor MO-M, it is in a state of drawing a line on the mud surface which becomes the center of the left and right of the next process, and is moved up by the electric motor MO-M. The rice planting apparatus 3 is stored in the front side of the seedling stage 163.

  The left and right line drawing markers 195 and 195 automatically move up the line drawing marker 195 that is in a downward movement state during line turning and determine the line drawing marker 195 to be moved down in the next process after turning. The drawing marker 195 is automatically moved downward after turning. That is, the left and right line drawing markers 195 and 195 are configured to be automatically controlled to move up and down.

Here, automatic vertical movement control of the left and right line drawing markers 195 and 195 will be described.
The operation panel 17 is provided with a marker switch 220 that switches between a state in which the left and right line drawing markers 195 and 195 are controlled to automatically move up and down (automatic on) and a state in which the marker operation is stopped (off).

  When the rice transplanting operation is performed with the marker switch 220 automatically turned on, for example, the operator turns the steering handle 16 more than a predetermined amount to turn the aircraft to the right at the shore (the operator has the intention to turn the aircraft to the right and the operator turns to the right (For example, if the steering handle 16 is configured to rotate 360 degrees to 400 degrees to the left and right at a maximum of 250 degrees or more) When turned to the right, automatic turning control is performed as described later. The rotational speeds of the transmission shafts 89 and 89 are detected by the transmission shaft rotational speed sensors 205 and 205, and the rotational speeds of the left and right rear wheel transmission shafts 89 and 89 are compared by the marker vertical movement control means of the control device 170. (The right rear wheel transmission shaft 89 on the inside of the turn is in an idle state because the drive is cut off, so the left rear wheel transmission shaft 89 on the outside of the turn being driven has a higher number of revolutions). , Left) -After the turner 195 is determined to be lowered after turning, the left line drawing marker operation lamp 221L of the left and right line drawing marker operation lamps 221L and 221R provided on the operation panel 17 is lit (or blinking), After turning, the person is informed that the left line drawing marker 195 moves down and enters the line drawing operation state.

After the turn, the left electric motor MO-M is actuated by the marker vertical movement control means of the control device 170, and the left line drawing marker 195 is moved downward to enter the line drawing operation state.
Conversely, the operator turns the steering handle 16 more than a predetermined amount in order to turn the aircraft to the left at the heel (the amount that the operator turns to the right with the intention to turn the aircraft to the right, for example, the steering handle 16 has a maximum of 360 to the left and right). (If it is configured to rotate to 400 degrees or more, 250 degrees or more) When it is turned to the left, automatic turning control is performed as described later. At that time, the rotational speed of the left and right rear wheel transmission shafts 89 and 89 is determined by the transmission shaft rotational speed sensor. 205 and 205, and the rotation speed of the left and right rear wheel transmission shafts 89 and 89 is compared by the marker vertical movement control means of the control device 170, and the side with the higher rotation speed (the left rear wheel transmission shaft 89 inside the turn is Since the drive is cut off and the vehicle is in an idle state, the right rear wheel transmission shaft 89 on the outside of the turn being driven has a higher rotation speed, and therefore the left line drawing marker 195 on the right side is lowered after the turn. The operation pa Of the left and right line drawing marker operation lamps 221L and 221R provided on the control line 17, the right line drawing marker operation lamp 221R is lit (or blinks), and the right line drawing marker 195 moves downward after turning to the driver, and the line drawing operation state is established. Notify that

Then, after the turn is completed, the right electric motor MO-M is operated by the marker vertical movement control means of the control device 170, and the right line drawing marker 195 is moved down to enter the line drawing operation state.
In this way, the rotation speeds of the left and right rear wheels 7 and 7 at the time of turning are compared, and the side with the higher number of rotations (the rear wheel 7 inside the turning is cut off and is in an idle state. If the drawing marker 195 with the rear wheel on the outside of the turn having a higher number of rotations) is moved down to the next process after turning so as to be in a drawing action state, the left and right drawing markers 195 and 195 are automatically raised and lowered automatically. The operation is performed and good rice transplanting work can be performed. In addition, since the left and right operation of the left and right line drawing markers 195 and 195 is not switched due to the movement of the rice planting device 3, the machine is stopped to supply seedlings when planting in a straight line. Even if the seedling supply is performed by moving the upside down, the left and right operation of the left and right line drawing markers 195 and 195 cannot be switched, so when the seedling planting device 3 is moved down after the seedling supply and the seedling planting operation is resumed, the same as before the stoppage Since the side drawing marker 195 moves downward, workability is good.

Reference numeral 200 denotes a spare seedling stage provided at the front of the machine body, and 201 denotes a center mascot that is used as an indicator of straight running.
Next, the rice transplanter 3 is mounted on the traveling vehicle 1 so as to be movable up and down by the link device 2 for raising and lowering. The configuration for raising and lowering and the configuration of the rice transplanter 3 will be described.

  First, the piston upper end portion of a general hydraulic cylinder 160 whose base is rotatably provided on the traveling vehicle 1 is connected to the lifting link device 2, and the electromagnetic hydraulic valve 161 is connected to the hydraulic pump 13 provided on the traveling vehicle 1. The rice transplanter 3 connected to the lifting and lowering link device 2 is moved up and down by supplying and discharging pressure oil to and from the hydraulic cylinder 160 to extend and retract the piston of the hydraulic cylinder 160.

  The rice transplanting device 3 is supported by a planting transmission case 162 that also serves as a frame that is freely mounted on the rear of the lifting link device 2 via a rolling shaft, and a support member provided in the planting transmission case 162. A seedling mounting base 163 that reciprocates in the left-right direction of the machine body, and a seedling planting tool that is attached to the rear end of the planting transmission case 162 and that splits seedlings for one stock from the lower end of the seedling mounting base 163 to be planted in the field. 164... And a center float 165, a side float 166, etc., which are leveling bodies whose rear part is pivotally supported at the lower part of the planting transmission case 162 and whose front part is mounted so as to freely swing up and down. . The center float 165 and the side float 166 are provided to level the field and level the front of the field where the seedlings are planted by the seedling planting tools 164.

  The PTO transmission shaft 167 has universal joints at both ends, and is provided to transmit the power of the fertilization drive case 168 to the planting transmission case 162 of the rice transplanter 3. The center float sensor 169 is composed of a potentiometer that detects the vertical position of the front portion of the center float 165, and is linked to the upper surface of the front portion of the center float 165 by a link. Then, based on the vertical position detection of the center float 165 front part of the center float sensor 169, the electromagnetic hydraulic valve 161 is controlled by the lifting control means of the control device 170, and the vertical position of the rice transplanter 3 is controlled by the hydraulic cylinder 160. Ascending / descending control is performed so that the swinging posture of the float 165 is within a permissible range of the reference posture with respect to the rice transplanter 3 set in advance (within the dead zone width).

  That is, when the front part of the center float 165 is lifted to an appropriate range or more (outside the allowable range of the standard posture) by external force, the hydraulic oil pumped out from the transmission case 11 by the hydraulic pump 13 is sent to the hydraulic cylinder 160. The piston is caused to protrude and the lifting link device 2 is moved up to raise the rice transplanting device 3 to a predetermined position, and when the front part of the center float 165 falls below the proper range (outside the allowable range of the standard posture), the hydraulic pressure is increased. When the pressure oil in the cylinder 160 is returned into the mission case 11, the lifting link device 2 is moved down to lower the rice transplanting device 3 to a predetermined position, and when the front part of the center float 165 is within an appropriate range (rice transplanting) When the device 3 is in a proper position), the pressure oil in the hydraulic cylinder 160 is stopped and the rice transplanter 3 is held in a fixed position. Rubeku are provided. As described above, the center float 165 is used as a ground sensor for automatic height control of the rice transplanter 3.

Next, a description will be given of rolling control in which the rice planting device 3 that is connected to the rear portion of the traveling vehicle 1 via the lifting link device 2 so as to be raised and lowered along the mud surface (horizontal surface) of the farm field during the rice planting operation.
The traveling vehicle 1 is provided with an inclination angular velocity sensor S1 that detects acceleration of a left-right inclination angle.

  The rice transplanter 3 is supported at the lower end of the rear vertical frame F1 of the lifting / lowering link device 2 so as to be rotatable (rolling) around a rolling axis R oriented in the front-rear direction. On the upper part of the vertical frame F1, a double rod type rolling hydraulic cylinder CY is provided in the left-right direction with the cylinder part fixed to the vertical frame F1. The left and right rods CYa and CYa of the cylinder and the left and right support columns F2a and F2a of the seedling stand frame F2 of the rice transplanter 3 are connected via links LI and LI. The rolling hydraulic cylinder CY operates with hydraulic fluid supplied by a hydraulic pump driven by a motor. When the rolling hydraulic cylinder CY is operated and the rods CYa and CYa slide left and right, the rice transplanter 3 rolls around the rolling axis R. The left / right tilt angle of the rice transplanter 3 is detected by the left / right tilt sensor S2. Further, the operation amount of the rolling hydraulic cylinder CY is detected by the stroke sensor S3.

  In the rice planting operation, the elevation control for controlling the height of the rice planting device 3 to the ground according to the unevenness of the topsoil surface, and the rolling control for controlling the posture of the rice planting device 3 around the rolling axis R according to the left-right inclination of the topsoil surface, To maintain a constant seedling planting depth.

  In the rolling control, the detected value of the tilt angular velocity sensor S1 and the detected value of the left / right tilt sensor S2 are input to the control device 170, and the output amount to the motor is determined by the rolling control means based on a predetermined rule. The rice transplanter 3 is rolled so that the left / right tilt sensor S2 is within a dead zone of a predetermined target value (usually horizontal). In this case, when the right-and-left inclination changes abruptly, it is performed by a known method of controlling based on the detection result of the inclination angular velocity sensor S1. A well-known method of control using the tilt angular velocity sensor S1 and the left / right tilt sensor S2 is described in, for example, Japanese Patent Laid-Open No. 6-133612.

  And if this rolling control is performed when the machine is stopped for the purpose of supplying seedlings to the seedling stage 163, if the rice transplanter 3 is unexpectedly operated under the rolling control, the workability is poor. ,It is a danger. Accordingly, the vehicle speed is determined by the vehicle speed determination means of the control device 170 by detecting the rotation speeds of the left and right rear wheel transmission shafts 89 and 89 by the transmission shaft rotation speed sensors 205 and 205, and the calculated vehicle speed is 0 m / When s (when the aircraft is stopped), if rolling control is stopped, the rice transplanter 3 is inadvertently subjected to rolling control when the aircraft is stopped and seedling supply work and various operations are performed. It does not operate and has good workability and can perform various operations safely.

  A finger lever 171 is disposed below the steering handle 16, and when the finger lever 171 is operated in the vertical direction, a finger lever switch 172 constituted by a potentiometer is actuated, and a PTO clutch actuating solenoid is actuated by the PTO clutch actuating means of the control device 170. 173 is operated to operate the PTO clutch for connecting / disconnecting the power provided in the fertilization drive case 168 so that the power to the fertilizer application device 4 and the rice transplanting device 3 can be turned on and off, and the control device 170 The rice-planting apparatus 3 can be manually moved up and down by operating the electromagnetic hydraulic valve 161 by the lifting control means.

  That is, when the finger lever 171 is operated to “up”, the PTO clutch is disengaged, the operations of the fertilizer application device 4 and the rice planting device 3 are stopped, and the electromagnetic hydraulic valve 161 is forcibly switched to the side where the rice planting device 3 is raised.

  When the finger lever 171 is operated “down” once after the finger lever 171 is operated “up”, the electromagnetic hydraulic valve 161 is automatically controlled by the vertical movement of the center float 165, and the rice transplanter 3 If the state is raised, the rice transplanter 3 is lowered until the center float 165 comes into contact with the ground and reaches an appropriate posture. When the finger lever 171 is operated to “down” once more, the PTO clutch is engaged and the fertilizer application device 4 and the rice transplanting device 3 are in an automatic control state in which the electromagnetic hydraulic valve 161 is switched by the vertical movement of the center float 165. Driven. Thereafter, each time the finger lever 171 is operated to “down”, the PTO clutch is alternately switched between on and off while the electromagnetic hydraulic valve 161 remains in the automatic control state in which it is switched by the vertical movement of the center float 165.

Next, the configuration of the portion where the steering wheel 16 steers the front wheels 6 will be described with reference to FIG.
The steering handle 16 is fixed to the upper portion of the steering shaft provided in the steering post 14, and the rotation of the steering shaft is decelerated via a steering transmission gear provided in the transmission case 11 and transmitted to the lower output shaft 174. The And the lower end of the output shaft 174 protrudes from the bottom face of the mission case 11, and the pitman arm 175 is fixed. The front left and right sides of the pitman arm 175 and the left and right front wheel support cases 22 and 22 are connected by left and right rods 176 and 176, respectively.

  Accordingly, when the steering handle 16 is turned, the steering wheel 16 is transmitted to the steering shaft, the steering speed change gear, the output shaft 174, the pitman arm 175, the left and right rods 176 and 176, and the left and right front wheel support cases 22 and 22, Is steered from side to side.

  Further, a potentiometer PM as a steering angle sensor is provided at the lower end portion of the output shaft 174, and the steering handle 16 is more than a predetermined amount (the amount that the operator turns to the right with the intention of turning the aircraft to the right, For example, if the steering handle 16 is configured to rotate 360 degrees to 400 degrees to the left and right, more than 250 degrees), when the steering handle 16 is turned to the right, the detected rotation angle of the potentiometer PM is input to the control device 170 and the turning control of the control device 170 is performed. The electric motor 146 is driven by the means, and the swing arm 144 is swung around the support shaft 143 in the arrow (A) direction. Then, first, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, operates the differential lock member 71 to operate the differential lock device F of the rear differential device D, and the rear differential device D is differentially locked. . Subsequently, the right shifter 85I of the right side clutch I is turned by the right connecting rod 142, and the right side clutch I is turned off. At this time, since the left connecting rod 142 has the play portion 142a, the left shifter 85I of the left side clutch I is not rotated.

  Therefore, at the beginning of the right turn, the left and right rear wheels 7 and 7 are differentially rotated by the rear differential device D, so that the aircraft can start turning smoothly, but the operation load on the steering handle 16 is light and the operability is high. good. As the turn progresses, the right side clutch I is disengaged and the right rear wheel 7 on the turn center side is in an idle state, so that the right rear wheel 7 does not damage the cultivator and lifts a large amount of mud. The muddy surface is not roughened, and the right turn can be smoothly and cleanly driven by the driving rotation of the left and right front wheels 6 and 6 and the left rear wheel 7.

  Conversely, when the steering handle 16 is turned to the left by a predetermined amount or more (250 degrees or more), the detected rotation angle of the potentiometer PM is input to the control device 170, and the electric motor 146 is driven by the turning control means of the control device 170. Then, the swing arm 144 is swung in the arrow (b) direction around the support shaft 143. Then, first, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, operates the differential lock member 71 to operate the differential lock device F of the rear differential device D, and the rear differential device D is differentially locked. . Subsequently, the left shifter 85I of the left side clutch I is turned by the left connecting rod 142, and the left side clutch I is turned off. At this time, since the right connecting rod 142 has the play portion 142a, the right shifter 85I of the right side clutch I is not rotated.

  Accordingly, at the initial stage of the left turn, the left and right rear wheels 7 and 7 are differentially rotated by the rear differential device D, so that the airframe can smoothly start turning, and the operation load on the steering handle 16 is light and the operability is good. . As the turn progresses, the left side clutch I is disengaged and the left rear wheel 7 on the turn center side is in an idle state, so that the left rear wheel 7 does not damage the cultivator and lifts a large amount of mud. Without turning the mud surface rough, the left and right front wheels 6 and 6 and the right rear wheel 7 can drive smoothly and cleanly turn left.

  On the other hand, the steering handle 16 is rotated by a predetermined amount (the amount that the operator turns to the right with the intention of turning the aircraft to the right, for example, 200 degrees if the steering handle 16 is rotated up to 390 degrees to the left and right). ) When turned, the detected rotation angle of the potentiometer PM is input to the control device 170, and the electric motor MO-H is operated by the shift electric motor operating means to decelerate the hydraulic transmission HST until the vehicle speed reaches a speed suitable for turning. To do. Further, the detected rotation angle of the potentiometer PM is input to the control device 170, and the PTO clutch operating solenoid 173 is operated by the PTO clutch operating means of the control device 170 to connect and disconnect the power provided in the fertilizer driving case 168. Is operated to cut off power to the fertilizer application device 4 and the rice transplanting device 3, and then the electromagnetic hydraulic valve 161 is controlled by the rice planting device raising means of the control device 170, and the rice transplanting device 3 is raised to the maximum position by the hydraulic cylinder 160. Let

  If the timing for raising the rice transplanter 3 is controlled so as to be changed between when the steering handle 16 is turned quickly and when it is turned slowly, the timing for raising the rice transplanter 3 according to the forward speed of the aircraft can be set. .

  That is, when the forward speed of the airframe is fast, the operator turns the steering handle 16 early during turning, and when the forward speed of the airframe is slow, the worker slowly turns the steering handle 16 during turning. Focusing on the fact that the operator operates the steering wheel 16 faster or slower depending on the vehicle speed, the fluctuation speed of the detected rotation angle of the potentiometer PM that detects the rotation angle of the steering wheel 16 (for example, 0. 0). If the steering handle 16 is rotated slower than a predetermined value by changing the angle per second), when the steering handle 16 is rotated 200 degrees, the variable speed electric motor The electric motor MO-H is actuated by the actuating means to decelerate the hydraulic transmission HST until the vehicle speed becomes a speed suitable for turning, and the PTO clutch actuating solenoid 173 is operated by the PTO clutch actuating means of the control unit 170 to apply fertilizer. The power to the device 4 and the rice transplanter 3 is turned off, and the rice transplanter ascending means of the control device 170 is used. Ri is raised by a hydraulic cylinder 160 controls the electrohydraulic valve 161 to planting device 3 to a maximum position. Further, when the steering handle 16 is rotated faster than a predetermined value, when the steering handle 16 is rotated 110 degrees, the electric motor MO-H is operated by the transmission electric motor operating means to perform the hydraulic shift. The device HST is decelerated until the vehicle speed is suitable for turning, and the PTO clutch actuating solenoid 173 is operated by the PTO clutch actuating means of the control device 170 to turn off the power to the fertilizer application device 4 and the rice transplanting device 3 to control. The electrohydraulic valve 161 is controlled by the rice transplanter raising means of the device 170 and the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160.

  Then, when the forward speed of the airframe is fast, the operator turns the steering handle 16 early when turning, so that the rice transplanter 3 rises at an early timing, and when the forward speed of the airframe is slow, the worker Since the steering handle 16 is slowly turned, the rice transplanter 3 rises at a slightly late timing. Therefore, since the rice transplanter 3 moves up at a timing according to the forward speed of the machine, an appropriate automatic turning can be performed.

  In addition, when the timing at which the vehicle speed is reduced to a speed suitable for turning is not linked to the steering handle 16 operation but linked to the raising of the rice transplanter 3, the rice transplanter raising means of the control device 170 is used. When the center float sensor 169 detects that the front end of the center float 165 of the rice transplanter 3 has been moved down to the lowest end in the hydraulic cylinder 160 by controlling the electromagnetic hydraulic valve 161, the electric motor MO- When H is operated and the hydraulic transmission HST is decelerated until the vehicle speed reaches a speed suitable for turning, the rice transplanter 3 is decelerated at the beginning of the ascent, that is, at the beginning of turning, so in the next step after turning. Planting alignment (the innermost planting line of the next process is located at a distance from the outermost planting line of the previous process to the width of the planting line. Steering wheel 16 operated for adjusting the position of the left and right position of the body) of workability and working efficiency is good to perform easily.

  Further, the traveling vehicle 1 is provided with a maximum rising position detection switch that is brought into contact with the lifting link device 2 when the lifting link device 2 is raised to the maximum position. When it is “entered” by contact with the lifting / lowering link device 2, the operation of the hydraulic cylinder 160 is stopped by controlling the electromagnetic hydraulic valve 161 by the rice planting device raising means of the control device 170. However, for example, the mounting position of the maximum ascending position detection switch is not adjusted so that it does not come into contact with the elevating link device 2, or the maximum elevating position detection switch fails and the elevating link device 2 contacts. Even when the hydraulic cylinder 160 is not fully extended, the electromagnetic hydraulic valve 161 continues to send pressure oil to the hydraulic cylinder 160 even when the hydraulic cylinder 160 is fully extended. Oil is returned to the oil tank. In this case, if the relief valve continues to operate to return the pressure oil to the oil tank, the oil temperature rises and the hydraulic circuit fails. Therefore, a command to raise the rice transplanter 3 to the maximum position by the hydraulic cylinder 160 by controlling the electromagnetic hydraulic valve 161 by the rice transplanter raising means of the controller 170 is issued, and after 10 seconds (the rice transplanter 3 is maximum from the working position). If it is controlled to stop this ascending command after a sufficient time to ascend to the ascending position), it is assumed that the mounting position adjustment switch of the maximum ascending position detection switch is defective or has failed, and the rice transplanter 3 is at the maximum position. Even if the relief valve is actuated after rising up, the operation time of the relief valve is short, it is possible to avoid failure of the hydraulic circuit, and good work can be performed properly.

  Then, at the end of turning from the middle of turning, the control device 170 lowers the rice transplanter 3 at the time when the vehicle body turns 90 degrees (n1 ≧ N1 + n0) based on the detection of the rotation speed of the rear wheel 7 inside the turning. At that time, the center float sensor 169 detects that the rice transplanter 3 is lowered and the center float 165 is grounded (the center float sensor 165 detects that the center float 165 is grounded and moves upward from the lowest position to return to the reference position). 169), only the descending control of the rice transplanter 3 is restricted by the elevation control means of the controller 170. That is, if the center float 165 is the reference position, the electromagnetic hydraulic valve 161 is in the neutral position, the hydraulic cylinder 160 does not operate, and the rice transplanter 3 does not move up and down. When the center float 165 moves up from the reference position, the electromagnetic hydraulic valve 161 is switched, the hydraulic cylinder 160 is extended, and the rice transplanter 3 is moved up until the center float 165 reaches the reference position. However, even if the center float 165 moves downward from the reference position, the electromagnetic hydraulic valve 161 remains in the neutral position, the hydraulic cylinder 160 does not operate, and the rice transplanter 3 does not move up and down.

  Next, when the airframe turns 180 degrees (n2 ≧ N2 + n0), the electric motor MO-H is actuated by the speed change electric motor actuating means of the control device 170 to increase the speed of the hydraulic transmission HST to the speed before the turn. Further, the drawing marker 195 on the next process side is automatically moved downward to the drawing action state.

  Then, when the aircraft has reached the planting start position (n2 ≧ N2 + n + n0), the control in which only the lowering control of the rice transplanter 3 is restricted is released, and the normal lifting control based on the detection of the center float sensor 169 is performed. . In addition, the PTO clutch is automatically engaged.

  On the other hand, the steering wheel 16 is set while the automatic turning setting switch 192 described below is set to any one of the positions “1” to “3” (in the automatic turning mode), that is, during the turning of the vehicle body. 180 degrees from the time when the steering wheel 16 is rotated by a predetermined amount (the amount that the operator turns to the right with the intention to turn the aircraft to the right, for example, 200 degrees if the steering handle 16 is rotated up to 390 degrees left and right). The notification buzzer B is sounded at predetermined intervals by the notification buzzer control means of the control device 170 in order to notify the operator that the automatic rotation mode is in effect until the PTO clutch is automatically engaged after the vehicle is turned. Alternatively, the operator can recognize that the aircraft is turning in the automatic turning mode by turning on the indicator lamp provided on the operation panel 17 so that it can be seen that it is in the turning mode. , To improve the workability and safety.

  Moreover, instead of continuously performing the operation of the notification buzzer B and the indicator lamp for notifying the operator that the automatic turning mode is being performed as described above, the operation is temporarily performed when the rice transplanter 3 is lowered. Stop (notify the buzzer B, turn off the indicator lamp), and operate again for a desired time when the PTO clutch is engaged (for example, the alarm buzzer B sounds for only 5 seconds and the indicator lamp If the rice transplanter 3 is lowered during automatic turning, the operation of the alarm buzzer B and the indicator lamp is stopped once, so that the operator knows that the rice transplanter 3 has been lowered. When the PTO clutch is engaged, the alarm buzzer B and the indicator lamp are activated, so that the operator knows that the PTO clutch has been engaged. To be able to, perform a good turning good workability.

  In addition, when the number of seedlings on the aircraft has decreased, the aircraft is stopped by putting the front or side of the aircraft on the heel in order to supply seedlings from the heel to the aircraft when turning at the shore. When the alarm buzzer B that informs you that the vehicle is in the turning mode is sounding, it is noisy and annoying, so when the aircraft is stopped (it is detected that the rotation of the driven rear wheel 7 on the outside of the vehicle is stopped). If it is controlled so that the notification buzzer B does not sound by the notification buzzer control means of the control device 170, the workability is good.

FIG. 8 shows a flow of the automatic turning control.
First, the correction setting dial 206 provided on the operation panel 17 is operated to set a correction value n0 suitable for the field in order to cope with differences in the field conditions such as the hardness of the field, water depth, and new board depth. Further, the following automatic turning setting switch 192 is set to the position “1” which is the automatic turning mode.

  When the steering handle 16 is rotated 200 degrees or more counterclockwise to turn left (θ ≧ θ1 = 200 degrees left rotation), the notification buzzer control means of the control device 170 is used to notify the operator that the automatic turning mode is in effect. As a result, the buzzer B starts to sound at a predetermined interval, and the rotational speed of the left rear wheel transmission shaft 89 is detected by the transmission shaft rotational speed sensor 205, and the detected rotational angle of the potentiometer PM is input to the controller 170 to operate the variable speed electric motor. The electric motor MO-H is actuated by means to decelerate the hydraulic transmission HST until the vehicle speed reaches a speed suitable for turning (as described above, the electromagnetic hydraulic valve 161 is controlled by the rice planting device raising means of the controller 170). Then, when the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160, the electromagnetic force is raised by the rice transplanter raising means of the controller 170. When the center float sensor 169 detects that the front end of the center float 165 of the rice transplanter 3 has moved down to the lowest end in the hydraulic cylinder 160 by controlling the hydraulic valve 161, the electric motor MO-H is operated by the variable speed electric motor operating means. And the hydraulic transmission HST may be decelerated until the vehicle speed reaches a speed suitable for turning). At the same time, the PTO clutch actuating solenoid 173 is operated by the PTO clutch actuating means of the control device 170 to operate the PTO clutch for connecting / disconnecting the power provided in the fertilization drive case 168 to power the fertilizer 4 and the rice transplanter 3. And turn off. Thereafter, the electromagnetic hydraulic valve 161 is controlled by the rice planting device raising means of the control device 170 to raise the rice planting device 3 to the maximum position by the hydraulic cylinder 160, and at the same time, it is lowered to the drawing action state in the next step as described above. The left and right line drawing markers 195 and 195 are determined by the marker vertical movement control means of the control device 170.

  In order to mount the seedling on the machine body, the next process is performed even if the rice planting apparatus 3 is lowered manually by putting the machine body in the middle of turning and manually raising the rice transplanting apparatus 3 again after loading the seedling. The determination of the left and right line drawing markers 195 and 195 to be lowered to the line drawing action state is not changed. In addition, the drawing marker 195 is programmed so as not to be lowered even if the rice transplanter 3 is lowered manually during the automatic turning control. Therefore, even if the seedling is replenished with the body mounted on the heel during the automatic turning control, after the replenishing of the seedling, an appropriate automatic turning is continued and good rice transplanting work can be performed with good workability.

  Then, when the rotational speed of the left rear wheel transmission shaft 89 is detected by the transmission shaft rotational speed sensor 205 and the rotational speed n1 becomes n1 ≧ N1 + n0, the machine has turned 90 degrees or more from the start of turning, so the rice transplanter 3 Lower. The headland is leveled as the rice transplanter 3 descends. Then, the center float sensor 169 detects that the rice transplanter 3 is lowered and the center float 165 is grounded (the center float sensor 165 detects that the center float 165 is grounded and moves up from the lowest movement position and returns to the reference position). 169), the vertical position control of the rice transplanter 3 in a state in which only the lowering control of the rice transplanter 3 is restricted is started by the lifting control means of the controller 170.

  Subsequently, when the rotational speed of the left rear wheel transmission shaft 89 is detected and the rotational speed n2 becomes n2 ≧ N2 + n0, the aircraft has turned 180 degrees from the start of turning. The electric motor MO-H is operated to increase the speed of the hydraulic transmission HST to the speed before turning. Further, the marker vertical movement control means of the control device 170 issues a lowering command to the electric motor MO-M of the determined drawing marker 195 to lower the drawing marker 195 on the next process side.

  Subsequently, when the number of rotations of the left rear wheel transmission shaft 89 is detected and the number of rotations n2 is n2 ≧ N2 + n + n0, the turning is finished and the aircraft has reached the planting start position. The control in which only the lowering control is controlled is released, and the normal raising / lowering control of the rice planting device 3 is started, the seedling planting tool 164 is operated with the PTO clutch engaged, and the planting of the seedling is started. Operate and start fertilization. Note that n is the number of rotations of the left rear wheel transmission shaft 89 in which the airframe advances a distance from the end of turning to the planting start position (a distance twice the distance from the axle of the rear wheel 7 to the seedling planting tool 164). .

  Thus, since the rotational speed of the rear wheel transmission shaft 89 of the rear wheel 7 with the side clutch I disengaged is detected, it is less susceptible to slip and the like than the rotational speed detection of the rear wheel 7 to which power is transmitted. There are features. Further, since the rotational speed of the rear wheel transmission shaft 89 that rotates faster than the rear wheel 7 is detected, the measurement accuracy can be easily increased. As a result, there is an effect that the start of planting of the seedlings in each process in which the aircraft is turned and the seedlings are planted in the reciprocating process is automatically made substantially constant.

  Further, when the center float sensor 169 detects that the center float sensor 165 is grounded by lowering the rice transplanter 3 when the aircraft turns 90 degrees or more from the start of turning, the rice transplanter in a state where only the descending control of the rice transplanter 3 is restricted. When the position control of the apparatus 3 in the vertical direction is started and the turning is completed and the machine body reaches the planting start position, the control in which only the lowering control of the rice planting apparatus 3 is restricted is released, and the normal rice transplanting apparatus 3 is released. Since the left and right front wheels 6 and 6 and the rear wheels 7 and 7 disturb the field when turning, there are many irregularities on the field surface, but the center of the rice transplanter 3 lowered by the irregularities Although the float 165 moves up and down, the detection of the lowering control of the center float sensor 169 due to the downward movement of the center float 165 is regulated by the control device 170, and the rice transplanter 3 is moved downward. Since uncontrolled, will be the planting device 3 is controlled only up direction, there is no phenomenon that the planting device 3 with respect to the unevenness of the field surface repeated frequently rise and fall, enabling stable turning. Then, when the seedling planting tool 164 is operated with the PTO clutch engaged and seedling planting starts and the fertilizer application device 4 also operates to start fertilization, normal lifting control is performed. Position control in the vertical direction can be properly performed during turning and planting work, so that good rice transplanting work can be performed.

  In addition, the vehicle speed is reduced at the start of turning so that the turning can be performed smoothly. On the other hand, when the aircraft turns 180 degrees from the start of turning (before the aircraft reaches the planting position), the vehicle speed is increased to the speed before the turning. So, when the aircraft arrives at the planting position and the planting work starts, the speed of the aircraft is in the state of being accelerated or increased to the speed before turning. Shortened and efficient work can be done.

  During the turning control, it is desirable that the hydraulic sensitivity of the hydraulic cylinder 160 of the rice transplanter 3 is insensitive (it is difficult to switch to the rice transplanter 3 ascending side) between the rice transplanter 3 “down” and the PTO clutch “engaged”. In this insensitive state, the turning trace can be leveled, and the headland treatment can be performed easily and accurately. Also, immediately after the turn, the mud surface on the shore is rough and uneven, so that for a while after the PTO clutch “engaged”, the hydraulic sensitivity remains insensitive (it is difficult to switch to the rice transplanter 3 ascending side). Can be planted properly.

  On the other hand, when the aircraft turns 180 degrees from the start of turning, it starts to increase to the speed before turning. At this time of acceleration, the aircraft is lifted forward by the driving reaction force, and planting occurs during acceleration. Once started, there is a problem that the planting posture is disturbed. Therefore, the left and right rear wheels 7 and 7 are configured to be movable up and down by a hydraulic device, and while the speed is increased after turning, the left and right rear wheels 7 and 7 are controlled by the left and right rear wheel lower motion control means provided in the control device 170. When the vehicle is moved downward by a hydraulic device, the fact that the airframe rises forward due to the driving reaction force at the time of acceleration is corrected by the left and right rear wheels 7 and 7 moving downward, the airframe becomes horizontal, and the seedling The planting posture is stable and appropriate seedlings can be planted.

  Further, a pitching device is provided in the lifting link device 2 so that the rice transplanting device 3 is lowered forward, and while the speed is increased after the turning, the rice transplanting device 3 is moved forward by the pitching control means provided in the control device 170. Even if it is lowered, it is corrected by the rice planting device 3 being lowered forward by the driving reaction force at the time of acceleration, the rice planting device 3 becomes horizontal, the planting posture of the seedling Can stably plant appropriate seedlings.

  Further, based on the detection of the vertical position of the front part of the center float 165 of the center float sensor 169, the electromagnetic hydraulic valve 161 is controlled by the lift control means of the control device 170, and the vertical position of the rice transplanter 3 is controlled by the hydraulic cylinder 160. In the configuration in which the swinging posture of the float 165 is controlled to be raised and lowered so as to be within the allowable range of the reference posture with respect to the rice transplanter 3 set in advance (within the dead zone width), the softness of the field is detected and the dead zone width is within the above-described dead zone width. If control is provided to correct the sensitivity of the lift control by changing the speed control after the turn, the lift control will be adversely affected by the speed increase if the sensitivity correction is stopped. Since there are no seedlings, the planting depth of the seedling is stable and good rice transplanting work can be performed.

Next, a control configuration for automatically raising the rice transplanter 3 during reverse travel will be described.
First, when the HST operation lever 110 is operated to the reverse side, a backlift switch 191 is provided which is turned on when a contact piece provided at its base comes into contact. The valve 161 is controlled so that the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160.

  In this way, when the HST operation lever 110 is operated to the reverse side, the rice transplanter 3 is automatically raised to the basic position, so that the aircraft can be turned to turn the aircraft at the edge of the field. Since the rice transplanter 3 is automatically raised to the maximum position when the vehicle is moved backward toward the ridge, it is possible to prevent the rice transplanter 3 from colliding with the ridge and being damaged, thereby improving workability.

  The operation panel 17 is provided with an automatic turning setting switch 192. When the automatic turning setting switch 192 is set to the “OFF” position, automatic turning control is not performed, and the automatic turning setting switch 192 is set to “ When the position is set to any one of “1” to “3”, automatic turning control is performed. The operation positions “1” to “3” are for setting the rotation angle of the steering handle 16 for driving the electric motor 146 to differentially lock the rear differential device D and disengaging the side clutch I. When the operation position is set to “1”, when the steering handle 16 is turned to the left by 250 degrees or more as described above, the electric motor 146 is driven, the rear differential device D is differentially locked, and the side clutch I is turned off. When the operation position is “2”, when the steering handle 16 is turned to the left by 300 degrees or more, the electric motor 146 is driven, the rear differential device D is differentially locked, the side clutch I is turned off, and the operation position “3” is operated. When the steering handle 16 is turned to the left by 350 degrees or more, the electric motor 146 is driven, the rear differential device D is differentially locked, and the side clutch I is turned off.

If the field is a wet field, the left and right rear wheels 7 and 7 are differentially differential so that the turning radius is smaller and the turn can be performed smoothly. In the case of a wet field, the operation position is set to “2” or “3”. Do.
In addition, when planting around a vine in a modified field such as a fan shape or a gourd type, if the automatic turning setting switch 192 is turned off, the steering handle 16 is turned along the bent heel while turning. At this time, since the automatic turning control does not work, the rice transplanter 3 does not rise even if the steering handle 16 is rotated 200 degrees or more to the left or right, and the automatic turning control is performed even if it is rotated 250 degrees or more. In addition, seedlings can be planted properly even in modified fields.

Further, for safety, the automatic turning setting switch 192 is turned off when not working, such as when moving between fields (running on the road) or when loading and unloading the vehicle on a truck.
When the marker switch 220 is set to “OFF”, the automatic turning setting switch 192 is automatically turned off. When headland is planted along the heel or when moving between fields The marker switch 220 is set to “OFF” when traveling on the road or when the vehicle is loaded onto the truck. Therefore, even if the automatic turning setting switch 192 is forgotten to be turned OFF, the marker switch 220 is set to “OFF”. The automatic turning setting switch 192 is automatically turned off, so when headland is planted along the edge, when moving between fields (running on the road), or when loading the aircraft onto the truck It is possible to prevent the rice transplanter 3 from going up and down unexpectedly in the turning mode, and the rice transplanter 3 from operating, so that each part is damaged and the driver is in danger. To prevent It can, is excellent in workability and safety. Further, when the marker switch 220 is set to “OFF”, the automatic turning setting switch 192 is automatically turned OFF, and the operator is notified by an alarm lamp, a sound alarm, or the like that the automatic turning mode is not activated. .

  In addition, when it is forgotten to turn off the automatic turning setting switch 192 in the road running, the automatic turning control is activated against the intention of the operator, which is dangerous. ”Is detected and the automatic turning setting switch 192 is automatically turned off. If the driver forgets to turn off the automatic turning setting switch 192, the automatic turning control is performed. However, the left and right rear wheels 7 and 7 remain in the differential state regardless of how the steering handle 16 is operated at the road traveling speed (moving speed), so that the vehicle can travel safely.

  Furthermore, a seedling detection switch for detecting seedling reduction is provided in each seedling mounting part for each line of the seedling mounting base 163 (when each seedling detection switch detects that there is no seedling in each seedling mounting part) In the control device 170, a seedling reduction lamp corresponding to each seedling placement portion of the operation panel 17 is lit and indicated), but when traveling on the road, all seedlings are taken out from the seedling placement stand 163 in an empty state. Since all the seedling detection switches detect that there is no seedling, the automatic turning setting switch 192 is automatically turned off so that the driver can turn the automatic turning setting switch when driving on the road. Even if you forget to turn off 192, the automatic turning control does not operate and you can drive safely. Further, it may be configured such that the automatic turning setting switch 192 is automatically turned off by detecting that no fertilizer is present in the fertilizer tank of the fertilizer application device 4. In addition, the seedling detection switch is configured to detect that there is a seedling by pressing the detection unit protruding from the seedling placement surface of the seedling placement unit by the seedling placed on the seedling placement unit. The seedling placed on the seedling stage 163 may float due to vibrations caused by reciprocating left and right movements of the stage 163, and the seedling detection switch may erroneously detect “no seedling”. Therefore, when the seedling detection switch detects that there is no seedling for a predetermined time (for example, 10 seconds), if the seedling reduction lamp is controlled to indicate the lighting, the seedling planting work due to erroneous detection of the seedling detection switch is performed. Stopping can be prevented and work efficiency is improved.

  If the automatic turning setting switch 192 is automatically turned off as described above, the workability can be further improved by notifying that the automatic turning has been canceled (turned off) by a voice message. Will improve.

  In addition, in headland seedling planting work at the edge of the paddy field, since the machine repeatedly swivels, there are many irregularities in the field scene, so it is usually insensitive to the sensitivity of the lifting control of the rice transplanter 3 Perform the correction operation to the side. In the headland seedling planting operation, the marker switch 220 is set to “OFF” so that the left and right line drawing markers 195 and 195 do not operate. Therefore, when the marker switch 220 is set to “OFF” and the PTO clutch is set to “ON”, it is during the seedling planting work of the headland. If the sensitivity of the control is corrected to the insensitive side, an appropriate headland seedling planting operation can be efficiently performed without the need for the operator to manually perform sensitivity correction.

  Moreover, as shown in the schematic plan view of the rice transplanter in FIGS. 1 and 2, side markers 210 are provided on both sides of the front part of the machine body, and a bar 210a parallel to the longitudinal direction of the machine body is arranged at the front end of the side marker. Thus, it becomes possible to easily confirm that the aircraft is parallel to the adjacent strips when performing seedling planting.

Based on FIG. 11, the fertilizer applicator 4 is demonstrated last.
The fertilizer application device 4 includes a fertilizer tank 401 that can store granular fertilizer, a feeding device 402 that feeds granular fertilizer in the fertilizer tank 401 by a predetermined amount, an air chamber 404 that stores pressure air generated by the electric blower 403, and a feeding device. The fertilizer pipe 405 transports the granular fertilizer fed out in 402 by the pressure air from the air chamber 404 and the grooving device 406 connected to the tip of the fertilizer pipe 405. Then, the grooving device 406 forms a groove on the mud surface of the farm field, and the granular fertilizer transferred and guided by the fertilizer pipe 405 is fertilized in the mud surface groove.

  Further, a rectifying mesh plate 407 through which granular fertilizer passes is disposed at a lower position of the fertilizer tank 401, and the granular fertilizer in the fertilizer tank 401 can flow properly toward the feeding device 402. However, when the fertilizer tank 401 is continuously subjected to strong vibrations (for example, when the riding rice transplanter keeps the fertilizer in the fertilizer tank 401 and travels on an unpaved road such as an agricultural road, the fertilizer tank 401 continuously receives strong vibration), and a situation occurs in which the granular fertilizer is clogged due to a bridging phenomenon at the upper part of the feeding device 402 below the mesh plate 407.

  Therefore, in this embodiment, a cylindrical body 408 whose upper part is closed and whose lower part is opened is integrally formed on the mesh plate 407 at the upper part of the feeding device 402, and granular fertilizer is formed in the lower part of the peripheral wall of the cylindrical body 408. Four notches 409 flowing from four sides are formed at uniform intervals.

  Accordingly, the granular fertilizer in the fertilizer tank 401 appropriately flows down from the periphery of the mesh plate 407 other than the upper part of the feeding device 402 and flows down toward the feeding device 402 from the four notches 409 at the lower peripheral wall of the cylindrical body 408. To do. Therefore, the situation where the granular fertilizer causes the bridging phenomenon and becomes clogged above the feeding device 402 can be accurately avoided, and appropriate fertilization can be performed and workability is good.

  In place of the above example, except for the cylindrical body, the portion of the mesh plate 407 located on the upper portion of the feeding device 402 is closed as a plate body, and the granular fertilizer in the fertilizer tank 401 is other than the upper portion of the feeding device 402. Even if it is configured to appropriately flow downward from the periphery of the mesh plate 407, it has substantially the same action that can avoid the situation where the granular fertilizer causes a bridging phenomenon and clogs above the feeding device 402. Further, even if the mesh of the portion of the mesh plate 407 located above the feeding device 402 is made smaller than the other portions so that the granular fertilizer does not flow more easily than the surrounding mesh, the granular fertilizer remains above the feeding device 402. It has almost the same action that can avoid the situation of clogging due to the bridge phenomenon.

  The lid 410 of the fertilizer tank 401 is configured to be openable and closable around the pivot fulcrum 411. A stopper 412 that holds the lid 410 in a substantially upright state when opened is a pivot fulcrum of the lid 410. 411 is provided in the vicinity.

  A plate body 414 configured to be rotatable about a rotation fulcrum 413 is provided on the inner wall of the lid 410. An iron plate 415 is fixed to the front end portion of the plate body 414, and a magnet 416 is fixed to a corresponding position on the inner wall portion of the lid 410. Therefore, when the plate 414 is closed, the iron plate 415 at the tip is fixed by the magnet 416 at the corresponding position on the inner wall of the lid 410, and the plate 414 is held in the closed position. In addition, an engagement hook portion 417 is integrally formed on the upper surface of the plate body 414 in an open state, and the wire provided on the lid 410 with the cover 410 opened and the plate body 414 opened. By hanging the tip of 418 on the engagement hook portion 417, the plate body 414 becomes a ridge that covers the upper portion of the opening of the fertilizer tank 401 as shown by the phantom line in FIG. 11, and when performing planting and fertilization work in the rain, It is possible to prevent rain from entering the fertilizer tank 401 when opening the lid 410 of the fertilizer tank 401 and supplying the fertilizer, and to prevent the fertilizer from being solidified with water in the fertilizer tank 401 and causing clogging of fertilizer application. Good rice planting and fertilization work can be performed.

  The present invention can be applied to various riding-type seedling transplanting machines such as a riding-type vegetable transplanting machine and a riding-type grass transplanting machine in addition to the riding-type rice transplanting machine of the above embodiment.

DESCRIPTION OF SYMBOLS 1 : Traveling vehicle , 2 : Lifting link apparatus , 3 : Seedling transplanting apparatus (rice transplanting apparatus) , 6 : Left and right front wheel , 7 : Left and right rear wheel , 11 : Mission case , 12 : Engine , 16 : Steering handle , 20 : Cockpit , 170 : control device , 195 : left and right line drawing marker , 220 : marker operation switching operation tool (marker switch) , I : left and right side clutch

Claims (4)

A seedling transplanting device (3) is mounted on a traveling vehicle (1) provided with left and right front wheels (6) and left and right rear wheels (7) for steering, so that it can be moved up and down. In the riding seedling transplanter provided with the marker operation switching operation tool (220) for stopping the operation of (195), the travel distance after the steering handle (16) is operated by a predetermined angle or more by the travel distance calculation means. Calculate and perform automatic turning control to output a command for lowering the seedling transplanting device (3) according to the travel distance, and compare the rotational speeds of the left and right rear wheels (7) during the turning, and the rotational speed A riding seedling transplanter characterized in that a control device (170) for switching the drawing marker (195) on one of the left and right sides to the drawing action state after turning is provided. A seedling transplanting device (3) is mounted on a traveling vehicle (1) provided with left and right front wheels (6) and left and right rear wheels (7) for steering, so that it can be moved up and down. In the riding seedling transplanter provided with the marker operation switching operation tool (220) for stopping the operation of (195), the travel distance after the steering handle (16) is operated by a predetermined angle or more by the travel distance calculation means. Calculate and perform automatic turning control to start driving the seedling transplanting device (3) according to the travel distance, and compare the number of revolutions of the left and right rear wheels (7) during turning, and the number of revolutions is large. A riding seedling transplanter characterized by comprising a control device (170) for switching the drawing marker (195) on the left and right sides to a drawing action state after turning.   In the automatic turning control, when the left and right front wheels (6) are steered more than a predetermined angle, the seedling transplanting device (3) is turned off after the seedling transplanting device (3) is turned off, and the seedling transplanting operation is output. The device (3) is raised, and the seedling transplanting device (3) starts to be driven after outputting a command for the seedling transplanting device (3) to descend according to the travel distance calculated by the travel distance calculating means. The riding seedling transplanter according to claim 1 or 2, wherein the drawing marker (195) is switched to a drawing action state. When the control device (170) operates the marker operating tool (220) to stop the operation of the left and right drawing marker (195) or operates the speed change lever (90) to the road traveling speed position, the control device (170) performs automatic turning control. The riding-type seedling transplanting machine according to any one of claims 1 to 3, wherein the riding-type seedling transplanting machine is configured to switch to a state where it is not performed .

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