JP2001169624A - Agricultural working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid such a state as to move backward while a part of working apparatus is grounded on the earth as it is in an agricultural working machine equipped with the working apparatus at the rear part of a machine body. SOLUTION: A guide route of a gear shift operation tool 41 for operating a gear shift apparatus for traveling is constituted of a forward moving range 42, a backward moving range 43 and a neutral range 44 for connecting the forward moving range 42 to the backward moving range 43. When the gear shift operation tool 41 is operated from the neutral range 44 to an end part 44b of the backward moving range side of the neutral range 44, the operation apparatus at the rear part of the machine body is automatically raised and driven.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a backup device provided in an agricultural machine such as a rice transplanter.

[0002]

2. Description of the Related Art The above-mentioned backup device is configured to automatically raise a working device connected to a rear part of the machine so as to be able to drive up and down, based on detection that a traveling transmission is switched to a reverse position. Yes, when switching to reverse at the edge of a ridge, the work equipment can be automatically raised without any special lifting operation by the operator and can avoid contact with the ridge. And agricultural tractors.

[0003]

For example, in the case of a rice transplanter,
When changing the direction of the airframe or planting at the edge of the ridge, the engine speed is often set to low by operating the hand accelerator lever in order to run at a low speed. When the engine rotational speed is set to be reduced in this way, the rotational speed of the hydraulic pump driven by the engine decreases, the amount of discharged oil decreases, and the operating speed of the hydraulic device that moves the planting device (working device) up and down decreases. In such a state, if the backup device operates in such a state, because the working device rises slowly, at a position very close to the ridge, it is necessary to wait for backward movement until the working device rises to a height that does not contact the ridge, This has caused a reduction in work efficiency. In addition, when an auxiliary device such as a fertilizer device or a chemical spraying device is attached to the planting device, the working device tends to increase in weight and the ascending speed tends to be slow. In this case, it is necessary to wait for the vehicle to move backward until the working device rises significantly.

The present invention has been made in view of such a point, and it is an object of the present invention to enable a backup device to be used more efficiently to perform an efficient operation.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, the present invention automatically switches a working device, which is connected to a rear part of a machine so as to be capable of driving up and down, based on detection that a traveling transmission has been switched to a reverse position. The following configuration is employed in a backup device for an agricultural work machine configured to perform a rising control. That is,

According to the first aspect of the present invention, there is provided a structure provided with an ascending speed control means for increasing the ascending speed of the working device based on the detection that the traveling transmission has been switched to the reverse position.

In the second aspect of the present invention, there is provided an ascending speed control means for increasing the ascending speed of the working device based on the detection that the traveling transmission is switched to the reverse position. The accelerator device is configured to control the speed increase, and the rising speed control means is configured to function only in the traveling stop state.

In the third aspect of the present invention, the ascending speed control means for increasing the working device ascending speed based on the detection that the traveling transmission has been switched to the reverse position, and a mode in which the backup function is activated and a mode in which the backup function is not activated. And a mode selecting means for switching and selecting the mode, and wherein the ascending speed control means functions only in a state where the mode selecting means is set to a mode for activating the backup function.

[0009]

According to the structure of the first aspect of the invention, when the traveling transmission is switched to the reverse position and the working device is automatically controlled to ascend, the ascending speed is the increasing speed before the traveling transmission is switched to the reverse position. Larger and the working device rises in a short time.

According to the configuration of the second aspect of the invention, when the traveling transmission is switched to the reverse position and the working device is automatically raised, the accelerator device of the engine is controlled to increase the speed and the engine speed is increased. As a result, the discharge rate of the hydraulic pump driven by the engine increases, and the ascent speed of the working device increases. In this case, the acceleration device of the engine is controlled to increase the speed only when the vehicle is stopped, and when the vehicle is traveling in reverse, the accelerator device is decelerated to the original accelerator set state.

According to the third aspect of the present invention, when the mode in which the backup function is operated is selected, the working device is raised in conjunction with the traveling transmission being switched to the reverse position while the traveling is stopped. Although the speed is higher than the ascending speed before switching to the reverse position, if the mode in which the backup function is not activated is selected, the ascent speed of the working device is increased even when the traveling transmission is switched to the reverse position. For example, by selecting the mode in which the backup function is not activated when the aircraft is stored in the garage, for example, it is possible to raise the working device at low speed while arbitrarily moving the aircraft backward. .

[0012]

According to the first aspect of the present invention, when the backup function is activated, the working device can be raised quickly, so that it is not necessary to wait for the working device to rise to a height where it does not come into contact with a ridge or the like. Alternatively, the waiting time can be shortened, and a decrease in work efficiency can be suppressed.

Further, according to the second aspect of the present invention, even if the engine speed is set to a low speed by operating the hand accelerator lever on the ridge, the traveling transmission is switched to the reverse position and traveling is stopped. While the engine is running, the engine speed can be temporarily increased to a high value to provide a backup function with a large ascending speed, so that the waiting time until the reverse is executed can be reduced and the decrease in work efficiency can be suppressed. Became.

Further, according to the third aspect of the present invention, it is possible to suppress a decrease in work efficiency by performing a backup function by quickly raising the work apparatus during work in the field, and
When the vehicle is moving backward while not working, the vehicle can be moved up and down freely without performing a high-speed automatic ascent operation, thereby improving the ease of handling.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a riding type rice transplanter will be described below with reference to the drawings. As shown in FIG. 5, this rice transplanter drives a seedling planting device 3 [an example of a working device] via a link mechanism 2 driven by a lift cylinder 4 at the rear of the riding type traveling machine body 1 so as to be able to move up and down and to move back and forth. The fertilizer device 5 is connected to the seedling plant 3 while being rotatably connected around the axis so that the seedlings are planted on the rice field while running.
It is configured to perform lateral fertilization along the planting shoots.

An engine E is mounted on the front of the traveling body 1 and the power of the engine E is transmitted to a belt-type continuously variable transmission 6 and a gear-type transmission 7a in a transmission case 7.
The transmission system is configured such that an output synchronized with the vehicle speed is transmitted to the seedling planting device 3 through the planting clutch 11 which is turned on and off by the electric motor 10 and transmitted to the front and rear wheels 8 and 9 via the electric motor 10. Have been.

The seedling planting device 3 is a rotary type planting plant that reciprocates laterally in a horizontal direction with a constant stroke, and that takes out seedlings one by one from the lower end of the seedling plant 12 and plant them in a field. A mechanism 13, a plurality of ground floats 14 that perform a leveling operation while following a ground on a rice field surface, and are provided on both left and right sides of the seedling planting device 3. A pair of drawing markers 15
The drawing marker 15 is wire-linked so that it is automatically stored in conjunction with the raising operation of the seedling planting device 3,
In the retracted state, it is configured to be automatically held by a lock mechanism (not shown), and as shown in FIG. 1, with a vertical operation of a marker operation lever 17 that is swingably operated below the steering handle 16. The two-point switchable marker switch 18 is operated, and the electromagnetic solenoid SL1,
The locked state of the lock mechanism is selectively released by SLr, and the drawing marker 15 on the desired side is switched to the action posture as the seedling planting device 3 descends. The marker switch 18 is urged to return to the neutral state, and is configured to perform a lock release operation by energizing the corresponding electromagnetic solenoids SLl and SLr for a certain period of time based on operation in either direction.

The raising and lowering operation of the seedling planting apparatus 3 is configured to be manually operated based on the operation of a forward / backward swing type artificial lifting / lowering lever 20 disposed on the side of the driver's seat 19 of the body operating section. The amount of front and rear operation of the artificial lifting lever 20 is detected by a lever sensor 21 using a potentiometer,
A control device 22 having a microcomputer outputs the output.
Performs zone control for each set level, and controls switching of the electromagnetic hydraulic control valve V for the lift cylinder 4 so as to be in an operating state corresponding to each operation position. That is, when the elevating lever 20 is operated to the “elevated position”, the seedling planting device 3 is forcibly elevated to the maximum position. At this time, the detection that the seedling planting device 3 has risen to the maximum rising position is detected by the upper limit switch SW attached to the rear wheel fender 23.
2, the link mechanism 2 contacts and detects.
When operated to the "neutral position", the seedling planting device 3 holds the current level, and when operated to the "down position", the seedling planting device 3 descends until it touches the mud surface. Further, when the planting operation is performed to the "planting position", the seedling planting device 3 is lowered to the ground, and the electric motor 10 is driven to set the planting clutch 11 into operation to set the planting operation state. On the lower side of the steering handle 16, a swing lever type lifting operation switch S is provided.
W1 is provided, and is configured to be freely switchable between a state in which the seedling planting device 3 is forcibly raised to a maximum ascending position and a state in which it is lowered on the ground based on the operation of the switch SW1.

An automatic raising / lowering control means A for controlling the driving of the lift cylinder 4 is provided so that the seedling planting depth, that is, the height of the seedling planting device 3 with respect to the rice field is always kept constant. That is, the vertical swing amount caused by the fluctuation of the ground height is detected above the front side of the ground float 14 located at the center in the left and right direction among the ground floats 14 provided to be able to vertically swing around the rear horizontal axis X. The electromagnetic pressure control valve V of the lift cylinder 4 is switched by the control device 22 so that the detection value of the float sensor 24 matches the set value of the sensitivity adjuster 25 composed of a potentiometer. It is. The automatic lifting control is activated only when the lifting lever 20 is set to the "planting position", the "down position", and the "automatic position" described later.

There is provided a changeover switch 26 for changing the elevating speed of the lift cylinder 4 in the elevating control operation according to work conditions. When the switch 26 is switched to “2”, the lifting / lowering speed of the lift cylinder 4 is set to a standard value, and when the switch 26 is switched to “1”, the rising speed becomes faster than the standard value and the descending speed becomes slower than the standard value. When switching to "3", the ascending speed becomes slower than the standard value, and the descending speed becomes faster than the standard value. For normal work, set to “2” position,
If the weight of the working device is heavy by adding a separate working machine such as a medicine spraying device, it is set to the “1” position. When the headland should be strongly leveled, the position is switched to the "3" position. This change of the elevating speed is performed by appropriately changing and controlling the duty ratio of the pulse drive current to the electromagnetic control valve V.

A reverse detection switch 2 which is turned on when it detects that the transmission 7a has been operated to the reverse position.
When the reverse detection switch 27 is turned on, the backup means B forcibly raising the seedling planting device 3 to a high position detected by the upper limit switch SW2 is provided to the control device 22 by the control program 22. Provided in the form.

The raising / lowering lever 20 is configured to be operable to another "automatic position" different from the respective operation positions, and the raising / lowering operation by the raising / lowering operation switch SW1 is performed only when operated to the "automatic position". A mode selection means C is provided in the form of a control program that sets the control mode to allow the operation of the backup means B while allowing the operation. More specifically, as shown in FIG. 4, the operation path of the series of lifting levers 20 for each of the operation positions is operated from the “neutral position” to the “automatic position” via a path extending laterally outward. The switching to the “automatic position” is similarly determined by the control device 22 by zone determination of the detection value of the lever sensor 21. That is, the mode selection means C is
The control device 22 executes control as follows.

As shown in FIGS. 2 and 3, when the control is started, the detection value of the lever sensor 21 is discriminated as a zone to determine whether or not the automatic operation is performed [# 1].
If it is set, when the reverse detection switch 27 is turned on, the seedling planting device 3 is raised to the upper limit position and stopped [# 2-5]. Next, when the raising / lowering operation switch SW1 is operated, if the seedling planting device 3 is not at the upper limit position, the raising operation is performed until it reaches the upper limit position. The seedling planting device 3 is moved down until the float 14 touches the ground [#
6 to 12]. If the marker switch 18 is operated when the seedling planting apparatus 3 is lowered, the electric motor 10 is driven to turn on the planting clutch 11, and the mode shifts to the automatic elevating control mode [# 13 to 15]. If the elevating lever 20 is set to the "automatic position", the above control # is repeated, and the elevating operation by the elevating operation switch SW1 becomes possible.

Next, if the lifting lever 20 is not in the "automatic position", the "neutral position", "rising position", "down position",
The operation is performed based on the respective functions of the “planting position”, and the operation to enter the planting clutch 11 is possible only in the “planting position” in conjunction with the operation of the marker switch 18, and the “down position”, “ At each of the "planting positions", the seedling planting apparatus 3 descends on the ground and is set in the automatic elevating control mode [# 16-3]
1]. The mode selecting means C is constituted by # 1 and # 2 is selected.
Backup means B is constituted by .about.5.

When the seedling planting device 3 is forcibly raised via the backup means B, the rising speed control means D for increasing the operating speed of the lift cylinder 4 is provided by the control device 2.
2 in the form of a control program. That is,
Main clutch 30 provided at the input portion of transmission case 7
A main clutch detection switch 32 for detecting a depression operation (clutch disengagement) of a main clutch pedal 31 for operating
An electromagnetic solenoid 34 for operating the accelerator device 33 of the engine E is connected to the control device 22. When the seedling planting device 3 is forcibly raised via the backup means B, the main clutch detection switch 32 The disengaged state, that is, the "automatic position" in which the elevating lever 20 operates the backup means B is set, the reverse detection switch 27 is turned on, and the main clutch 3
When it is determined that the running is stopped due to 0 being cut off [# 1, # 2, # 32], the solenoid 3
4 is energized and the accelerator device 33 is operated at high speed [#
33], the speed of the engine is controlled to a high speed,
The amount of oil discharged from the hydraulic pump rotationally driven by the engine E is increased, and the operating speed of the lift cylinder 4 is increased. When it is subsequently determined that the main clutch 30 has been engaged and the vehicle has moved backward, the electromagnetic solenoid 34 is de-energized [# 32, # 34], and the accelerator device 33 operates at a low speed set by the hand accelerator lever 36. It returns to the position mechanically. Thus, the ascending speed control means D is constituted by # 32 to # 34.

Incidentally, as shown in FIG.
The speed control lever 33a is biased in the low-speed direction, and is interlockingly connected to an accelerator pedal 35 and a hand accelerator lever 36 capable of holding friction at an arbitrary operation position. Even if the deceleration is set, when the electromagnetic solenoid 34 is energized, the speed adjusting lever 33a is forcibly operated to the high-speed position while leaving the hand accelerator lever 36, and when the electromagnetic solenoid 34 is de-energized, the speed adjusting lever 33a Accelerator lever 3
The mechanical return to the low-speed position set in step 6 is performed mechanically.

[Another Embodiment] The present invention can also be carried out in the following modes. As means for increasing the working device ascending speed, a dedicated transmission for controlling the number of rotations of a hydraulic pump that supplies pressure oil to the working device lifting / lowering lift cylinder is provided, and this is controlled at a high speed during a backup operation. A hydrostatic continuously variable transmission (H
ST), and as shown in FIG.
When the traveling gear 6 is in the neutral position N in the reverse traveling area, that is, while the traveling transmission is in the reverse traveling position and is in the traveling stopped state, the ascending speed control means D is operated to increase the working device ascent speed. Constitute.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a block diagram of a control device.

FIG. 3 is a flowchart.

FIG. 4 is a flowchart.

FIG. 5 is a plan view showing an operation pattern of a lifting lever.

FIG. 6 is a configuration diagram of an accelerator operation system.

FIG. 7 is a plan view showing a shift operation section in another embodiment of the traveling transmission.

[Explanation of symbols]

 3 Working device (seedling planting device) 7a Traveling transmission device 33 Accelerator device B Backup means C Mode selection means D Ascent speed control means E Engine

[Procedure amendment]

[Submission date] November 16, 2000 (200.11.
16)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Agricultural work machine

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural work machine provided with a work device at a rear portion of a machine body so as to be vertically movable.

[0002]

2. Description of the Related Art As described above, in an agricultural work machine provided with a working device at the rear part of the machine body so as to be able to move up and down, when the traveling transmission is operated to the reverse side, the working device is automatically driven up. Some are configured as follows. This prevents a situation in which, even when the operator mistakenly moves the aircraft backward while the work apparatus is lowered near the ground, the work apparatus is hit against an obstacle behind and damaged.

[0003]

For example, in a rice transplanter as an agricultural working machine, a grounding float that is in contact with a rice field is provided in a seedling planting device (working device). Thus, as described in the related art, when the working device at the rear of the aircraft is configured to be automatically driven upward in accordance with the operation of the traveling transmission to the reverse direction, If the reverse drive and the upward drive of the working device are performed almost simultaneously, or if the upward drive of the work device is performed with a slight delay with respect to the reverse movement of the aircraft,
While the part of the working device that touches the ground (for example, as described above, in a rice transplanter, the grounding float provided in the seedling planting device (working device)) is dragged along the ground, the body moves backward, and It is conceivable that a state in which the device is driven to rise may occur. Therefore, if the above-described state occurs, there is a possibility that a portion of the working device that touches the ground may be damaged.

SUMMARY OF THE INVENTION The present invention relates to an agricultural work machine in which a working device at a rear portion of a machine body is automatically driven to rise in accordance with an operation of a traveling transmission to a reverse position, and the working device is grounded on the ground. Is dragged along the ground,
It is an object of the present invention to prevent a state in which the airframe moves backward and the working device is thereafter driven up.

[0005]

A feature of the present invention is that an agricultural working machine is configured as follows. A traveling transmission, a transmission lever that is manually operated by operating the transmission, and a working device that is provided at the rear of the body so as to be able to move up and down freely, a forward region, a reverse region, and a forward region And a neutral region connecting the reverse region and the reverse region, and constitutes a guide path for guiding the shift lever. When the shift lever is operated in the neutral region, the transmission is operated to the neutral position and the shift lever is moved forward in the neutral region. When the transmission is operated from the end on the area side to the forward area, the transmission is operated from the neutral position to the high speed side of the forward movement. And a backup means for driving the working device upward when the shift lever is operated from the neutral region to the reverse region side end of the neutral region.

[0006]

In the agricultural work machine, when the traveling transmission is operated by the shift lever, as described in the problem to be solved by the invention, the guide path for guiding the shift lever is defined as an advance region. , A reverse region, and a neutral region connecting the forward region and the reverse region in many cases. In this case, according to the features of the first aspect, when the shift lever is operated from the neutral region to the end of the neutral region in the reverse region, the working device is driven upward by the backup means.

When the vehicle is moved backward from a state in which the shift lever is operated in the neutral region (a state in which the transmission is operated to the neutral position and the aircraft is stopped), the shift lever is moved from the neutral region to the reverse region in the neutral region. By operating to the side end and operating from the end of the neutral region to the reverse region from the side end, the aircraft is moved backward. Thus, according to the first aspect of the present invention, when the shift lever is operated from the neutral region to the end of the neutral region in the reverse region, the ascending drive of the working device is started by the backup means, and the shift lever is moved to the neutral region. In the state where the transmission is being operated to the end portion on the reverse region side, the transmission is still being operated to the neutral position and the aircraft is stopped. Next, when the shift lever is operated from the end portion of the neutral region toward the reverse region to the reverse region, the transmission is operated from the neutral position to the high speed side in reverse, and the aircraft starts to move backward.

Thus, according to the first aspect of the present invention, since the reverse movement of the body is started after the ascending drive of the working device is started, the portion of the working device that touches the ground rises from the ground. After that, it is possible to bring about a situation in which the aircraft starts to reverse, and avoid the situation where the aircraft moves backward while the part of the work equipment that touches the ground is dragged along the ground. Now you can.

[0009]

According to the first aspect of the present invention, there is provided an agricultural work machine configured such that a work device at a rear portion of a body is automatically raised when a rearward operation of a transmission is performed. By configuring so that the state in which the part of the work equipment that touches the ground rises from the ground and then the reversal of the aircraft starts can be made to appear, the part of the work equipment that touches the ground can While being dragged along
It is now possible to avoid a state in which the aircraft moves backward, and to prevent a state in which a part of the working device that touches the ground is damaged.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a riding type rice transplanter will be described below with reference to the drawings. As shown in FIG. 1, this rice transplanter is capable of vertically moving a seedling planting device 3 through a link mechanism 2 driven by a lift cylinder 4 at the rear of a riding type traveling machine body 1 and around a longitudinal axis. It is configured so as to be rotatably connected to plant seedlings on the rice field while traveling, and to perform fertilization along the seedlings planted by the fertilizing device 5 provided in the seedling planting device 3. It is configured.

As shown in FIGS. 1 and 2, an engine E is mounted on a front portion of a traveling body 1 and the power of the engine E is transmitted by a belt-type continuously variable transmission 6 and a gear-type main transmission of a transmission case 7. The power of the engine E, which is transmitted to the front wheels 8 and the rear wheels 9 via the 7a and is synchronized with the traveling speed via the planting clutch 11 which is turned on and off by the electric motor 10, is transmitted to the seedling planting device 3. Is transmitted.

As shown in FIG. 1, the seedling planting device 3 includes a seedling rest 12, which reciprocates horizontally with a constant stroke in the left and right directions.
A rotary type planting mechanism 13 for taking out seedlings one by one from the lower end of the seedling rest 12 and planting them on the rice field, a plurality of grounding floats 14 that perform a leveling action while following the grounding on the rice field, the right and left sides of the seedling planting device 3 And a pair of left and right line drawing markers 15 which can draw a traveling index line in an unplanted area in accordance with the planting operation.

The drawing marker 15 is linked with a wire so as to be automatically operated to the storage position in conjunction with the raising of the seedling planting device 3, and is automatically locked in the storage position (not shown). Is held by As shown in FIGS. 1 and 2, the marker operation lever 17 provided on the lower side of the steering handle 16 so as to be swingable can be moved up and down.
The marker switch 18 of the point switching type is operated, the lock state of the lock mechanism is selectively released by the marker solenoids SLl and SLr, and the drawing marker 15 on a desired side is operated as the seedling planting device 3 descends. It is operated to the posture. The marker switch 18 is urged to return to the neutral state, and the marker solenoids SLl and SLr corresponding to the direction in which the marker switch 18 is operated are energized for a certain period of time. The locked state is released.

[0014] As shown in Figs.
Can be manually operated based on the operation of a forward / backward swing type artificial lifting / lowering lever 20 provided on the side of the driver's seat 19 of the aircraft control section. The operating position of the artificial elevating lever 20 is detected by a lever sensor 21 using a potentiometer, and the detected value of the lever sensor 21 is zone-discriminated for each set level by a control device 22 having a microcomputer. The electromagnetic hydraulic control valve V for the lift cylinder 4 is operated so as to be in an operation state corresponding to the operation position.

When the artificial lifting lever 20 is operated to the raised position, the seedling planting device 3 is forcibly driven to the maximum raised position. The detection that the seedling planting device 3 has risen to the maximum rising position is determined by the rear wheel fender 2 as shown in FIGS.
Link mechanism 2 to upper limit switch SW2 attached to
Is performed by contact. When the artificial raising / lowering lever 20 is operated to the neutral position, the seedling planting device 3 is maintained at the current level, and when the artificial raising / lowering lever 20 is operated to the lowering position, the seedling planting device 3 is driven down until it touches the rice field. . When the artificial lifting lever 20 is operated to the planting position, the seedling planting device 3
Is driven downward until it touches the rice field surface, and the planting clutch 11 is engaged and operated by the electric motor 10 to set the planting work state. As shown in FIGS. 1 and 2, a swing lever type elevating operation switch SW <b> 1 is provided below the steering handle 16, and the seedling planting device 3 is maximally raised based on the operation of the elevating operation switch SW <b> 1. It is configured to be switchable between a state in which the seedling planting device 3 is forcibly driven up to the position and a state in which the seedling planting device 3 is driven down until it touches the rice field.

As shown in FIG. 2, raising and lowering control means A for operating the lift cylinder 4 is provided so that the planting depth of the seedling (the height of the seedling planting device 3 with respect to the rice field) is always kept constant. Have been. A vertical swing amount caused by a height change is detected above the front side of the ground float 14 located at the center in the left and right direction among the ground floats 14 supported vertically swingably around the rear horizontal axis X. The potentiometer type float sensor 24 is provided, and the hydraulic control valve V is operated by the control device 22 so that the detection value of the float sensor 24 matches the set value of the sensitivity adjuster 25 composed of a potentiometer. The elevating control by the elevating control means A is performed only when the artificial elevating lever 20 is operated to the planting position, the descending position, and an automatic position described later.

As shown in FIG. 2, in the elevating control by the elevating control means A, a changeover switch 26 is provided which can change the operating speed of the lift cylinder 4 in accordance with the work situation. When the changeover switch 26 is operated to “2”, the operation speed of the lift cylinder 4 is set to the standard value, and when the changeover switch 26 is operated to “1”, the operation speed on the ascending side of the lift cylinder 4 is faster than the standard value. And lift cylinder 4
The operating speed on the descending side becomes lower than the standard value. When the changeover switch 26 is operated to “3”, the operation speed of the lift cylinder 4 on the ascending side becomes slower than the standard value, and the operating speed of the lift cylinder 4 on the descending side becomes faster than the standard value. In a normal planting operation, the changeover switch 26 is operated to “2”, and when a working machine such as a chemical spraying device is equipped and the weight of the seedling planting device 3 is heavy, the changeover switch 26 is operated to “1”. . If you want to level the headland strongly, the changeover switch 26
To "3". The operation speed of the lift cylinder 4 is changed by changing the duty ratio of the pulse drive current to the hydraulic control valve V.

As shown in FIG. 2, a reverse detection switch 27, which is turned on when the main transmission 7a is operated to the reverse position, is provided at an intermediate portion of the speed change lever 28. When 27 is turned on,
Backup means B forcibly driving the seedling planting device 3 to the maximum ascending position detected by the upper limit switch SW2
Are provided in the control device 22 in the form of a control program.

As shown in FIGS. 2 and 5, the artificial lifting lever 20 is configured to be operable to the automatic position, and only when the artificial lifting lever 20 is operated to the automatic position, the operation by the lifting operation switch SW1 is performed. And backup means B
A mode selection means C for setting a control mode allowing operation by the control program is provided in the form of a control program. FIG.
As shown in the figure, the artificial lifting lever 20 can be operated to the automatic position via the operation path extending laterally outward from the neutral position among the operation paths of the artificial lifting lever 20, and the automatic The operation to the position is determined by the control device 22 based on the zone determination of the detection value of the lever sensor 21. The mode selecting means C is provided in the control device 22 in the form of a control program, and the control device 22 executes control as follows.

As shown in FIGS. 2 and 3, when the control is started, the detection value of the lever sensor 21 is discriminated in the zone, and it is determined whether or not the artificial lifting lever 20 is operated to the automatic position ( # 1) When the artificial lifting lever 20 is operated to the automatic position, when the reverse detection switch 27 is turned on, the seedling planting device 3 is forcibly driven to the maximum ascending position (# 2 to # 5). ). Lifting operation switch SW
1 is operated, the seedling planting device 3 is forcibly driven up to the maximum ascending position if the seedling planting device 3 is not at the maximum ascending position, and the float sensor if the seedling planting device 3 is at the maximum ascending position. The seedling planting apparatus 3 is driven downward until the ground float 14 touches the rice field by the detection of 24 (# 6 to # 1).
2).

If the marker switch 18 is operated when the seedling planting apparatus 3 is driven downward, the planting clutch 11 is turned on by the electric motor 10 to shift to the automatic elevating mode (# 13 to ##). 15). When the artificial lifting lever 20 is operated to the automatic position, the above control is repeated, and the raising and lowering driving of the seedling planting apparatus 3 by the raising and lowering operation switch SW1 can be performed.

Next, if the artificial lifting lever 20 is not operated to the automatic position, the operation corresponding to each of the neutral position, the raising position, the lowering position and the planting position is performed, and the artificial lifting lever 20 is moved to the planting position. Only when the operation is performed, the engaging operation of the planting clutch 11 by the electric motor 10 is possible in conjunction with the operation of the marker switch 18, and the artificial lifting lever 20 is operated to the lowering position and the planting position. When,
The seedling planting apparatus 3 is driven downward until it touches the rice field, and the automatic elevating mode is set (# 16 to # 31). As described above, the mode selecting means C is constituted by # 1, and
Backup means B is constituted by # 5.

When the seedling planting device 3 is forcibly driven up to the maximum ascending position by the backup means B, the ascending speed control means D for increasing the operating speed of the lift cylinder 4 on the ascending side is sent to the control device 22 by a control program. Provided in the form. As shown in FIGS. 1 and 2, a main clutch switch 32 for detecting a depression operation (disengagement operation) of a main clutch pedal 31 for operating a main clutch 30 provided at an input portion of the transmission case 7, and an accelerator for the engine E A solenoid 34 for operating the device 33 is connected to the control device 22.
Is forcibly driven to the maximum ascending position, if the main clutch switch 32 is disengaged (the artificial elevating lever 20 is operated to the automatic position and the reverse detection switch 2 is turned on).
7 is on, and the main clutch 30 is disengaged to stop the traveling machine body 1) (# 1, # 2, # 3)
2) During this time, the solenoid 34 is energized to operate the accelerator device 33 to the high speed side (# 33), and the rotation speed of the engine E is controlled to a high rotation speed. Thereby, the engine E
As a result, the discharge amount of a hydraulic pump (not shown) driven by the motor increases, and the operating speed of the lift cylinder 4 on the rising side is increased.

After that, when it is detected that the main body 30 has been engaged and the traveling body 1 has moved to the reverse state, the power supply to the solenoid 34 is cut off (# 32, # 34), and FIG.
The accelerator device 33 returns to the position set by the hand accelerator lever 36 as shown in FIG. Thus, # 32
To # 34 constitute the ascending speed control means D.

As shown in FIG. 6, the speed control lever 33a of the accelerator device 33 is urged in the low speed direction, and is interlockingly connected to the accelerator pedal 35 and a hand accelerator lever 36 capable of holding friction at an arbitrary operation position. . Even if the hand accelerator lever 36 is operated to the low speed side, if the solenoid 34 is operated, the speed control lever 33a is forcibly operated to the high speed side while leaving the hand accelerator lever 36, and the energization of the solenoid 34 is stopped. When disconnected, the speed control lever 33a returns to the position set by the hand accelerator lever 36.

[Another Embodiment] The present invention can also be carried out in the following modes. A dedicated transmission (not shown) for controlling the number of rotations of a hydraulic pump for supplying hydraulic oil to the lift cylinder 4 is provided as the ascending speed control means D, and the seedling planting device 3 is moved up by the backup means B to the maximum. When the ascending drive is performed to the position, the transmission may be operated at a higher speed.

A hydrostatic continuously variable transmission (HST) is used as a traveling transmission, and as shown in FIG. 7, a forward region 42, a reverse region 43, a forward region 42, and a reverse region 4
3 is provided, and a guide path for guiding the shift lever 28 is provided. Thus, when the shift lever 28 is operated to the neutral region 44, the hydrostatic stepless transmission is operated to the neutral position, and the shift lever 28 is moved to the neutral region 4
When the operation is performed from the forward end portion 44a to the forward end region 42, the hydrostatic continuously variable transmission is operated from the neutral position to the forward high speed side. When the speed change lever 28 is operated from the reverse area side end 44b of the neutral area 44 to the reverse area 43, the hydrostatic stepless transmission is operated from the neutral position to the reverse high speed side.

When the speed change lever 28 is operated from the neutral area 44 to the reverse area side end 44b of the neutral area 44 from the state shown by the solid line to the state shown by the dotted line in FIG. 7, the reverse detection switch 27 is turned on. Then, the seedling planting apparatus 3 is forcibly driven up to the maximum ascending position by the backup means B. When the shift lever 28 is located in the neutral region 44 (only while the hydrostatic continuously variable transmission is on the reverse side and the traveling body 1 is stopped), the ascending speed control means D is operated. The operation speed on the rising side of the lift cylinder 4 may be increased.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings.

[Brief description of the drawings]

FIG. 1 is an overall side view of a riding type rice transplanter.

FIG. 2 is a block diagram showing a portion related to a control device.

FIG. 3 is a diagram showing a flowchart of control.

FIG. 4 is a diagram showing a flowchart of control.

FIG. 5 is a plan view showing an operation path of an artificial lifting lever.

FIG. 6 is a diagram showing an operation system of the accelerator device.

FIG. 7 is a plan view showing a guide path of a transmission lever according to another embodiment.

[Description of Signs] 3 Working device 28 Shift lever 42 Forward region 43 Reverse region 44 Neutral region 44a Forward region end of neutral region 44b Reverse region side end of neutral region B Backup means

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] Fig. 1

[Correction method] Change

[Correction contents]

FIG.

[Procedure amendment 3]

[Document name to be amended] Drawing

[Correction target item name] Fig. 7

[Correction method] Change

[Correction contents]

FIG. 7

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B62D 49/00 B62D 49/00 K

Claims (1)

[Claims] A transmission device for traveling, and a shift operation device (41) for manipulating the transmission device which is artificially operated by operating the transmission device.
And a working device (3) provided at the rear of the body so as to be able to move up and down freely, comprising: a forward area (42), a reverse area (43), and the forward area (42) and the reverse area (43). A neutral path (44) to be connected to form a guide path for guiding the speed change operation tool (41), and when the speed change operation tool (41) is operated in the neutral area (44), the transmission device When the shift operation tool (41) is operated to the neutral position from the forward area side end (44a) of the neutral area (44) to the advanced area (42),
The transmission is operated from a neutral position to a high speed side of forward movement,
When the shift operation tool (41) is operated from the reverse area side end (44b) of the neutral area (44) to the reverse area (43), the transmission is operated from the neutral position to the reverse high speed side. When the speed change operation tool (41) is operated from the neutral area (44) to the reverse area side end (44b) of the neutral area (44), the working device (3) is driven upward. Agricultural working machine provided with backup means (B).