JP2009213433A - Rice transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent lowering of a traveling function caused by deficiency of driving torque of rear wheels and lowering of other functions followed by above lowering. <P>SOLUTION: In a rice transplanter carrying an engine 4 in a traveling machine body 1 supported by front wheels 2 and rear wheels 3 and driving at least rear wheels 3 by power of the engine 4, electric assist motors 20L and 20R are linked to front wheel axles 19L and 19R and the electric assist motors 20L and 20R are driven according to deficiency of driving torque of rear wheels 3. When a cut angle of a steering handle steering the front wheels 2 became larger than a set angle, the electric assist motors 20L and 20R linked to the front wheel axles 19L and 19R on turning outside are driven. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a rice transplanter that drives rear wheels and the like with the power of an engine.

A rice transplanter that mounts an engine on a traveling machine supported by the front and rear wheels, drives the front wheels and rear wheels with the power of the engine, and performs planting operations in accordance with the running of the machine accompanying driving of the front and rear wheels Is known (see, for example, Patent Document 1). This type of rice transplanter normally supplies engine power not only to the front and rear wheels, but also to hydraulic pumps and planting machines, and also supplies engine power to fertilizer and leveling equipment. A rice transplanter is also known.
JP 2004-267162 A

  However, since the rice transplanter performs planting work while traveling in a muddy field, an excessive travel load may occur during the work. There is also a risk that the function will be degraded.

  In addition, this type of rice transplanter has side clutches on the left and right rear wheel power transmission paths, and when turning the headland, the side clutch on the inner side of the turn can be turned off manually or automatically to turn the turn. It is possible. However, during this small turn, the power transmission to the rear wheels inside the turn is cut off and the propulsive force of the airframe is reduced. For this reason, in the past, when the vehicle became unable to travel during a small turn, the side clutch disengagement operation was released or the front wheel differential mechanism was differentially locked, but these operations increased the turning radius. Therefore, there is a problem that the small turn that is the original purpose cannot be achieved.

The present invention has been created in order to solve these problems in view of the above circumstances, and an engine is mounted on a traveling machine body supported by front wheels and rear wheels, and at least the motive power of the engine is used. In the rice transplanter for driving the rear wheel, an electric assist motor is connected to the axle of the front wheel, and the electric assist motor is driven in response to insufficient driving torque of the rear wheel. In this way, in a situation where the driving torque of the rear wheels is insufficient, the driving force of the electric assist motor can be transmitted to the front wheels to assist the propulsion of the aircraft, so that the running function is deteriorated due to the insufficient driving torque of the rear wheels. In addition, it is possible to prevent deterioration of other functions.
In addition, when the turning angle of the steering wheel for steering the front wheel becomes equal to or larger than a set angle, an electric assist motor linked to the front wheel axle outside the turn is driven. If it does in this way, the driving force of an electric assist motor can be transmitted to the front wheel outside the turn, and the body propulsion during the turn can be assisted. As a result, the lack of propulsive force during turning associated with the side clutch disengagement can be resolved, and traveling performance during turning can be improved.

  Next, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a traveling machine body of a riding type rice transplanter. The traveling machine body 1 is supported by front wheels 2 and rear wheels 3, and the front wheels 2 and 2 are driven by the power of an engine 4 mounted on the front part of the machine body. The rear wheel 3 is driven, and the planting operation is performed in accordance with the traveling of the vehicle accompanying the driving of the front wheel 2 and the rear wheel 3.

  The planting work machine 5 that performs the planting work is connected to the rear part of the traveling machine body 1 via the lifting link mechanism 6, and performs the planting operation with the engine power transmitted from the traveling machine body 1. . Further, the rice transplanter of the present embodiment includes a leveling device 7 that operates with engine power between the rear wheel 3 and the planting work machine 5, and the leveling device 7 is leveled in front of the planting work machine 5. By doing this, the planting accuracy of the seedling is improved.

  As shown in FIG. 2, the power of the engine 4 is transmitted to a hydraulic pump 9 and an HST (hydraulic continuously variable transmission: main transmission mechanism) 10, and the power continuously shifted by the HST 10 is input to the transmission case 11. Is done. The power input to the transmission case 11 is branched into planting power and traveling power on the downstream side via the main clutch 12. The planting power is transmitted to the planting work machine 5 via the inter-gear transmission mechanism 13 and the planting clutch 14, and the traveling power is transmitted to the front axle case 16 and the rear axle case 17 via the auxiliary transmission mechanism 15. The

  The traveling power input to the front axle case 16 is transmitted to the left and right front wheel axles 19L and 19R via the front wheel differential mechanism 18. Electric assist motors 20L and 20R are connected to the left and right front wheel axles 19L and 19R, respectively, and the driving of the left and right front wheels 2 can be independently assisted by driving the electric assist motors 20L and 20R. It has become. The electric assist motors 20L and 20R are configured to include, for example, an electric motor, a speed reduction mechanism, and a one-way clutch. During assist, the motor power that has been decelerated is transmitted to the front wheel axles 19L and 19R. The front wheel axles 19L and 19R are allowed to freely rotate.

  On the other hand, the traveling power transmitted to the rear axle case 17 is branched into ground leveling power and rear wheel power. The leveling power is transmitted to the leveling device 7, and the rear wheel power is transmitted to the left and right rear wheel axles 23L and 23R via the side clutches 21L and 21R and the side brakes 22L and 22R, respectively. The electric assist motor 24 is connected to the transmission path of the leveling power, and the driving force of the electric assist motor 24 can assist the driving of the leveling device 7. The electric assist motor 24 can be configured by an electric motor, a speed reduction mechanism, and a one-way clutch, similarly to the electric assist motors 20L and 20R.

  The electric assist motors 20L and 20R connected to the left and right front wheel axles 19L and 19R are driven in response to a lack of driving torque of the rear wheels 3. For example, the normal rear wheel rotational speed is calculated based on the engine rotational speed and the main shift position, the calculated rear wheel rotational speed is compared with the actually detected rear wheel rotational speed, and the calculated rear wheel rotational speed is calculated. When the actual rear wheel speed is lower than that, it is determined that the driving torque of the rear wheel 3 is insufficient, and the electric assist motors 20L and 20R are driven. In this case, in a situation where the driving torque of the rear wheel 3 is insufficient, the driving force of the electric assist motors 20L and 20R can be transmitted to the front wheel 2 to assist the propulsion of the airframe. It is also possible to prevent a decrease in running function due to the shortage and other functions associated therewith.

  Further, in the present embodiment, when the turning angle of a steering handle (not shown) for steering the front wheel 2 is equal to or larger than a set angle, the electric assist motors 20L and 20R connected to the front wheel axles 19L and 19R on the outer side of the turn are provided. It is designed to drive. For example, when the turning angle of the steering wheel becomes equal to or larger than the set angle, the electric assist motors 20L and 20R connected to the front wheel axles 19L and 19R outside the turn are unconditionally driven regardless of the load state of the rear wheel 3. Alternatively, the electric assist motors 20L and 20R connected to the front wheel axles 19L and 19R outside the turn may be driven only when the driving torque of the rear wheel 3 is insufficient. In this way, the driving force of the electric assist motors 20L and 20R can be transmitted to the front wheels 2 on the outside of the turn, and the airframe propulsion during the turn can be assisted. As a result, the lack of propulsive force during turning associated with the side clutch disengagement can be resolved, and traveling performance during turning can be improved.

  Next, a specific control method for the electric assist motors 20L and 20R will be described with reference to FIGS. The traveling machine body 1 includes a main shift position detection potentiometer (HST potentiometer) 25 that detects a shift operation position of the HST 10, a steering wheel angle potentiometer (cut angle sensor) 26 that detects a steering wheel turning angle, and a left front wheel rotation speed. A front wheel speed detection sensor (pickup sensor) 27L for detecting the front wheel speed detection sensor (pickup sensor) 27R for detecting the right front wheel speed, and a rear wheel speed detection sensor (pickup sensor) for detecting the rear wheel speed. ) 28, a mode change switch 29 for turning on and off the front wheel assist mode, an engine speed detection sensor (E / G rotation sensor) 30, and a control unit 31 constituted by a microcomputer or the like. The sensors and switches are connected to the input side of the control unit 31, and drive control of the electric assist motors 20L and 20R is performed according to these input signals.

  As shown in FIG. 5, in the assist motor control, first, after confirming that the mode switch 29 is ON (S1), the engine speed and the main shift position are read (S2, S3). Based on the read value, a reference wheel rotational speed is calculated (S4). Next, the steering angle is determined (S5). If the steering angle is less than the set value, the process for straight running (S6 to S11) is performed. If the steering angle is greater than or equal to the set value, Processing for turning (S12 to S15) is performed.

  When traveling straight, the calculated wheel rotation speed is compared with the detected rear wheel rotation speed to determine a decrease in the rear wheel rotation speed, that is, an insufficient driving torque for the rear wheel 3 (S6). If it is determined that the driving torque of the rear wheel 3 is insufficient, the left and right electric assist motors 20L and 20R are driven (S7), and the calculated wheel rotational speed is compared with the detected left front wheel rotational speed. If the difference between the two is within a preset range, the drive of the left electric assist motor 20L is stopped (S9). Thereafter, the calculated wheel rotational speed is compared with the detected right front wheel rotational speed (S10), and when the difference between the two is within a preset range, the driving of the right electric assist motor 20R is stopped (S11).

  Even during a turn, the calculated wheel rotation speed is compared with the detected rear wheel rotation speed, and a decrease in the rear wheel rotation speed, that is, a lack of driving torque for the rear wheel 3 is determined (S12). If it is determined that the driving torque of the rear wheel 3 is insufficient, the electric assist motors 20L and 20R linked to the front wheel 2 outside the turn are driven (S13), and the calculated wheel rotational speed is detected. The rotation speed of the front outer wheel is compared (S14), and when the difference between the two is within a preset range, the driving of the electric assist motors 20L, 20R outside the turn is stopped (S15).

  As shown in FIG. 6, the electric assist motor 24 linked to the leveling device 7 is driven according to an overload of the leveling device 7 and assists the driving of the leveling device 7. For example, the normal leveling rotor speed is calculated based on the engine speed and the main shift position, and the calculated leveling rotor speed is compared with the leveling rotor speed actually detected by the pickup sensor 32 to calculate the calculated rotation. When the actual rotational speed is lower than the number, the leveling device 7 is determined to be in an overload state, and the electric assist motor 24 is driven. If it does in this way, the fall of the leveling function by the overload of the leveling apparatus 7 and the fall of the other function accompanying it can also be prevented.

  As shown in FIG.1 and FIG.7, in the rice transplanter of this embodiment, along the one side part or both sides part of the traveling body 1, from a body front (shore side) to a body rear part (planting work machine side). A preliminary seedling transport device 33 for transporting the preliminary seedling (mat seedling + seedling box) is provided. The preliminary seedling conveying device 33 is composed of, for example, a roller conveyor in which a large number of rollers are arranged in parallel, and is attached to the traveling machine body 1 via a stay 34. The preliminary seedling conveying device 33 of the present embodiment is connected to an intermediate conveyor 35 fixed to a stay 34 and a front end portion of the intermediate conveyor 35 so as to be pivotable up and down. When not in use, it is superposed above the intermediate conveyor 35. A front conveyor 36 that can be folded in a shape and a rear conveyor 37 that is connected to the rear end of the intermediate conveyor 35 so as to be vertically rotatable and can be folded in a superposed manner above the intermediate conveyor 35 when not in use. Configured.

  Since the rear conveyor 37 is located near the driver's seat 38, it is relatively easy to unfold and store it manually. However, the front conveyor 36 is located away from the driver's seat 38, so Deployment and storage operations were not easy. Therefore, in the present embodiment, the auxiliary seedling conveying device 33 is provided with an electric assist motor 39, and the driving force of the electric assist motor 39 assists the operation of unfolding and storing the front conveyor 36. The electric assist motor 39 includes a torque sensor and is configured to drive the electric motor in a direction that amplifies (assists) the torque acting on the output shaft 39a.

  More specifically, referring to FIGS. 7 and 8, the electric assist motor 39 is provided at the rear end of the intermediate conveyor 35, and an operation lever 40 is integrally connected to the output shaft 39a. Yes. The rear end portion of the front conveyor 36 is connected to the operation lever 40 via a rod 41, and the front conveyor 36 is unfolded and stored in accordance with the turning operation of the operation lever 40 around the output shaft 39a. Is to be done. The electric assist motor 39 facilitates the unfolding and storing operation of the front conveyor 36 by generating torque in a direction that assists the operation of the operation lever 40.

  That is, when the operation lever 40 is operated in the unfolding direction when the front conveyor 36 is stored, the torque sensor of the electric assist motor 39 detects the initial torque of the operation lever 40 and drives the electric motor in a direction to amplify the initial torque. . And if the front conveyor 36 is expand | deployed, according to ON of the limit switch 42, the control part 31 will stop the drive of the electric assist motor 39. FIG. When the operation lever 40 is operated in the retracted direction when the front conveyor 36 is unfolded, the torque sensor of the electric assist motor 39 detects the initial torque of the operation lever 40 and drives the electric motor in a direction to amplify the initial torque. . And if the front conveyor 36 is accommodated, the control part 31 will stop the drive of the electric assist motor 39 according to ON of the limit switch 42. FIG.

  According to the present embodiment configured as described, in the rice transplanter in which the engine 4 is mounted on the traveling machine body 1 supported by the front wheels 2 and the rear wheels 3 and at least the rear wheels 3 are driven by the power of the engine 4, Since the electric assist motors 20L and 20R are connected to the front wheel axles 19L and 19R, and the electric assist motors 20L and 20R are driven in response to insufficient driving torque of the rear wheels 3, the driving torque of the rear wheels 3 is insufficient. The driving force of the electric assist motors 20L and 20R can be transmitted to the front wheels 2 to assist the propulsion of the airframe. As a result, the running function is reduced due to insufficient driving torque of the rear wheels 3, and the other functions are reduced accordingly. Can also be prevented.

  In addition, when the turning angle of the steering wheel for steering the front wheel 2 is equal to or larger than the set angle, the electric assist motors 20L and 20R connected to the front wheel axles 19L and 19R outside the turn are driven, so that the electric assist motors 20L and 20R are driven. Can be transmitted to the front wheels 2 outside the turn to assist the propulsion of the body during the turn. As a result, the lack of propulsive force during turning associated with the side clutch disengagement can be resolved, and traveling performance during turning can be improved.

It is a side view of a rice transplanter. It is a transmission circuit diagram which shows the transmission structure of a rice transplanter. It is a block diagram which shows the concept of front wheel assistance. It is a block diagram which shows the input / output of a control part. It is a flowchart which shows the control procedure of front-wheel assist (assist motor control). It is a block diagram which shows the concept of leveling assistance. It is a principal part side view of a preliminary seedling conveyance apparatus. It is a block diagram which shows the concept of expansion | deployment / storage assistance.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling machine body 2 Front wheel 3 Rear wheel 4 Engine 5 Planting work machine 6 Lifting link mechanism 7 Leveling device 9 Hydraulic pump 19 Front wheel axle 20 Electric assist motor 23 Rear wheel axle 31 Control part

Claims (2)

In a rice transplanter that mounts an engine on a traveling machine supported by front wheels and rear wheels, and drives at least the rear wheels with the power of the engine,
A rice transplanter characterized in that an electric assist motor is connected to the axle of the front wheel, and the electric assist motor is driven in response to insufficient driving torque of the rear wheel.   2. The rice transplanter according to claim 1, wherein when the turning angle of a steering handle for steering the front wheel becomes equal to or larger than a set angle, an electric assist motor linked to the front wheel axle outside the turn is driven.

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