JP2010136698A - Rice transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rice transplanter in which a land-leveling device is driven with a driving actuator. <P>SOLUTION: In the rice transplanter in which a planting portion is liftably connected to the rear side of a travel portion, and a land-leveling device is attached in front of the planting portion, an actuator for driving is synchronously connected to the land-leveling device. Since the driving actuator is synchronously connected to the land-leveling device, it is not necessary to dispose a transmission shaft and a transmitting mechanism portion between the land-leveling device and the engine portion of the travel portion, so that the lowest ground height of the travel portion can well be ensured. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a rice transplanter equipped with a leveling device.

  Conventionally, as one type of rice transplanter, there is one in which a planting part is connected to the rear of a traveling part so as to be movable up and down, and a leveling device is attached to the planting part. The leveling device is configured by concentrically mounting a leveling rotor on the outer periphery of a rotating shaft extending in the left-right direction, and the rotating shaft is interlocked and connected to a prime mover unit provided in a traveling unit via a transmission mechanism unit. ing. In addition, the transmission mechanism section outputs power from the prime mover section via the input side transmission shaft, and outputs power from the input shaft to the rotating shaft of the leveling device via the output side transmission shaft. An output shaft, an intermediate shaft interposed between the output shaft and the input shaft, and a clutch mechanism provided on the intermediate shaft (see, for example, Patent Document 1).

  Thus, in the rice transplanter, the ground leveling device can be driven independently via the transmission mechanism unit separately from the traveling unit and the planting unit, or the operation can be stopped via the clutch mechanism of the transmission mechanism unit. You can also let them.

JP 2007-202531 A

  However, the leveling device of the rice transplanter is interlocked and connected to the prime mover part of the traveling part through a long input side transmission shaft and an output side transmission shaft in the longitudinal direction, and the input side transmission shaft is the body frame of the traveling part. Therefore, the actual ground clearance of the traveling unit has been reduced. For this reason, the mental burden on the operator during the movement of the aircraft, such as crossing over a ridge, has been increased.

  In addition, although the leveling device can be stopped via the clutch mechanism, the inertial force of the transmission shaft, etc. is large, so it is not possible to repeat the operation and stop frequently, or to stop the leveling rotor from rotating instantaneously. could not. For example, when foreign matter such as pebbles in the field is caught in the leveling rotor during leveling work, emergency stop of the leveling rotor prevents damage to components and ensures good leveling work efficiency. Although it is desirable from the viewpoint of the above, there was a problem that it was not possible.

  Accordingly, the invention described in claim 1 is a rice transplanter in which a planting unit is connected to the rear of the traveling unit so as to be movable up and down, and a leveling device is attached to the front of the planting unit. It is characterized in that it is linked and connected.

  According to a second aspect of the present invention, in the first aspect of the present invention, the leveling device includes a rotating shaft extending in the left-right direction and a leveling rotor attached concentrically to the outer periphery of the rotating shaft. The ground leveling rotor can be rotated forward and backward by an actuator via a rotating shaft so that the load of the actuator during leveling work can be detected, and the leveling rotor is stopped or reversely rotated by the actuator according to the detected load. It is characterized by that.

  According to a third aspect of the present invention, in the second aspect of the present invention, the load of the actuator during leveling work can be detected, and the leveling rotor according to the detected load is set as a leveling target surface for leveling the planting field. It is characterized in that the position is changed from a ground leveling work position that is grounded to a non-leveling work position that is spaced upward from the leveling target surface.

  According to a fourth aspect of the present invention, in the invention according to the second aspect, the ground leveling rotor is reversely rotated by an actuator when the planting part rises apart from the planting field scene. To do.

  (1) In the first aspect of the present invention, in the rice transplanter in which the planting unit is connected to the rear of the traveling unit so as to be movable up and down, and the leveling device is attached to the front of the planting unit, the driving actuator is connected to the leveling device. Are linked together.

  In this way, since the driving actuator is linked to the leveling device, there is no need to provide a transmission shaft or transmission mechanism between the traveling unit and the prime mover. Good ground clearance can be secured. Accordingly, it is possible to eliminate the mental burden on the operator when the machine moves such as over the ridge. And the freedom degree of design of a driving | running | working part spreads, and the cost of a transmission shaft or a transmission mechanism part can be reduced.

  In addition, an actuator such as an electric motor linked to the leveling device can be repeatedly operated and stopped frequently and can stop the leveling rotor from rotating instantaneously. When foreign matter such as pebbles is caught in the leveling rotor, the leveling rotor can be urgently stopped, damage to the components can be prevented, and leveling work efficiency can be ensured satisfactorily.

  (2) In the present invention described in claim 2, the leveling device includes a rotating shaft extending in the left-right direction and a leveling rotor attached concentrically to the outer periphery of the rotating shaft, the leveling rotor having the rotating shaft. Accordingly, the actuator can be rotated forward and backward, and the load of the actuator during leveling can be detected, and the leveling rotor is stopped or rotated reversely by the actuator according to the detected load.

  In this way, the ground leveling rotor can be rotated forward and backward by the actuator, so that, for example, when foreign matter such as pebbles in the field is caught in the leveling rotor during leveling work, the leveling rotor is set according to the detection load of the actuator. By stopping or rotating in reverse, foreign matter such as pebbles caught between the leveling rotors can be removed efficiently and reliably. Therefore, the leveling rotor can be quickly returned to the original state, and the leveling work by the leveling rotor can be continued. As a result, the leveling work efficiency can be improved.

  In addition, since it is possible to avoid an excessive load from acting on the leveling rotor and the rotating shaft, it is possible to prevent damage to these components. Therefore, from this point as well, the leveling work efficiency can be secured satisfactorily, and the life of the leveling device can be secured and the life can be extended.

  (3) In the present invention described in claim 3, the leveling work position is such that the load of the actuator during leveling work can be detected and the leveling rotor is grounded to the leveling target surface for leveling the planting field according to the detected load. The position is changed to a non-leveling work position spaced upward from the leveling target surface.

  In this way, the leveling rotor changes the position from the leveling work position to the non-leveling work position according to the detected load.For example, when an overload of a predetermined level or more is detected, the leveling rotor is moved from the leveling work position to the non-leveling work position. By changing the position, the leveling rotor can be prevented from being damaged by an excessive load. Accordingly, it is possible to reduce the trouble of repairing or maintaining the leveling rotor during the work, and as a result, the work efficiency can be improved.

  (4) In this invention of Claim 4, when the said planting part leaves | separates from a planting field scene and raises, the said leveling rotor will be reversely rotated by an actuator.

  In this way, when the planting part rises away from the planting field scene, for example, when the aircraft is turned around the ridge, the planting part is raised away from the planting field scene, In this case, the leveling rotor is rotated reversely by the actuator so that the attached mud is shaken off. For this reason, every time the airframe is rotated, the adhered mud of the leveling rotor is automatically removed, and the leveling function of the leveling rotor is ensured satisfactorily. As a result, the leveling work efficiency can be improved.

  In addition, it is necessary to remove as much muddy soil as possible from the leveling rotor at the field exit after work is completed or when moving between fields, so that the muddy soil does not fall on the road etc. Since it is in a state of being lifted apart from the ground, the mud etc. adhering to the leveling rotor is automatically removed. Therefore, it is possible to eliminate the trouble of post-work when the attached mud or the like is dropped on the road or the like, and the work efficiency can be improved from this point.

[1. Overall structure of rice transplanter]
Hereinafter, embodiments of a rice transplanter A according to the present invention will be described in detail with reference to the drawings.
A shown in FIG. 1 is a rice transplanter according to the present invention, and this rice transplanter A is connected to a rear portion of a traveling unit 1 through a lifting mechanism 3 so that the planting unit 2 can be moved up and down.

  As shown in FIG. 1, the traveling unit 1 includes a motor unit 11 disposed in the front part of the machine frame 10, a driving unit 12 disposed behind the motor unit 11, and a lower front part of the machine frame 10. A pair of left and right front wheels 13, 13 are attached to the vehicle body 10 via a front axle case (not shown), and a pair of left and right rear wheels 15, 15 are attached to the rear part of the body frame 10 via a rear axle case 14. Reference numeral 16 denotes a handle provided in the driving unit 12, and 17 denotes a driver seat provided in the driving unit 12.

  The body frame 10 is provided with a transmission unit 20 positioned below the motor unit 11 and above the front axle case. The transmission unit 20 is connected to the motor unit 11 by a transmission belt (not shown). And the rear axle case 14 are linked to the transmission part 20 via a transmission shaft 21.

  In this way, power is transmitted from the motor unit 11 to the transmission belt → the transmission unit 20 → the front axle case and the transmission unit 20 → the transmission shaft 21 → the rear axle case 14, and the front and rear wheels 13, 13, 15, 15 are transmitted. Four-wheel drive is possible.

  As shown in FIG. 1, the planting unit 2 includes a planting transmission case 25, a planting frame 26 including vertical and horizontal frame members, which will be described later, and a planting transmission case 27 in which the seedling mount 27 is planted. The seedling is attached to the planting field G by cutting the seedling from the seedling mat placed on the seedling mounting table 27 by the planting claw 28 provided at the rear of the planting transmission case 25. I try to plant it. A plurality of floats 29 are provided below the planting unit 2.

  As shown in FIGS. 2 and 3, the elevating mechanism 3 is interposed between a rising frame forming body 30 provided at the rear part of the body frame 10 of the traveling unit 1 and a planting frame 26 of the planting unit 2. A top link 31, a lower link 32, and an elevating cylinder (not shown) for raising and lowering the lower link 32. In this way, the planting part 2 can be moved up and down via the lower link 32 and the top link 31 by the lifting cylinder.

[2. Leveling device configuration]
And the rice transplanter A which concerns on this invention has attached the leveling apparatus 4 to the planting part 2. FIG. As shown in FIG. 1, the leveling device 4 includes a leveling main body 35 disposed immediately before the planting unit 2.

  As shown in FIG. 1, the leveling main body 35 is a left / right rotation horizontally mounted between a lifting support machine frame 38 attached to the planting frame 26 of the planting part 2 and a lower end part of the lifting support machine frame 38. Shafts 39, 39 and a leveling rotor 50 attached concentrically to the outer periphery of each rotary shaft 39, 39 are provided. The leveling rotor 50 and the rotary shafts 39 and 39 are configured to be grounded and separated from the surface of the planting field G by moving the lifting support frame 38 up and down.

  As shown in FIGS. 2 and 3, the leveling rotor 50 is a regular hexagonal plate-like body 40 a having a constant thickness, and a regular hexagonal hole that matches the sectional shape of the rotating shaft 39 is formed at the center thereof. It is open. In addition, the flat surface of the outer peripheral surface 40c of the leveling rotor 50 having a regular hexagonal cross section is provided with a flat plate 40P having a sawtooth shape at the tip so as to protrude to the outer peripheral corner end. A concave space 40S is formed between the flat plate 40P and the flat plate 40P.

  The elevating support machine frame 38 includes a rotation support shaft 43. The rotation support shaft 43 extends in the left-right direction, and rotation shaft drive motors P, P are disposed at both left and right ends of the rotation support shaft 43. The rotation shafts 43a and 43a are interlocked and connected to the drive shafts (not shown) of the respective rotation shaft drive motors P and P, and the rotation shafts are rotated by the rotation of the drive shafts of the rotation shaft drive motors P and P. 43a and 43a are rotatably arranged.

  The pivot shafts 43a and 43a are provided with a pair of left and right lifting arms 44 and 44 extending downward as shown in FIG. And the upper end of the link 45 extended in the up-down direction is connected with the front-end | tip part of each raising / lowering arm 44, 44, and the left-right paired leveling body extended in the up-down direction is connected to the lower end of the link 45, 45. The upper ends of the support rods 46 are connected.

  In addition, the pair of left and right leveling body support rods 46 and 46 are vertically moved by a pair of left and right first link members 47a and 47a and second link members 47b and 47b attached to the planting frame 26. It is slidably supported in the direction.

  One end of each of the first link members 47a and 47a is pivotally supported by the first planting frame side pivotal support portion 26A of the planting frame 26, and the other end is disposed in the middle portion of the leveling body support rods 46 and 46. The pivot support piece 46S is pivotally supported by the first leveling body support rod side pivot support portion 46A.

  One end of each of the second link members 47b and 47b is pivotally supported by the second planting frame side pivot support portion 26B of the planting frame 26 and the other end of the second link members 47b and 47b is a second leveling of the leveling body support rods 46 and 46. The body rod side pivotally supporting portion 46B is pivotally supported.

  The first link members 47a and 47a and the second link members 47b and 47b form a parallel link, and the leveling body support rod 46, between the planting frame 26 and the leveling body support rod 46, 46, the ground leveling body support rods 46, 46 are restricted from swinging in the front-rear direction of the machine body.

  Further, the leveling body support rods 46 and 46 pivotally support the middle portions of the left and right rotation shafts 39 and 39 at the lower end portions. Further, a base end portion of an elevating operation lever 48 extending forward is attached to a central portion of the rotation support shaft 43 via a lever support 49. Therefore, by rotating the elevating operation lever 48 in the vertical direction, the rotating support shaft 43, the rotating shaft 43a, the elevating arms 44, 44, the links 45, 45, and the pair of left and right leveling body support rods 46, 46 are used. Thus, the leveling rotor 50 of the leveling device 4 can be raised and lowered.

  Alternatively, the lifting arm 43 is driven by rotating the rotation shafts 43a and 43a by driving the rotation shaft driving motors P and P provided at the left and right ends of the rotation support shaft 43 of the rotation support shaft 43. The leveling rotor 50 of the leveling device 4 can be raised and lowered via the 44, 44, the links 45, 45, and the pair of left and right leveling body support rods 46, 46.

[3. Leveling device drive actuator]
In the configuration as described above, the gist of the present invention resides in that the driving actuator is linked to the leveling device 4, and the configuration of the driving actuator of the leveling device 4 will be described in detail below.

  In the leveling device 4 described above, the leveling rotor 50 is concentrically attached to the outer periphery of the rotation shafts 39, 39 on the rotation shafts 39, 39 extending in the left-right direction. An electric motor M as an actuator for driving the leveling rotor 50 is attached to the rotary shafts 39 and 39.

  Specifically, as shown in FIGS. 2 and 3, a motor mounting body 51 including an electric motor M for a leveling rotor is disposed in the center of the rotary shafts 39, 39. The motor attachment body 51 is fixed by attaching a support piece 54 between protective covers 55, 55 provided in the middle of the left and right leveling body support rods 46, 46, and attaching the attachment piece 56 to the support piece 54. ing. The mounting position of the motor mounting body 51 is not limited to the center of the rotating shaft 39 but may be provided at the end of the rotating shaft 39. Alternatively, the rotary shaft 39 may be attached to the center of the body frame 10 so that the rotary shaft 39 is rotatable via a transmission shaft.

  The motor mounting body 51 has a substantially cylindrical shape, and an electric motor M for driving the leveling rotor is built in the motor mounting body 51. And the motor rotating shaft 52 of the electric motor M and the rotating shaft 39 of the leveling rotor 50 are interlockingly connected.

  Thus, since the motor rotating shaft 52 of the electric motor M and the rotating shaft 39 of the leveling rotor 50 are interlockedly connected, the rotating shaft of the leveling rotor 50 is rotated by rotating the motor rotating shaft 52 of the electric motor M. 39 can be rotatably provided. Further, since the motor rotating shaft 52 of the electric motor M can be rotated forward and backward, the rotating shaft 39 can be rotated forward and backward, and the leveling rotor 50 can be rotated forward and backward.

  As long as the electric motor M rotates the rotating shaft 39 of the leveling rotor 50 at a predetermined rotation speed, its size, torque capacity, maximum rotation speed, and the like are not limited. Electric power of the electric motor M is supplied from a battery and a generator disposed in front of the body frame 10 through a harness or the like.

  Thus, since the motor rotating shaft 52 of the leveling rotor 50 is rotatably provided by the electric motor M, the engine rotates the motor rotating shaft 52 of the leveling rotor 50 by receiving power from the conventional engine. There is no need to provide a transmission member that extends, and the minimum ground clearance of the aircraft can be maintained at a high position. Moreover, since the said transmission member from the motor | power_engine part 11 is lose | eliminated, space can be validated and cost can be reduced.

  Further, the electric motor M is provided with a load detector for detecting that a rotational load is applied during rotation in the vicinity of the electric motor M in the motor attachment body 51. The load applied to the electric motor M is detected by detecting the rotational speed and rotational torque of the motor rotating shaft 52. Examples of the load detector include a current detector 53 that detects that a predetermined amount of current flows when the electric motor M rotates, or a torque limiter that detects that a predetermined amount of torque is applied to the rotating shaft 39. .

  In addition, as shown in FIG. 1, a vehicle speed sensor 61 is provided at a predetermined position of the body frame 10. The rotational speed of the electric motor M can be controlled by the vehicle speed detected by the vehicle speed sensor 61.

  Further, as shown in FIG. 4, a controller 60 that controls driving of the electric motor M is disposed at a predetermined position of the body frame 10. As shown in FIG. 4, a vehicle speed sensor 61, a hardness detector 63, and a field selection switch 62 are provided on the input side of the controller 60. Further, an electric motor M for the leveling rotor 50 and a rotary shaft driving motor P are provided on the output side.

  That is, the controller 60 controls the rotational speed of the leveling rotor 50 according to the vehicle speed detected by the vehicle speed sensor 61. Further, the rotational speed of the leveling rotor 50 is controlled by the field hardness detected by the hardness detector 63. Furthermore, the rotational speed of the leveling rotor 50 is controlled according to the situation of the planting field G selected by the field selection switch 62.

[4. Lifting actuator for leveling device]
As described above, the leveling device 4 can be raised or lowered by manually turning the lifting operation lever 48, or the turning shaft driving motor P is driven to turn the turning shaft 43a. Thus, the leveling device 4 can be raised and lowered, but the rice transplanter A in the present embodiment can automatically raise and lower the leveling device 4 using the lifting actuator. That is, the elevating operation lever 48 is operated by the elevating motor N so that the elevating position of the leveling main body 35 can be switched.

  As shown in FIGS. 5 and 6, the elevating operation lever 48 is attached via a lever support 49 having a substantially box shape. A substantially rectangular lever insertion hole 74 through which the lever main body 75 of the lifting operation lever 48 is inserted is provided in the upper plate portion of the lever support 49. A height adjustment guide plate 72 is slidably provided below the upper plate portion 76 of the lever support 49.

  The height adjusting guide plate 72 has a right end protruding from the lever insertion hole 74 in a plan view. A plurality of notch portions 73 are provided at a right end portion of the height adjustment guide plate 72 with a predetermined interval. An engagement piece 78 is attached to the middle part of the lever main body 75, and the engagement piece 78 is engaged with the notch 73.

  An elevating motor N as an elevating actuator for elevating and lowering the leveling device 4 is disposed below the lever support 49. A guide shaft 71 having a male screw formed on the surface thereof is connected to a rotating shaft (not shown) of the lifting motor N, and the guide shaft 71 is rotatable by rotation of the rotating shaft of the lifting motor N. .

  Further, a substantially cylindrical moving element 77 is provided below the height adjusting guide plate 72, and a female screw is formed on the inner surface of the lever insertion hole 74 of the moving element 77. The guide shaft 71 is inserted through the insertion hole of the moving element 77.

  When the rotating shaft of the elevating motor N is rotated, the guide shaft 71 rotates back and forth, and the mover 77 inserted through the guide shaft 71 moves back and forth as the guide shaft 71 rotates. Thereby, the height adjustment guide plate 72 connecting the moving element 77 is slidable in the front-rear direction.

  When the height adjustment guide plate 72 slides in the front-rear direction, the lifting operation lever 48 is engaged via the engagement piece 78 engaged with the notch portion 73 provided in the height adjustment guide plate 72. The lever main body 75 is slidable in the front-rear direction. In this way, the leveling device 4 can be automatically raised and lowered by the lifting actuator.

  As described above, the leveling device 4 can be moved up and down by manual operation of the lifting operation lever 48, operation by driving the rotary shaft driving motor P, and operation by the lifting motor N. For example, when the height adjustment of the leveling rotor 50 is manually performed and the leveling device 4 is moved from the leveling work position to the non-leveling work position separated from the leveling target surface, the rotary shaft is driven. When the height adjustment of the leveling rotor 50 is performed according to the operation of the driving motor P and the height of the leveling rotor 50 is adjusted according to the hardness of the field, the operation can be properly performed by the operation using the lifting motor N.

[5. Control of leveling rotor when foreign matter is clogged]
Next, control of the leveling rotor at the time of clogging of foreign matter will be described. The leveling rotor 50 levels the planting field G while rotating in the same rotational direction as the wheels 13, 13, 15, 15. If there is a foreign object such as a piece of wood S or pebbles in the planting field G, the piece of wood S or the like may clog the leveling rotor 50 during leveling work. Specifically, as shown in FIG. 7, a protective cover 55 is provided on the back side of the leveling rotor 50, and when traveling while rotating in the traveling direction, the location between the protective cover 55 and the leveling rotor 50 main body. Will clog foreign matter. Or it may be clogged in the concave space part 40S shown in FIG.

  Therefore, the rice transplanter A in the present embodiment detects foreign matter clogging by a load when the electric motor M is driven. That is, when the foreign matter is clogged, a load is applied to the rotation of the leveling rotor 50. The fact that the load is applied is detected by a current detector 53 which is a load detector.

  Then, by detecting a predetermined load with the current detector 53, the controller 60 performs control to stop the rotation of the leveling rotor 50. Instead of the current detector 53, a torque limiter may be used to stop the electric motor M when a predetermined torque is exceeded.

  In this way, when a foreign matter such as a piece of wood S in the planting field G is caught in the leveling rotor 50 during leveling work, the leveling rotor 50 can be stopped urgently, and the components of the leveling rotor 50 can be reduced. While being able to prevent damage, the leveling work efficiency can be ensured satisfactorily.

  Moreover, the rice transplanter A in this embodiment can reverse-rotate the leveling rotor 50 by reversely rotating the rotating shaft of the electric motor M. As described above, even when a foreign matter such as a piece of wood S in the planting field G is caught in the leveling rotor 50 during leveling work, the leveling rotor 50 is stopped by a command from the controller 60 by detecting the load. After that, it is rotated backward.

  In this way, the leveling rotor 50 can be reversely rotated by the electric motor M, so that even when foreign matter such as the wood piece S in the planting field G is caught in the leveling rotor 50 during the leveling operation as described above, the leveling is performed. The rotor 50 can be rotated in the reverse direction, and foreign matter caught between the leveling rotors 50 can be quickly and reliably shaken off and removed. Therefore, the leveling rotor 50 can be quickly returned to the original state, and the leveling work by the leveling rotor 50 can be continued. As a result, the leveling work efficiency can be improved.

  In addition, since it is possible to avoid an excessive load from acting on the leveling rotor 50 and the rotating shaft 39, it is possible to prevent damage to components such as the rotor body. Therefore, from this point as well, the leveling work efficiency can be secured satisfactorily, and the life of the leveling device 4 can be secured and the life can be extended.

  Further, the leveling rotor 50 can be changed in position from the leveling work position to the non-leveling work position in accordance with the detected load. For example, when an overload of a predetermined level or more is detected, a non-leveling work position in which the leveling rotor 50 is spaced upward from the leveling target surface from a leveling work position at which the leveling rotor 50 is grounded to the leveling target surface for leveling the planting field G Therefore, it is possible to prevent the leveling rotor 50 from being damaged by an excessive load.

  That is, when the controller 60 detects the clogging of the foreign matter, as shown in FIG. 3, the controller 60 drives the rotating shaft driving motors P and P of the lifting actuator to move the rotating shafts 43a and 43a in the direction (a). The leveling rotor 50 itself is lifted apart from the leveling target surface by folding the links 45 and 45 in the direction of (b) and moving the leveling body support rods 46 and 46 upward. ing.

  Thus, since the leveling rotor 50 can be repositioned from the leveling work position to the non-leveling work position in accordance with the detected load, it is possible to reduce troubles such as repair and maintenance of the leveling rotor 50 during the work. As a result, work efficiency can be improved.

[6. Control of leveling rotor by actuator]
When moving from the planting field G to another planting field G across a road, it is necessary to remove mud adhering to the leveling rotor 50. If it moves without dropping the mud, the mud does not fall on the road, which is not preferable in view of the landscape, and it also adheres to cars and people traveling on the road.

  Therefore, after the work is completed or when moving between fields, the ground leveling rotor 50 is reversely rotated at the field outlet, so that the attached mud can be reliably shaken off and removed. As a result, it is possible to eliminate the trouble of the post-operation when the adhered mud is dropped on the road or the like, and the work efficiency can be improved from this point.

  Moreover, the rice transplanter A in this embodiment makes the leveling rotor 50 reversely rotate by the electric motor M when the planting part 2 rises apart from the planting field scene.

  Thus, when the planting part 2 is raised and separated from the planting field G surface, for example, when the aircraft is turned in the vicinity of the ridge, the planting part 2 is separated from the planting field scene. In this case, the leveling rotor 50 is reversely rotated by the electric motor M so that the attached mud or the like is shaken off. For this reason, every time the machine is rotated, the adhered mud of the leveling rotor 50 is automatically removed, and the leveling function of the leveling rotor 50 is ensured satisfactorily. As a result, the leveling work efficiency can be improved.

  As described above, at the time of completion of the work or when moving between the fields, it is necessary to remove the adhered mud etc. of the leveling rotor 50 as much as possible at the field exit so as not to drop the adhered mud etc. on the road or the like. Since it is in a state of being separated upward from the planting field scene, the adhered mud etc. of the leveling rotor 50 is automatically removed. Therefore, it is possible to eliminate the trouble of post-work when the attached mud or the like is dropped on the road or the like, and the work efficiency can be improved from this point.

[7. Control of the leveling rotor according to the situation of the planting field]
Next, the control method of the leveling rotor 50 according to the situation of the planting field G is demonstrated. As examples of the situation of the planting field G, there are three cases such as “standard”, “deep water”, and “headland”.

  That is, “standard” means Asada that can be performed without executing special control when the rice transplanter A in the present embodiment performs planting work. As shown in FIG. 8, in this “standard” planting field G, the depth of water stretched on the rice field is about 1 cm.

  Further, “deep water” means Fukada where the depth of the water W stretched on the surface is large. That is, as shown in FIG. 9, the depth of the water W stretched on the rice field is about 5 cm. In such Fukada, the slip ratio (ease of slipping) of the wheels 13, 13, 15, 15 of the traveling unit 1 during traveling is high.

  Furthermore, the “headland” is an end portion of the farm field located in the vicinity of the reed, and is a place where a work machine that performs leveling work or the like is turned in the farm field. In such a “headland”, there are cases where the amount of water in the planting field G is small compared to the above standard, and the situation of the planting field G is poor (such as there are many irregularities) compared to the central part of the planting field G. .

  In addition, as shown in FIG. 10, the normal rice transplanter A is provided with a field selection switch 62 for fixing the planting depth according to the water depth of the planting field G on the side of the handle 16 of the driving unit 12. It has been. The field selection switch 62 is a switching switch for setting and inputting according to the state of the depth of the water W of the planting field G that the operator knows. That is, it is a switch for setting the rice transplanter A so that the work according to the situation of the planting field G can be performed. And the planting depth is made constant by selecting the field selection switch 62 according to the situation of the planting field G.

  However, in the conventional rice transplanter, the rotational speed of the leveling rotor 50 is always constant even in the situation of the different planting fields G. For example, in the case of Fukada, if the leveling rotor 50 is rotated at the same rotational speed as usual, there is a possibility that a water flow is generated by the rotation and the seedling to be planted is adversely affected.

  Therefore, the rice transplanter A in the present embodiment can change the rotational speed of the leveling rotor 50 using an actuator in accordance with the situation of the three planting fields G by selecting the field selection switch 62.

  That is, in the case of Asada as shown in FIG. 9, if the field selection switch 62 is set to “standard”, the leveling rotor 50 is rotated at a normal rotation speed. In addition, the rotational speed of the leveling rotor 50 is set to approximately 1.5 times the vehicle speed of the rice transplanter A. In the case of Asada, since the slip ratio is low, the rotational speed of the leveling rotor 50 with respect to the vehicle speed is set to be larger than about 1.5 times as shown in the graph of FIG.

  In the case of Fukada as shown in FIG. 10, when the field selection switch 62 is set to “deep water”, the rotational speed of the electric motor M and the rotational speed of the leveling rotor 50 are reduced compared to the normal time. In the case of Fukada, the slip ratio becomes high, so that the rotational speed of the leveling rotor 50 with respect to the vehicle speed is made smaller than about 1.5 times as shown in the graph of FIG.

  Further, the entire leveling rotor 50 is raised by driving the elevating motor N (elevating actuator) and automatically operating the elevating operation lever 48. Thereby, the bad influence of the planting by the water which arises by rotation of the leveling rotor 50 can be improved.

  Furthermore, in the case of headland, there are more mud lifts than the water surface, so it is necessary to increase the leveling ability. Therefore, when the field selection switch 62 is set to “headland”, the rotational speed of the electric motor M is increased and the rotational speed of the leveling rotor 50 is increased compared to the “normal” case. In this way, in the case of the headland, the leveling performance can be set to increase by increasing the rotational speed of the leveling rotor 50.

  As described above, since the rotational speed of the leveling rotor 50 is variable by making the rotational speed of the electric motor M variable, the leveling efficiency is improved by appropriately changing the rotational speed according to the conditions of the planting field G. Can be secured or improved.

[8. Vehicle speed tuning control]
The rice transplanter A in the present embodiment can change the rotational speed of the leveling rotor 50 in synchronization with the vehicle speed. Specifically, as shown in FIG. 1, a vehicle speed sensor 61 that detects the traveling speed of the rice transplanter A is provided at a predetermined location of the body frame 10. Further, the controller 60 performs control to change the rotational speed of the electric motor M based on the result of the vehicle speed detected by the vehicle speed sensor 61.

  By making the rotational speed of the electric motor M variable, the rotational speed of the leveling rotor 50 can be made variable. For example, in the case of Fukada having a high slip rate as described above, the vehicle speed is slowed down, so control is performed so that the rotational speed of the leveling rotor 50 is also reduced. In this way, the rotational speed of the leveling rotor 50 can be changed according to the vehicle speed.

[8. Hardness detection of planted fields]
Furthermore, the rice transplanter A in the present embodiment can control the leveling rotor 50 according to the soil quality of the planting field G. Here, the soil quality of the planting field G includes a hard planting field G or a soft planting field G depending on the difference in specific gravity between water and soil.

  The hardness of the planting field G can be measured by, for example, a hardness detector 63 provided in the float 29 as described in JP-A-2002-125423. That is, as shown in FIG. 12, a potentiometer-type hardness detector 63 is disposed on the center side of the float 29, and its proximal end is attached to the hardness detector 63 and its distal end is attached to the float 29. A sensor arm 65 is provided so as to be positioned below the sensor arm 65. The sensor arm 65 has a front end bent upward in a midway portion.

  The hardness detector 63 detects the difference in hardness based on the amount of subtraction of the sensor arm 65. That is, when the subtraction amount of the sensor arm 65 is large, it is detected that the field is a soft planting field G. On the contrary, when the subtraction amount of the sensor arm 65 is small, it is detected that it is a hard planting field G.

  And the rice transplanter A in this embodiment enables the controller 60 to control the rotational speed of the leveling rotor 50 according to the hardness of the planting field G. Hereinafter, the control method of the leveling rotor 50 according to the condition of the planting field G is demonstrated.

  First, the case where the hardness of the surface of the planting field G is large (hard) will be described. When the hardness of the surface of the planting field G is large, the amount of subtraction of the sensor arm 65 extending downward from the float 29 is small. When the amount of subsidence is small, the controller 60 detects that the planting field G has a high hardness. Then, the controller 60 detects that the hardness is high, thereby increasing the rotation speed of the electric motor M as compared with the case of the soft planting field G.

  And as shown in FIG. 13, by increasing the rotational speed of the electric motor M, the rotational speed of the leveling rotor 50 is increased. Thus, in the case of the planting field G with hardness, the leveling ability is increased by increasing the rotation speed of the leveling rotor 50.

  In addition, the rice transplanter A in the present embodiment detects the hardness of the surface of the planting field G, so that the leveling rotor 50 is made larger than the leveling target surface of the planting field G in inverse proportion to the magnitude of the hardness. It can also be made small. That is, when the surface of the planting field G is large (hard), the leveling rotor 50 is moved down by the lifting actuator to enter the leveling target surface of the planting field G so that the leveling performance is improved. Increase. In some cases, the rotational speed of the leveling rotor 50 can also be increased.

  On the other hand, when the hardness of the surface of the planting field G is small (soft), the leveling rotor 50 is raised by the lifting actuator and is grounded to the planting field G surface by making it small (shallow). Reduce performance. In some cases, as shown in FIG. 13, the rotational speed of the leveling rotor 50 can also be reduced. Thus, the leveling work efficiency can be improved by grounding the leveling rotor 50 to the leveling target surface of the planting field G larger or smaller in proportion to the hardness of the leveling target surface of the planting field G. it can.

  The soil hardness of the planting field G can be detected by a load applied to the electric motor M. That is, in the planting field G where the soil is hard, the ground leveling rotor 50 has a large resistance from mud and mud. At this time, the detection load of the actuator increases. In that case, the raising / lowering motor N is driven to raise the leveling rotor 50 and rotate at a shallow water depth position (leveling operation), so that mud pushing by the leveling rotor 50 and roughening of the surface of the planting field G are caused. It can be avoided.

  On the other hand, when the detection load of the actuator is small as in the planting field G where the soil is soft, contrary to the above, the leveling rotor 50 is lowered to the deep position to improve the leveling efficiency. Can be secured.

[9. Specification change]
Further, the leveling device 4 of the rice transplanter A according to the present embodiment has a standard specification for changing the rotational speed of the leveling rotor 50 in proportion to the traveling speed of the traveling unit 1, and the leveling rotor 50 disposed at the non-leveling work position. The non-use specification to be used and the special specification to increase the rotation speed of the leveling rotor 50 than the standard specification can be selected.

  The specification can be selected by a specification change switch provided on the operation panel of the operation unit 12. Thus, efficient leveling can be performed by appropriately selecting the standard specification, the non-use specification, and the special specification according to the conditions of the planting field G.

  For example, in the normal case where the water depth of the planting field G is neither shallow nor deep, standard specifications can be adopted. In a normal case, the leveling work is performed while controlling the rotational speed of the leveling rotor 50 based on the vehicle speed detected by the vehicle speed sensor 61.

  In addition, when the planting field G is deep, the non-use specification is adopted, and the leveling rotor 50 is arranged at a non-working position spaced upward from the leveling target surface. Thereby, it can avoid that the leveling rotor 50 acts on the seedling already planted through water and exerts a bad influence on the planting posture.

  Furthermore, a special specification is adopted in the headland near the ridge where the aircraft is turned, and the leveling performance can be increased. In the case of headland, there are more mud lifts than the surface of the water, so it is necessary to increase the leveling ability. Therefore, when the field selection switch 62 is set to “headland”, the rotational speed of the electric motor M is increased and the rotational speed of the leveling rotor 50 is increased to increase the leveling performance compared to the normal specification. Can be set to

It is a side view which shows the whole rice transplanter structure in embodiment of this invention. It is a front view which shows the structure of the leveling apparatus of the rice transplanter in embodiment of this invention. It is a perspective view which shows the structure of the leveling apparatus of the rice transplanter in embodiment of this invention. It is a block diagram which shows the main structures around the leveling apparatus of the rice transplanter in embodiment of this invention. It is a side view which shows the structure of the leveling apparatus of the rice transplanter in embodiment of this invention. It is a top view which shows the structure of the raising / lowering mechanism which raises / lowers the leveling apparatus of the rice transplanter in embodiment of this invention. It is a side view which shows the state which the foreign material pinched | interposed into the leveling rotor of the rice transplanter in embodiment of this invention. It is a side view which shows the state of the leveling rotor of Asada of the rice transplanter in embodiment of this invention. It is a side view which shows the state of the leveling rotor in Fukada of the rice transplanter in embodiment of this invention. It is a top view which shows the structure of the operation panel of the rice transplanter in embodiment of this invention. It is a graph which shows the relationship between the depth of the planting field of the leveling rotor of the rice transplanter in this Embodiment, and a slip ratio or the rotational speed of a rotor. It is a side view which shows the structure of the hardness sensor of the rice transplanter in embodiment of this invention. It is a side view which shows the state of the leveling rotor in the planting field from which the rice transplanter in this Embodiment differs.

Explanation of symbols

A Rice transplanter M Electric motor G Planting field 1 Traveling unit 2 Planting unit 11 Leveling device 12 Leveling rotor 13 Rotating shaft 14 Airframe frame

Claims (4)

In the rice transplanter where the planting part is connected to the rear of the traveling part so as to be movable up and down, and the leveling device is attached in front of the planting part,
A rice transplanter characterized in that a driving actuator is linked to the leveling device. The leveling device comprises a rotating shaft extending in the left-right direction, and a leveling rotor attached concentrically to the outer periphery of the rotating shaft,
The ground leveling rotor can be rotated forward and backward by an actuator via a rotating shaft,
The rice transplanter according to claim 1, wherein the load of the actuator during leveling work can be detected, and the leveling rotor is stopped or reversely rotated by the actuator according to the detected load.   Non-leveling in which the load on the actuator during leveling work can be detected, and the leveling rotor is grounded to the leveling target surface for leveling the planting field according to the detected load, and is spaced upward from the leveling work surface from the leveling work position The rice transplanter according to claim 2, wherein the position is changed to a work position.   The rice transplanter according to claim 2, wherein when the planting part rises apart from the planting field scene, the leveling rotor is rotated in reverse by an actuator.

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