JP2011230596A - Agricultural vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the work of an operator by a configuration in which a load is difficult to put on a travelling gear shift lever for operating a trunnion arm when changing shifts, and the starting and stopping of a machine body can be performed smoothly by operating the trunnion arm by a drive force from an auxiliary motor.SOLUTION: An agricultural vehicle is constituted by including an auxiliary motor 33 for moving a trunnion arm 24 by a drive force, an auxiliary transmission shaft 34 for transmitting the rotation of the auxiliary motor 33, an angle sensor 25 for detecting an inclination angle of a gear shift operating lever 22, a control device 39 for controlling to change a rotational speed of the auxiliary motor 33 by receiving a signal from the angle sensor 25, a rotation regulating means 37 for regulating the rotation of the auxiliary transmission shaft 34 by being interlocked with an operation of a travel stopping pedal 29, and an interlocking member 38 for moving the trunnion arm 24 to a neutral position by being interlocked with the operation of the travel stopping pedal 29.

Description

  The present invention relates to a seedling transplanter provided with a hydraulic continuously variable transmission (HST) that adjusts a shift with a motor in accordance with an inclination angle of an operation lever.

  As disclosed in Patent Document 1, as a conventional technique, the travel shift lever is urged by a gas spring to reduce the operation load during the speed increasing operation and increase the operation load during the operation to the neutral position. In this configuration, the operator can perform the speed increasing operation with a light force, and the shift lever does not easily return to the neutral position.

JP 2002-257229 A

  However, in the above-described conventional configuration, since the trunnion arm is moved by operating the travel shift lever, there is no change in the resistance applied to the shift lever during shifting, and work continues as usual when working for a long time. There is a problem that places a heavy burden on the person.

  In addition, although the traveling speed is changed according to the travel width of the traveling speed change lever, it is difficult to change the minute speed when starting or stopping manually, and the start of the aircraft is stagnant, There is a problem that the stop position is slightly shifted back and forth from the position where the aircraft is desired to be stopped.

The present invention aims to solve these problems in view of the above circumstances, and the following technical means have been taken in order to achieve this object.
According to the first aspect of the present invention, the work device (4) can be lifted and lowered via the lifting link device (3) at the rear of the traveling vehicle body (2) having a pair of left and right front wheels (10) and rear wheels (11). A hydraulic continuously variable transmission (23) for changing the traveling speed and forward / backward movement of the airframe in the traveling vehicle body (2), and operating the trunnion arm (24) of the hydraulic continuously variable transmission (23) And a travel stop pedal (29) for moving the shift operation lever (22) to a neutral position, and a rear wheel rotation sensor (14) for measuring the rotational speed of the rear wheel (11). ) Provided with an auxiliary motor (33) for moving the trunnion arm (24) with a driving force, an auxiliary transmission shaft (34) for transmitting the rotation of the auxiliary motor (33), Check the tilt angle of the speed change lever (22). An angle sensor (25) is provided, a control device (39) is provided for changing and controlling the rotational speed of the auxiliary motor (33) in response to a signal from the angle sensor (25), and the operation of the travel stop pedal (29) is performed. A rotation restricting means (37) for restricting the rotation of the auxiliary transmission shaft (34) in conjunction with the travel stop pedal (29) is provided, and the interlocking member for moving the trunnion arm (24) to the neutral position in conjunction with the operation of the travel stop pedal (29) A seedling transplanting machine characterized in that (38) is provided.

  With the above-described configuration, when the speed change operation lever (22) for controlling the hydraulic continuously variable transmission (23) is operated in the front-rear direction, a high-speed forward state from the forward / backward neutral position toward the front side and toward the rear side. Can be switched to a high-speed reverse state.

  Further, by detecting the operation tilt angle of the speed change operation lever (22) with the angle sensor (25), the rotational speed of the auxiliary motor (33) is changed in accordance with the detected tilt angle of the speed change operation lever (22). The trunnion arm (24) can be operated.

  When the travel stop pedal (29) is depressed, the interlocking member (37) moves the trunnion arm (24) while the rotation restricting means (38) regulates the rotation of the auxiliary transmission shaft (34) in conjunction with the operation. Since the vehicle is returned to the neutral position, the aircraft can be preferentially stopped by operating the travel stop pedal (29).

  According to the second aspect of the present invention, when the work device (4) is lowered and the vehicle starts straight, the rear wheel rotation sensor (14) detects the number of rotations of the rear wheel (11), and from one end of the field to the other end. The rotational speed of the rear wheel (11) detected during the movement is transmitted to the control device (39) to record the reference rotational speed, and the travel stop pedal (29) is operated to move the trunnion arm (24) to the neutral position. When the travel stop pedal (29) is released, the rotational speed of the auxiliary motor (33) before stopping and the rear wheel rotational speed at the time of stopping are transmitted to the control device (39). And the rear wheel speed at the time of stop.If the rear wheel speed at the time of stop is approximately the same as the reference speed, the stop state is maintained and the rear wheel speed at the time of stop must be less than the reference speed. For example, the control device sends a signal for rotating the auxiliary motor (33) at the same rotational speed as before the stop. It was claim 1, wherein the seedling transplantation machine, characterized in that it has a structure originating from 39).

  With the above configuration, when the vehicle body measured by the rear wheel rotation sensor (14) moves from one end of the field to the other end, the reference rotation speed of the rear wheel (11) and the travel stop pedal (29) are operated and stopped. The rotation speed of the rear wheel (11) is compared, and if the rotation speed of the rear wheel (11) when stopped is substantially the same as the reference rotation speed, the speed change lever (22) is operated by operating the auxiliary motor (33). By not driving until the vehicle stops, it is possible to prevent the aircraft from moving at the same time as the travel stop pedal (29) is released.

  Further, when the rotational speed of the rear wheel (11) at the time of stop is smaller than the reference rotational speed, when the travel stop pedal (29) is released, the control device (39) causes the auxiliary motor (33) to rotate at the same rotational speed as before the stop. By resuming the rotation and returning the trunnion arm (24) to the position before the stop, it is possible to automatically return to the travel speed before the stop.

  According to the first aspect of the present invention, the hydraulic continuously variable transmission (23) is obtained by changing the rotational speed of the auxiliary motor (33) in accordance with the inclination angle of the speed change operation lever (22) detected by the angle sensor (25). ) To operate the trunnion arm (24), the resistance to shift the shift operation lever (22) is greatly reduced, and the operator can operate the shift operation lever (22) with a light force. As a result, it is easy to change the traveling speed and forward / reverse movement, and the work efficiency is improved and the labor of the worker is reduced.

  Further, since the hydraulic continuously variable transmission (23) can be finely switched by operating the trunnion arm (24) by the driving force of the auxiliary motor (33), the start and stop of the airframe can be smoothly performed. Work efficiency can be improved.

  When the travel stop pedal (29) is depressed, the rotation restricting means (38) restricts the rotation of the auxiliary transmission shaft (34) and the interlocking member (37) returns the trunnion arm (24) to the neutral position. Accordingly, when the travel stop pedal (29) is operated, the supply of driving force from the auxiliary motor (33) is stopped, so that the trunnion arm (24) is forcibly moved to the neutral position even when the auxiliary motor (33) is rotating. The aircraft can be stopped at any position.

  According to the invention of claim 2, in addition to the effect of the invention of claim 1, the reference rotational speed and stop of the rear wheel (11) when the traveling vehicle body (2) moves from one end to the other end of the field. By comparing the number of rotations of the rear wheel (11) when the pedal is stopped by operating the pedal, it is possible to determine whether it has stopped in the middle of seedling planting work or at the field end. Even if the seedling planting operation is stopped in the middle, if the travel stop pedal (29) is operated, the travel speed automatically returns to the travel speed before the stop, so that the work efficiency is improved.

  If it is determined that the work has been completed for one stroke and stopped at the end of the field, the auxiliary motor (33) is driven until the speed change lever (22) is operated even if the travel stop pedal (29) is released. By not doing so, it is possible to prevent the traveling from being resumed at the same time as the travel stop pedal (29) is released at the field end, and the turning operation at the field end can be performed smoothly.

Side view of seedling transplanter Top view of seedling transplanter Left side view showing the operation interlocking mechanism of the shift operation lever and brake pedal Rear view showing the operation interlocking mechanism of the shift operation lever and brake pedal Right side view showing the operation interlocking mechanism of the shift operation lever and brake pedal Control block circuit diagram Plan view of main part of leveling rotor Main part plan view showing another configuration example of the leveling rotor Side view of the spare seedling platform installed in the seedling transplanter Perspective view of spare seedling table Development view of the spare seedling platform Perspective view of seedling plate The perspective view which shows the seedling loading state from a seedling collecting board to a seedling tank The top view which shows the accommodation state of the seedling stand of another structural example The top view which shows the expansion | deployment state of the seedling stand of another structural example Side view of main part of seedling stand of another configuration example Flow chart showing changes in travel speed due to operation of the shift operation lever Flow chart showing speed return before stop by brake pedal operation

An embodiment of the present invention will be described with reference to the drawings.
FIG.1 and FIG.2 shows the riding type rice transplanter 1 equipped with the 4 seedling planting part as an example of an agricultural work vehicle.

  An engine 20 as a drive source is mounted in the approximate center of the traveling vehicle body 2, and the rotational power of the engine 20 is transmitted through a belt transmission device 21 and a hydraulic continuously variable transmission (HST) 23 in the transmission case 12. The rotation power transmitted to the device (not shown) and decelerated by the transmission is transmitted to the left and right front wheels 10 and 10 and the rear wheels 11 and 11.

  The front wheels 10, 10 are respectively attached to left and right front wheel final cases 13, 13, and the rear wheels 11, 11 are respectively attached to left and right rear wheel gear cases 18, 18 supported at the rear end of the main frame 15 via axles 17. .

  Further, the rotational power of the engine 20 is transmitted through a differential gear mechanism (not shown) in the transmission case 12 across the left and right rear wheel gear cases 18, 18, and a seedling planting portion. The planting transmission shaft 26 and the PTO shaft to the fertilizer application device 5 are transmitted.

  The upper part of the engine 20 is covered with an engine cover 30, and a driver seat 31 is installed above the engine cover 30. A front cover 32 is provided in front of the driver seat 31, and a steering handle 9 for steering the left and right front wheels 10 and 10 is provided above the front cover 32. A reservoir tank 16 is provided inside the front cover 32, and the reservoir tank 16 and the hydraulic continuously variable transmission 23 are connected by a pipe 19.

  The fertilizer application device 5 installed on the rear side of the driver's seat 31 feeds the granular fertilizer stored in the fertilizer hopper 60 by a feeding unit 61 of the feeding device 57 by a certain amount. This fertilizer is guided to a fertilizer guide 62a that fertilizes in the vicinity of the planting strip through the fertilizer hose 62, and is fed into a groove formed by a grooving device 62b provided on the lower side of the planting portion 4.

  With the above configuration, the fertilizer fed from the fertilizer application device 5 is reliably fertilized in the vicinity of the seedling planting position, so that the seedling does not cause poor growth due to lack of fertilizer, and the growth of the seedling and the quality of the harvest are stable. To do.

  A blower 58 that forcibly creates an air flow by a blower motor (not shown) is provided on the left and right sides of the fertilizer application device 5, and the air flow generated by the blower 58 passes through an air chamber 59 and is applied to a fertilizer hose 62. To be blown into.

  Further, floors 35 are formed on the upper side of the traveling vehicle body 2 and below the engine cover 30 and the front cover 32 so that an operator can ride and move freely. The left and right auxiliary steps 28, 28 that serve as a scaffold when an operator gets on the aircraft are firmly fixed to both ends. And on the left and right sides that win the front side of the floor 35, left and right spare seedling platforms 45, 45 for loading a plurality of seedlings for replenishment are provided, on the rear side of the cockpit 31 of the floor 35 and on the left and right side parts. Left and right rear wheel fenders 36 and 36 for preventing the scattering of mud splashed by the left and right rear wheels 11 and 11 that are inclined in an arc shape are provided on the rear ascending.

  With the above configuration, the operator can board the aircraft from either of the left and right auxiliary steps 28, 28 when boarding the aircraft, so that the operator can board from the side where it is easy to board, and can board with safety and light labor.

  In addition, since the rear wheel fenders 36 and 36 are provided, it is possible to prevent the mud from being scattered to the worker, so that the work is not covered with mud and uncomfortable feeling during the work. Work efficiency is improved.

  Furthermore, a seedling planting part 4 as an example of a working device is attached to the rear part of the traveling vehicle body 2 via a lifting link mechanism 3 composed of parallel links 40, 41, a link base frame 42, a vertical link 43, and the like. Between the seedling planting part 4 and the vehicle body 2, a hydraulic lifting cylinder 46 that moves the seedling planting part 4 up and down is installed.

  The seedling planting unit 4 has a planting transmission shaft 26 that is linked to a PTO shaft on the vehicle body side, and receives a driving force from the planting transmission shaft 26 to receive a seedling tank 51, a seedling feeding belt 51b, and a seedling planting. A seedling planting transmission case 50 having a transmission mechanism for interlocking the tool 52 and the like is provided.

  With the seedling planting transmission case 50 as a main body, a seedling tank 51 for placing a mat-like seedling on the seedling planting transmission case 50 and feeding it to the lower rear side is supported so as to be capable of reciprocating in the left-right direction. Is configured to be provided with a seedling planting tool 52 that is rotated up and down along an elliptical planting locus and plantes seedlings that are separated and held from the seedling outlet 51a of the seedling tank in a field scene.

  In addition, the seedling planting part 4 is provided so as to be able to rotate in a horizontal direction around a rolling shaft 44 arranged along the front-rear direction of attachment to the lifting link mechanism 3 so as to be capable of rolling control.

Furthermore, a center center float 55 and left and right side floats 56 and 56 are provided below the seedling planting portion 4 for grounding the mud surface while sliding on the mud surface of the field.
And in the front side of the seedling planting part 4, the leveling rotor 27 which arranges the ground while scratching the field scene is disposed. The leveling rotor 27 includes a center rotor portion 27a located on the front side and in the center in the left-right direction, and side rotor portions 27b and 27b located on the rear side and on the left and right sides.

  With the above configuration, planting seedlings by leveling the field on the front side of the seedling planting unit 4 for planting seedlings in the field while sliding left and right by the leveling rotor 27, the center float 55, and the left and right side floats 56, 56. Since the depth can be made almost even, it is prevented that seedlings planted shallowly are washed away by wind or water flow, and seedlings planted excessively deeply wither due to lack of sunshine or root rot. Missing stocks are reduced and the yield is stabilized.

  In addition, by mounting the seedling planting portion 4 along the rolling shaft 44 so as to be tiltable in the left-right direction, when the machine body tilts in the left-right direction along the field inclination, seedling planting is performed in accordance with this inclination. Since the part 4 can be inclined in the left-right direction, the farm scene and the seedling planting part 4 are in a substantially parallel posture, and the seedling planting depth can be made substantially uniform in the left-right direction.

  As shown in FIGS. 1 to 5, the shift operation lever 22 for operating the hydraulic continuously variable transmission 23 on the upper side of the front cover 32 and on the left and right sides is moved in the front-rear direction with the pivot axis Q1 as a fulcrum. Provide swingable. A potentiometer (angle sensor) 25 that detects an inclination angle associated with the operation of the speed change lever 22 is provided on the lower end side of the speed change lever 22, and a signal transmitted corresponding to the detected angle of the potentiometer 25 is provided. A control device 39 shown in FIG. 6 is arranged.

  Although not shown in the figure, the control device 39 is generally provided inside the front cover 32. However, the control device 39 may be placed anywhere on the aircraft if it is not affected by temperature changes, large vibrations, and foreign matters. May be.

  Then, the potentiometer 25 transmits forward, reverse, acceleration and deceleration signals as signals to the control device 39 in response to the swinging operation amount of the speed change operation lever 22 in the front-rear direction. At the same time, an assist motor 33 that can freely rotate in the forward / reverse direction and whose speed is variable is attached to the trunnion arm 24 of the hydraulic continuously variable transmission 23 so that it can be rotated.

  As shown in FIG. 17, when the speed change lever 22 is operated from the forward / backward neutral position to the front side, the potentiometer 25 detects the angle of the speed change lever 22 and sends a forward signal to the control device 39. When the motor 39 is received, the assist motor 33 is driven in the forward direction to rotate the trunnion arm 24 to switch the hydraulic continuously variable transmission 23 to the forward direction and start the forward movement of the machine body.

  When the shift operation lever 22 is further moved to the front side, the potentiometer 25 detects a change in angle caused by the movement of the shift operation lever 22 and transmits a forward acceleration signal to the control device 39 to drive the assist motor 33 in the forward direction. The output of the hydraulic continuously variable transmission 23 is increased to accelerate the forward traveling speed.

  When the speed change lever 22 is operated rearward toward the forward / backward neutral position, the potentiometer 25 detects a change in angle associated with the movement of the speed change lever 22 and transmits a forward deceleration signal to the control device 39 to assist the assist motor. 33 is driven in reverse to reduce the output of the hydraulic continuously variable transmission 23 and decelerate the forward travel speed.

  Conversely, when the shift operation lever 22 is operated from the forward / backward neutral position to the rear side, the potentiometer 25 detects the angle of the shift operation lever 22 and transmits a reverse signal to the control device 39, which is received by the control device 39. Then, the assist motor 33 is driven in reverse to rotate the trunnion arm 24 to switch the hydraulic continuously variable transmission 23 to the reverse direction and start the reverse movement of the machine body.

  When the shift operation lever 22 is further moved to the rear side, the potentiometer 25 detects a change in angle caused by the movement of the shift operation lever 22 and sends a deceleration signal to the control device 39 to drive the assist motor 33 in the reverse direction. The reverse traveling speed is accelerated by increasing the output of the hydraulic continuously variable transmission 23.

  When the speed change lever 22 is operated forward toward the forward / backward neutral position, the potentiometer 25 detects a change in angle associated with the movement of the speed change lever 22 and sends a reverse deceleration signal to the control device 39 to assist the motor 33. Is driven to rotate forward to reduce the output of the hydraulic continuously variable transmission 23 and to reduce the reverse travel speed.

  In either case of forward or reverse, when the speed change lever 22 is returned to the neutral position, the potentiometer 25 detects that the speed change lever 22 has returned to the initial position and sends a stop signal to the control device 39. Then, the assist motor 33 is driven forward or backward to return the trunnion arm 24 to the neutral position, and the traveling of the aircraft is stopped.

  In the above-described configuration, a change in the angle due to the operation of the speed change lever 22 is detected by the potentiometer 25, and a signal is transmitted to the control device 39 to change the rotational direction and the rotational speed of the assist motor 33 to operate the trunnion arm 24. As a result, the operator hardly feels the resistance generated when operating the speed change operation lever 22, so that an extra burden on the arm even when working for a long time or frequently operating the speed change operation lever 22. The labor of the operator is reduced.

  Further, by detecting the angle of the speed change lever 22 with the potentiometer 25 and finely operating the trunnion arm 24, it is possible to set a speed at which the body does not shake due to the behavior of the constituent members when starting or stopping. Therefore, the worker can concentrate more on the work and work efficiency is improved.

  The assist motor 33 is connected to the output side of the control device 39 via a cable or the like, and an output gear 33 a is attached to the output shaft of the assist motor 33. Then, a reduction gear 33b pivotally attached to an auxiliary transmission shaft 34 that transmits the rotation of the assist motor 33 to the brake pedal 29 described later is meshed with the output gear 33a. Further, a rotating arm 34a that can be turned up and down is provided on the auxiliary transmission shaft 34 inside the machine body from the reduction gear 33b, and the trunnion arm 24 is pushed and pulled by the turning up and down of the turning arm 34a to make a hydraulic stepless. A trunnion rod 34b for changing the output of the transmission 23 is provided on the rotating arm 34a.

  Further, the auxiliary transmission shaft 34 is provided with a meshing clutch 34c on the inner side of the machine body than the reduction gear 33b and the rotating arm 34a, and is always pressed in the clutch engagement direction by a spring 34d. It is configured to be turned on and off by sliding it.

  A brake pedal (travel stop pedal) 29 for moving the speed change operation lever 22 to the neutral position is provided below the front cover 32 and on the left and right sides. The brake pedal 29 is disposed so as to be pivotable up and down with the pivot axis Q2 as a fulcrum. When the pedal is depressed downward, an interlocking mechanism (not shown) that interlocks the end of the brake pedal 29 with the speed change operation lever 22 is provided. Is operated to move the speed change lever 22 to the neutral position.

  Then, a stop interlocking arm 47 is disposed in front of the airframe from the brake pedal 29, and upper end portions of the first lifting rod 48a and the second lifting rod 48b are attached to the stop interlocking arm 47. Further, a rotation restricting arm 37 provided with a shift arm 37a for sliding the auxiliary transmission shaft 34 in the clutch disengagement direction when the first elevating rod 48a moves upward at the lower end of the first elevating rod 48a. It can be pivoted. Further, when the second elevating rod 48b moves upward at the lower end portion of the second elevating rod 48b, a groove is fitted along the outer peripheral edge portion of the auxiliary transmission shaft 34 and rotates integrally with the auxiliary transmission shaft 34. An interlocking cam 38 that rotates the control arm 34e upward is attached. When the control arm 34e is rotated upward by the interlock cam 38, the rotating arm 34a is rotated upward and the trunnion rod 34b is moved until the trunnion arm 24 is in the neutral position.

  The interlock cam 38 applies a strong resistance to the rotation of the auxiliary transmission shaft 34 when a friction member made of a polymer compound such as rubber having a high friction coefficient and a flat surface is attached at least around the groove. Thus, the auxiliary transmission shaft 34 can be prevented from being damaged even if it is resisted.

  With the above configuration, when the brake pedal 29 is depressed, the speed change lever 22 is moved to the neutral position, and the potentiometer 25 transmits a stop signal to the control device 39. Therefore, when the brake pedal 29 is depressed, the operation stops. Since the aircraft can be stopped at any position, it can be stopped immediately when emergency stop is necessary, such as when there are large irregularities or falling objects in the field, and crisis avoidance can be performed.

  When the brake pedal 29 is depressed, the rotation restricting arm 37 moves the auxiliary transmission shaft 34 in the clutch disengagement direction, and the interlock cam 38 restricts the rotation of the auxiliary transmission shaft 34 and rotates the control arm 34e upward. Since the rotation of the auxiliary transmission shaft 34 can be stopped and the trunnion arm 24 can be moved to the neutral position, when the brake pedal 29 is depressed, the trunnion arm 24 is surely set to the neutral position, and the aircraft stops more immediately. .

  Further, even if the potentiometer 25 erroneously detects due to dirt such as mud or deterioration due to aging, and the operation of the speed change operation lever 22 is not accepted, the operation of the aircraft is forcibly stopped by depressing the brake pedal 29. Therefore, the plant does not exceed the turning position or the stop position, and the seedling planting operation is performed stably.

  The left and right rear wheel gear cases 18 and 18 to which the left and right rear wheels 11 and 11 are attached are respectively provided with a rear wheel rotation sensor 14 for detecting the number of rotations of the rear wheels 11 and 11, and the rear wheel rotation sensor 14 is controlled by a control device. It connects to the input side of 39 using a cable etc.

  As shown in FIG. 18, when the seedling planting part 4 is lowered and straight advancement is started while planting seedlings in the field, the rear wheel rotation sensor 14 detects the number of rotations of the rear wheels 11, 11 and starts from one end of the field. The rotational speed of the rear wheel detected while moving to the other end is transmitted to the control device 39 and the reference rotational speed is recorded. When the trunnion arm 24 is moved to the neutral position by depressing the brake pedal 29, the rotation speed of the assist motor 33 before stopping and the rotation speed of the rear wheel 11 when stopping are transmitted to the control device 39 as signals. The configuration. When the brake pedal 29 is depressed once again and released, the control device 39 compares the reference rotational speed with the rotational speed of the rear wheel 11 when stopped.

  If the rotation speed of the rear wheel 11 at the time of stopping is the same as or substantially the same as the reference rotation speed, it is determined that the vehicle has moved from one end to the other end of the field and has started a turning operation or is in a turning operation. The rotation speed of the assist motor 33 before stopping stored in the device 39 is deleted, the angle at which the operator newly operates the speed change lever 22 is detected by the potentiometer 25, the assist motor is driven, and the trunnion arm 24 Operate to reset the travel speed.

  With the above control, the aircraft can be prevented from starting at a high speed during turning, when the aircraft is temporarily stopped at the field edge for replenishment and resting, and the work is resumed. Planting of seedlings can be carried out in a substantially straight line because the speed can be reset and the turn according to the next planting line can be performed.

  Conversely, if the number of rotations of the rear wheel 11 at the time of stopping is less than the reference number of rotations, it is determined that the aircraft has been stopped by seedling replenishment during the seedling planting operation, and the stop stored in the control device 39 The number of rotations of the previous assist motor 33 is used as a signal to start the assist motor 33, and the trunnion arm 24 in the neutral position is moved to the position before the stop regardless of whether the shift operation lever 22 is operated or not. Return to speed.

  By the above control, when the traveling of the aircraft temporarily stopped during the seedling planting operation is resumed, it can automatically return to the speed before the traveling stop, so that the operator operates the shift operation lever 22 to travel. There is no need to adjust the optimum traveling speed for planting seedlings before stopping, and seedlings can be planted efficiently.

  When returning to the traveling speed before the stop, if the speed is increased simultaneously with the release of the brake pedal 29, the aircraft body may shake due to the behavior of the constituent members, so the trunnion arm 24 is switched once to the starting speed that moves forward at a very low speed. After that, if the control device 39 can set the control for automatically moving the trunnion arm 24 in the direction of gradually increasing the speed, the operator does not feel uncomfortable or drunk due to the shaking of the aircraft. It is possible to concentrate and work efficiency is improved.

Next, a rice transplanter according to another embodiment will be described.
The shift operation lever 22 is provided with a potentiometer 25 for detecting the operation amount thereof, and the assist motor 33 is used to operate the HST trunnion arm 24. In order to ensure safety in the event of an electrical trouble, the brake pedal is In the configuration in which the trunnion arm 24 is configured to return to the neutral position when stepped on, the detected rotation speed of the rear wheel inside the turning is larger than the set rotation speed set to a predetermined rotation speed. Then, turn off the side clutch inside the turn, and when the rotation speed of the rear wheel detected inside the turn is smaller than the set rotation speed, force the side clutch inside the turn to be turned on. In addition, it is configured to perform interlocking control with turning control (so-called Z-turn control) that forcibly drives the rear wheels inside the turning by a predetermined amount of rotation, and decelerates during turning , So as to accelerate after the start planting, is characterized by a configuration as to return to the original set speed.

  With the above configuration, when the aircraft is stopped by depressing the brake pedal for seedling replenishment or the like, it is configured to return to the original speed only when it is determined that the planting process is in the middle from the detection value of the rear wheel rotation sensor. According to this, a speed change operation becomes unnecessary, and the work can be performed only by a handle operation.

  In addition, in the above configuration, a relay circuit for turning on / off the motor power is incorporated in the circuit of the start switch of the brake pedal, and the operation of the motor is forcibly turned off when the brake pedal is depressed. Is secured.

  In the embodiment shown in FIG. 7, the leveling rotor 27 for leveling the field scene is disposed on the front side of the seedling planting portion, and both left and right sides of the center rotor 27a located at the front center of the side rotors 27b and 27b. In this configuration, rakes 63L and 63R are provided.

  Since the center rotor 27a is provided with the rakes 63L and 63R, a predetermined gap can be secured between the center float 55 and the side floats 56 and 56. Therefore, even if there is a large amount of foreign matter, the foreign matter passes through the gap. It becomes possible, and the trouble which disturbs the planting posture of a seedling can be solved.

  Further, as shown in FIG. 8, the rakes 63L and 63R have a wave-breaking plate-shaped boat bottom shape that spreads outward as the vehicle moves rearward, so that contaminants are pushed to the left and right side rotors 27b and 27b. Since it is possible to prevent clogging of foreign substances between the center float 55 and the side floats 56, 56, the foreign substances accumulate between the center float 55 and the side floats 56, 56. It is prevented that the side floats 56 and 56 are lifted and cannot perform the leveling function and the recognition function of the vertical position of the seedling planting unit 4.

Next, a configuration example of the preliminary seedling stage 45 will be described.
For example, as shown in FIGS. 9 to 11, in three stages of preliminary seedling platforms (hereinafter simply referred to as seedling frames) A1, A2, A3, each stage A1, A2, A3 has a length corresponding to one seedling, The upper and lower seedling frames A1 and A3 are configured so that both front and back sides can be used. The upper stage A1 and the middle stage A2 are connected by the connecting member B1 on the front side, and the middle stage A2 and the lower stage A3 are connected by the connecting member B2 on the rear side.

  The connecting members B1 and B2 have a length corresponding to ½ seedlings and can be used as a part of the seedling frame when deployed. When the upper stage A1 is opened to the front side and the lower stage A3 is opened to the rear side and extended on a straight line as shown in FIG. 11, a series of seedling frames A1, A2, A3 and connecting members B1, B2 of each stage The seedling frame has a length corresponding to four seedlings.

With the above configuration, since four seedlings can be placed in the three-stage seedling frame, a longer seedling placing stand can be configured with less space.
FIG. 12 shows a configuration example of the seedling collecting plate. In a rectangular seedling collecting plate 65, an L-shaped gripping portion 66 is formed from the short side portion to the long side portion. In the grip portion 66, a long side portion is slightly shortened to form a cut surface 66a having a rectangular cross section. Then, sharp scooping surfaces 65a and 65b are formed on the other two sides of the seedling collecting plate 65 where there is no gripping portion.

  With the above configuration, the seedling can be picked up from either the long side scooping surface 65a or the short side scooping surface 65b, so that the operator can pick up the seedling from the side that is easy to work, and the work efficiency is high. improves.

  Further, by forming a cut surface in a part of the gripping portion, as shown in FIG. 13, when the seedling is loaded into the seedling tank, the cut surface 66a hits the upper end of the fence 51f of the seedling tank 51 and hits the impact. Can be used to slide the seedling into the seedling tank vigorously.

  Further, another embodiment of the preliminary seedling stage will be described. As shown in FIGS. 14 to 16, the preliminary seedling stage 45 installed on the support 67 and the seedling frame frame 68 is divided into several parts. It consists of a single seedling frame plate A1 to A6, and is configured to be freely extendable and slidable via a pinion 70 installed on the pinion frame 69 and a rack 71 formed on each seedling frame plate A1 to A6.

  With the above configuration, the extension (development) shown in FIG. 15 can be performed only by pulling the seedling frame plate A1 on one side forward from the contracted (stored) state of FIG. It can be expanded to a state, and many seedling boxes can be placed. Reference numeral 72 denotes a seedling feed roller, which is installed on the roller frame 73.

4 Working device (seed planting part)
DESCRIPTION OF SYMBOLS 10 Front wheel 11 Rear wheel 14 Rear wheel rotation sensor 22 Traveling shift lever 23 Hydraulic continuously variable transmission (HST)
24 trunnion arm 25 angle sensor (potentiometer)
29 Travel Stop Pedal 33 Auxiliary Motor (Assist Motor)
34 Auxiliary transmission shaft 37 Rotation restricting means 38 Interlocking member 39 Control device

Claims (2)

A working device (4) is provided at a rear portion of the traveling vehicle body (2) having a pair of left and right front wheels (10) and a rear wheel (11) through a lifting link device (3), and the traveling vehicle body (2). Is provided with a hydraulic continuously variable transmission (23) for changing the traveling speed and forward / backward movement of the fuselage, and a shift operation lever (22) for operating the trunnion arm (24) of the hydraulic continuously variable transmission (23). In the seedling transplanter provided with a travel stop pedal (29) for moving the speed change lever (22) to the neutral position and provided with a rear wheel rotation sensor (14) for measuring the number of rotations of the rear wheel (11),
An auxiliary motor (33) for moving the trunnion arm (24) with a driving force is provided, an auxiliary transmission shaft (34) for transmitting the rotation of the auxiliary motor (33) is provided, and an inclination angle of the speed change operation lever (22) An angle sensor (25) for detecting the rotation of the auxiliary motor (33) in response to a signal from the angle sensor (25) is provided, and the travel stop pedal (29) is provided. A rotation restricting means (37) for restricting the rotation of the auxiliary transmission shaft (34) in conjunction with the operation of the travel stop pedal (29) is provided, and the trunnion arm (24) is moved to the neutral position in conjunction with the operation of the travel stop pedal (29). A seedling transplanter provided with an interlocking member (38).   When the work device (4) is lowered to start straight traveling, the rear wheel rotation sensor (14) detects the number of rotations of the rear wheel (11), and detects the rear wheel detected while moving from one end of the field to the other end ( 11) is transmitted to the control device (39) to record the reference rotational speed, and the travel stop pedal (29) is operated to move the trunnion arm (24) to the neutral position. (33) and the rear wheel rotational speed at the time of stop are transmitted to the control device (39), and when the travel stop pedal (29) is released, the reference rotational speed and the rear wheel rotational speed at the time of stop are If the rear wheel speed at the time of stop is substantially the same as the reference speed, the stop state is maintained. If the rear wheel speed at the time of stop is less than the reference speed, the auxiliary motor (33) is stopped before stopping. Of transmitting a signal to rotate at the same rotational speed as the control device (39) Seedling transplanter according to claim 1, characterized in that.

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