JP2012100574A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter capable of reducing vibrations and noises in a planting part during travelling at high speed, and capable of tidily planting seedlings during travelling at high speed.SOLUTION: The rice transplanter includes an irregular speed changing part 25, the planting part, a rotation sensor 43, and a control part 45. The irregular speed changing part 25 converts the rotation driving force from an engine 10 into the irregular speed rotation driving force to output the converted driving force. The planting part drives planting tines 22 with the irregular rotation driving force output from the irregular speed changing part 25 to plant seedlings. The rotation sensor 43 detects the size of looseness and torsion which may be generated in a transmission system for transmitting the driving force from the irregular speed changing part 25 to the planting tines 22. The irregular speed changing part 25 is configured to change the acceleration and deceleration of the irregular speed rotation driving force output from the irregular speed changing part 25. The control part 45 reduces the acceleration and deceleration of the irregular speed changing part 25 as the size of the looseness and torsion in the transmission system detected by the rotary sensor 43 increases.

Description

  The present invention relates to a rice transplanter. More specifically, the present invention relates to a structure for suppressing vibration and noise of the planting device in a rice transplanter including a planting device that is rotationally driven at an unequal speed.

  2. Description of the Related Art A rice transplanter that includes a rotary planting device having a planting claw provided on a rotating rotating case and plantes seedlings while traveling is known. This type of rice transplanter is driven by rotating the rotating case so that the tip of the planting claw draws a predetermined trajectory, and the seedling mat seedling is scraped on the ground by the tip of the planting claw. Configured to plant.

  By the way, in recent years, “sparse planting” has been attracting attention, in which the seedling planting interval is widened and the number of seedlings per unit area is reduced to grow one seedling firmly. On the other hand, planting at regular planting intervals is called “dense planting”). In order to increase the seedling planting interval in rice transplanters, the rotation period of the rotating case can be increased. However, if the rotating speed of the rotating case is simply slowed until the planting claw is separated from the ground after planting the seedling. Therefore, it becomes easy for the planting claw to be dragged on the ground. If the planting claws are dragged on the ground in this way, there may be a problem that a hole is made in the ground or the posture of the planted seedling is deteriorated.

  In order to avoid the above problems, the rotating case is rotated at a non-uniform speed so as to temporarily increase the rotating speed of the rotating case when the tip of the planting claw is in the vicinity of the bottom dead center. Is known (for example, Patent Document 1). According to this structure, since the planting claw in which the seedling is planted can be quickly separated from the ground, the planting claw is less likely to be dragged on the ground. Thereby, a rice transplanter can be made to respond to sparse planting.

JP 2006-141323 A

  By the way, since an inertial force is acting on the rotating rotating case, the rotating case tries to perform a constant speed rotating motion. As described above, the rotating case that is to rotate at a constant speed is forced to rotate at a non-uniform speed, so that a transmission system that transmits the non-uniform rotation driving force to the rotating case may be twisted or loose. As the rotational speed of the rotating case increases, the twist and backlash of the transmission system also increase, so vibration and noise are likely to occur, especially during high-speed rotation (when the rice transplanter is running at high speed).

  In addition, since the twist and backlash of the transmission system increase during high-speed rotation, the planting claws cannot always be driven along an ideal locus. For this reason, when a rice transplanter was run at high speed, seedlings could not be planted cleanly.

  The present invention has been made in view of the above circumstances, and its main purpose is to reduce the vibration and noise of the planting part during high-speed traveling, and to plant seedlings cleanly even during high-speed traveling. Is to provide a machine.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to the viewpoint of this invention, the rice transplanter of the following structures is provided. That is, the rice transplanter includes an inconstant speed transmission unit, a planting unit, a backlash / twist detection unit, and a control unit. The unequal speed transmission unit converts the rotational driving force from the driving source into an unequal speed rotational driving force and outputs the converted rotational driving force. The planting unit performs seedling planting by driving a planting claw with an inconstant speed rotational driving force output from the inconstant speed transmission unit. The play / twist detection unit detects the amount of play or twist that has occurred or can occur in a transmission system that transmits a driving force from the inconstant speed transmission unit to the planting claw. The unequal speed transmission unit is configured to be able to change acceleration and deceleration of the unequal speed rotational driving force output by the unequal speed transmission unit. And a control part makes the said acceleration and deceleration of the said inconstant speed transmission part small as the play and the twist of the said transmission system which the said backlash | torsion detection part detected increase.

  In this way, by automatically reducing the acceleration and deceleration of the non-uniform rotation, it is possible to prevent the transmission system from being excessively twisted and loosened, so that generation of vibration and noise can be suppressed. In addition, even if the acceleration and deceleration of the inconstant speed change unit are reduced as described above, the transmission system still has torsion and backlash, so the acceleration when the planting claw is actually driven and Deceleration increases. Thereby, the part which made the acceleration and deceleration of the inconstant speed transmission part small can be compensated, and a beautiful planting can be implement | achieved.

  The rice transplanter is preferably configured as follows. That is, this rice transplanter includes an inter-strain transmission unit that changes a planting interval of seedlings by the planting unit. And the said control part enlarges the said acceleration and deceleration of the said inconstant speed transmission part, so that the said planting space | interval is wide.

  Since the rice transplanter of the present invention is configured to be able to change the acceleration and deceleration of the inconstant speed transmission unit as described above, the acceleration and deceleration are changed according to the planting interval using this configuration. If it controls to do, a planting nail | claw can be driven with the optimal locus | trajectory according to the planting space | interval.

  The rice transplanter is preferably configured as follows. That is, the unequal speed transmission unit is a gear-type transmission mechanism including a plurality of gear pairs that rotate at an unequal speed. And the said inconstant speed transmission part changes the said acceleration and deceleration by switching the said gear pair which transmits a drive.

  Thereby, the acceleration and deceleration of the inconstant speed rotational driving force can be changed with a simple configuration. In addition, since a gear is used for shifting, efficient driving force transmission can be realized.

  Said rice transplanter can also be comprised as follows. That is, the inconstant speed transmission unit is a universal joint for transmitting the rotational driving force of the drive source to the planting unit, and the acceleration and deceleration are changed by changing the bending angle of the universal joint. change.

  As a result, an inconstant speed shift can be realized without gears and the rice transplanter can be configured simply. If the angle of the universal joint can be adjusted steplessly, the acceleration and deceleration can be adjusted steplessly.

  Said rice transplanter can also be comprised as follows. That is, the inconstant speed transmission unit includes an electric motor that periodically accelerates and decelerates an output, and a drive combining unit that combines and outputs the driving force of the electric motor and the driving force from the driving source. . The inconstant speed transmission unit changes the acceleration and deceleration of the driving force output from the drive combining unit by changing the acceleration and deceleration of the output of the electric motor.

  In other words, since the rotational speed of the electric motor can be controlled flexibly and continuously, the configuration as described above allows the inconstant speed rotational driving force output from the inconstant speed shifting portion to be flexibly and continuously stepped. Can be changed.

The side view of the rice transplanter which concerns on one Embodiment of this invention. The top view of a rice transplanter. The figure explaining the drive transmission path | route of the rice transplanter of 1st Embodiment. The figure explaining the drive transmission path | route of the rice transplanter of 2nd Embodiment. The figure explaining the drive transmission path | route of the rice transplanter of 3rd Embodiment.

  Next, a first embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 1 and 2, the riding type rice transplanter 1 according to the embodiment includes a vehicle body 2 and a planting unit 3 disposed behind the vehicle body 2.

  The vehicle body 2 includes a pair of left and right front wheels 4 and a pair of left and right rear wheels 5. The vehicle body 2 includes a driver seat 6 on which an operator can board. Various operating tools such as a steering handle 7 for steering the vehicle body 2 and a shift pedal 8 for adjusting the traveling speed of the vehicle body 2 are arranged in the vicinity of the driver seat 6.

  In the vehicle body 2, an engine 10 as a drive source is disposed below the driver seat 6, and a mission case 11 is disposed in front of the engine 10.

  In addition, an elevating link mechanism 12 for attaching the planting part 3 so as to be movable up and down, an inconstant speed transmission shaft 13 for outputting the driving force of the engine 10 to the planting part 3 and the like are disposed at the rear part of the vehicle body 2. .

  Moreover, the rice transplanter 1 of this embodiment is provided with the control part 45 (refer FIG. 3). The control unit 45 includes, for example, a microcontroller, and is configured to control each component of the rice transplanter 1 based on signals from sensors and the like provided in each unit of the rice transplanter 1.

  The planting unit 3 includes a planting case 15, a plurality of floats 16, and a seedling stage 17.

  One or more planting units 20 are attached to the planting case 15. For example, the rice transplanter 1 of the present embodiment is compatible with four-row planting and includes four planting units 20. Each planting unit 20 is configured as a rotary planting device provided with two planting claws 22 in a rotating case 21.

  A driving force from the inconstant speed transmission shaft 13 is input to the planting case 15, and the rotating case 21 is rotationally driven by this driving force. Since the configuration of the rotary planting device is well known, detailed description is omitted, but by rotating the rotating case 21, the tip of the planting claw 22 is driven up and down while drawing a predetermined locus. It is configured. When the tip of the planting claw 22 moves from the top to the bottom, the seedling for one strain is scraped off from the lower end of the seedling mat placed on the seedling mounting base 17 described later, and the root of the seedling is removed. It is configured to move downward while being held and to be implanted in the ground near the bottom dead center of the trajectory.

  The float 16 is provided symmetrically at the bottom of the planting part 3. By bringing the float 16 into contact with the ground, the planting unit 3 can be kept horizontal with respect to the ground, and the planting posture can be stabilized to perform accurate planting.

  The seedling stage 17 is disposed above the planting case 15. The seedling stage 17 is supported on a guide rail (not shown) so as to be slidable in the left-right direction of the vehicle body. And the planting part 3 is provided with the horizontal feed mechanism of the omission of illustration which reciprocates the seedling mounting stand 17 right and left within the range of the left-right width of a seedling mat. Thereby, the seedling mat placed on the seedling placing stand 17 can be moved relative to the planting unit 20 from side to side. In addition, the seedling mount 17 includes a seedling feeding belt (vertical feeding mechanism) that intermittently feeds the seedling mat downward (that is, toward the planting unit 20 side). With the above configuration, by appropriately interlocking the horizontal feed mechanism and the vertical feed mechanism, seedlings can be sequentially supplied to each planting unit 20 and planted continuously.

  Then, the drive transmission path | route in the rice transplanter 1 of this embodiment is demonstrated with reference to FIG.

  A drive transmission belt 34 is disposed at the end of the drive output shaft 10 a of the engine 10. The rotational driving force output by the engine 10 is input to the mission case 11 disposed in front of the engine 10 via the drive transmission belt 34. The driving force input into the mission case 11 is appropriately shifted by an HST (hydrostatic continuously variable transmission).

  Since the configuration of the HST is well known, it will not be described in detail. However, the variable displacement hydraulic pump and the fixed displacement hydraulic motor are connected by a hydraulic circuit, and the discharge capacity of the variable displacement hydraulic pump is changed to thereby change the fixed displacement hydraulic pressure. This is a type of continuously variable transmission configured so that the output of the motor can be changed steplessly. The discharge capacity of the variable displacement hydraulic pump is configured to be changed according to the operation amount of the shift pedal 8. That is, when the operator depresses the shift pedal 8, the output of the engine 10 can be arbitrarily changed steplessly. However, the transmission of the rice transplanter 1 is not limited to the HST, but may be an HMT (hydraulic mechanical continuously variable transmission) in which a gear and HST are combined, or a gear-type stepped transmission. .

  The rotational driving force shifted in the mission case 11 is input to the front axle case 37. The front axle case 37 is disposed in front of the mission case 11 and is formed integrally with the mission case 11. A part of the rotational driving force input to the front axle case 37 is transmitted from the front axle case 37 to the front axles 38 and 38 protruding left and right to drive the left and right front wheels 4 and 4.

  A part of the rotational driving force input to the front axle case 37 is taken out from the front axle case 37 and transmitted to the rear axle case 40 located behind the engine 10 via the propeller shaft 39. The rotational driving force input into the rear axle case 40 is transmitted from the rear axle case 40 to the rear axles 42 and 42 protruding left and right to drive the left and right rear wheels 5 and 5.

  With the above configuration, the rotational speeds of the front wheels 4 and the rear wheels 5 can be changed steplessly in accordance with the operation of the shift pedal 8. That is, the vehicle body 2 can be caused to travel at a desired vehicle speed when the operator operates the shift pedal 8.

  In addition, a part of the rotational driving force input to the front axle case 37 is input to the stock shift unit 29 configured as a gear-type transmission. The rotational driving force input to the inter-company transmission unit 29 is appropriately shifted by the inter-company transmission unit 29, and then the planting drive take-out shaft 51 protruding rearward from the rear position of the inter-company transmission unit 29 is used. Through the outside.

  The transmission ratio by the inter-stock transmission unit 29 is configured to be changeable by an operator operating a planting interval setting lever (not shown). Specifically, in the present embodiment, the planting interval setting lever can set the planting interval of seedlings to either “sparse planting” or “dense planting”. When the seedling planting interval is set to “sparse planting”, the inter-strain transmission unit 29 sets the gear ratio so as to rotate the planting drive extraction shaft 51 at a relatively low speed. On the other hand, when the seedling planting interval is set to “dense planting”, the gear ratio is set so that the planting drive extraction shaft 51 is rotated at a relatively high speed.

  An end of a planting drive transmission shaft 52 is connected to the planting drive take-out shaft 51 via a first universal joint 23. The other end of the planting drive transmission shaft 52 is connected to the input shaft 26 of the inconstant speed transmission unit 25 via the second universal joint 24.

  The rotational driving force input to the unequal speed transmission unit 25 is converted into an unequal speed rotational driving force by an unequal speed transmission mechanism (described later) configured by a non-circular gear, and the output shaft of the unequal speed transmission unit 25 is output. 27.

  The unequal speed rotational driving force output from the unequal speed transmission unit 25 is input into the planting case 15 via the unequal speed transmission shaft 13. The inconstant speed rotational driving force input to the planting case 15 is transmitted to the rotational case drive shaft 28 via the plurality of transmission shafts 18 and the plurality of transmission gears 19. The rotating case 21 of the planting unit 20 is attached to both ends of the rotating case drive shaft 28.

  With the above configuration, the rotating case can be rotationally driven, so that seedlings can be planted by the planting unit 20 configured as a rotary planting device.

  As already described, the driving force input to the rotary case drive shaft 28 is shifted according to the operation amount of the shift pedal 8 by the HST in the mission case 11. On the other hand, the traveling speed of the vehicle body 2 is also changed according to the operation amount of the shift pedal 8. Accordingly, the rotation period of the rotating case 21 changes in proportion to the traveling speed of the vehicle body 2. That is, when the vehicle body 2 travels fast, the rotation cycle of the rotation case 21 is shortened, and when the vehicle body 2 travels slowly, the rotation cycle of the rotation case 21 increases. Thereby, seedlings can be planted at equal intervals regardless of the traveling speed of the vehicle body 2.

  Moreover, if the proportional relationship (proportional relationship between the traveling speed of the vehicle body 2 and the rotation period of the rotating case 21) is changed, the seedling planting interval can be changed. In the rice transplanter 1 of the present embodiment, as described above, the driving force input to the rotary case drive shaft 28 is shifted by the inter-company transmission unit 29. Therefore, the seedling planting interval can be changed by changing the gear ratio of the inter-strain transmission unit 29.

  In the present embodiment, as described above, when “sparse planting” is set, the rotational speed of the rotational driving force output by the inter-cell transmission unit 29 (planting drive) is set compared to when “dense planting” is set. The rotational speed of the take-out shaft 51 is slow. That is, when “sparse planting” is set, the rotation cycle of the rotating case 21 is lengthened to widen the seedling planting interval, and when set to “dense planting”, the rotating cycle of the rotating case 21 is shortened. It is configured to narrow the seedling planting interval. Thus, the rice transplanter 1 of this embodiment can respond to both sparse planting and dense planting. In the following description, a case where the gear ratio in the inter-stock transmission unit 29 is set to a low speed, that is, a case where sparse planting is performed, unless otherwise specified will be described.

  In the rice transplanter 1 of the present embodiment, the rotating case 21 is rotationally driven by the inconstant speed rotational driving force output from the inconstant speed transmission unit 25. Therefore, while the rotating case 21 rotates once, the rotating case 21 The rotational speed can be accelerated and decelerated. Therefore, the degree of freedom in designing the rotational speed of the rotating case 21 is increased as compared with the case where the rotating case 21 is simply rotated at a constant speed. Thereby, since the planting nail | claw 22 can be driven with an ideal locus | trajectory, compared with the case where the rotation case 21 is simply rotated at constant speed, a seedling can be planted beautifully.

  For example, when it is desired to prevent the planting claws 22 from being dragged on the ground after planting seedlings, the rotating case 21 is rotated at an infinite speed so that the planting claws 22 planting seedlings are quickly separated from the ground. You can do it. In this case, the rotation speed of the rotating case 21 may be increased when the tip of the planting claw 22 comes near the bottom dead center. The unequal speed transmission unit 25 is set so as to accelerate the rotation speed of the case 21.

  If the rotational speed of the rotating case 21 is increased, the rotation period of the rotating case 21 changes and the seedling planting interval changes. Therefore, in order to keep the seedling planting interval, it is necessary to reduce the rotational speed after the rotational speed of the rotating case 21 is accelerated. In this way, the rotating case 21 that rotates at a non-uniform speed repeats acceleration and deceleration during one rotation. Therefore, the inconstant speed transmission unit 25 is configured to output an inconstant speed rotational driving force that repeats acceleration and deceleration. In the following description, “acceleration” and “deceleration” refer to the strength of acceleration and deceleration repeated while the rotation case 21 makes one rotation.

  By the way, as already explained, the rotary case 21 tries to perform a constant speed rotary motion by inertia. In this way, the rotation case 21 that is to rotate at a constant speed is forced to rotate at a non-uniform speed by the non-uniform speed rotation driving force output from the non-uniform speed transmission unit 25. Torsion and backlash may occur in the transmission system (such as the inconstant speed transmission shaft 13, the transmission shaft 18, and the transmission gear 19).

  Then, the higher the rotational speed of the rotary case 21 (the higher the traveling speed of the vehicle body 2), the greater the twist and backlash. For this reason, in the conventional rice transplanter, when seedlings are planted by running the vehicle body 2 at high speed, noise and vibration may occur.

  Therefore, the rice transplanter 1 of the present embodiment is configured to automatically reduce the acceleration and deceleration in the inconstant speed transmission unit 25 as the backlash and torsion that can occur in the transmission system increase. That is, by reducing the acceleration and deceleration of the inconstant speed rotation, the torsion and backlash can be reduced, so that an increase in vibration and noise can be prevented.

  Hereinafter, a specific description will be given with reference to FIG.

  The rice transplanter 1 of this embodiment includes a rotation sensor 43 that detects the rotation speed of the planting drive take-out shaft 51. The rotation sensor 43 is configured as a rotary encoder, for example. The detection result of the rotation sensor 43 is output to the control unit 45.

  Here, as described above, as the rotational speed of the rotating case 21 increases, the play or twist generated in the transmission system tends to increase. The rotational speed of the rotary case 21 is substantially proportional to the rotational speed of the planting drive extraction shaft 51. Therefore, based on the rotational speed of the planting drive take-out shaft 51 detected by the rotation sensor 43, it is possible to detect the amount of play or twist that can occur in the transmission system.

  Therefore, the control unit 45 is configured to determine the amount of backlash or twist that may occur in the transmission system based on the detection result of the rotation sensor 43. That is, the control unit 45 compares the rotational speed of the planting drive take-out shaft 51 with a predetermined threshold value, and when it is equal to or greater than the threshold value (when the rotational speed of the rotary case 21 becomes faster), large play or twisting occurs. It is comprised so that it may be judged that it is the state which can generate | occur | produce in a transmission system. Note that the amount of play and twist that can occur in the transmission system as described above can be detected based on the detection result of the rotation sensor 43, so the rotation sensor 43 is a play / twist detection unit. it can.

  Note that the above determination may be made in multiple stages. For example, in the present embodiment, the control unit 45 is configured to make the above determination based on two threshold values: a predetermined first threshold value and a second threshold value that is larger than the first threshold value. In other words, the control unit 45 has a backlash that can occur in the transmission system when the rotation speed of the planting drive take-out shaft 51 detected by the rotation sensor 43 is less than the first threshold (when the rotation speed of the rotation case 21 is low). Judge that the twist is small. In addition, when the rotation speed of the planting drive take-out shaft 51 is not less than the first threshold value and less than the second threshold value (when the rotation speed of the rotation case 21 is medium), the control unit 45 generates large play or twist in the transmission system. It is determined that this is possible. Further, when the rotational speed of the planting drive take-out shaft 51 is equal to or higher than the second threshold (when the rotational speed of the rotating case 21 is high), the control unit 45 is in a state where larger backlash or twist can occur in the transmission system. Judge that there is. As described above, the control unit 45 of the present embodiment is configured to determine the amount of backlash and twist that may occur in the transmission system in three stages.

  Next, the inconstant speed transmission mechanism of the inequal speed transmission unit 25 will be described. As described above, the non-uniform speed transmission unit 25 is configured to perform non-uniform speed shifting by the non-uniform speed transmission mechanism including a non-circular gear. In the present embodiment, as described above, the ease of occurrence of noise and vibration is determined in three stages. Therefore, the inconstant speed transmission unit 25 corresponds to the three non-switchable speeds. It has a circular gear pair.

  More specifically, it is as follows. That is, the inconstant speed transmission unit 25 includes three input-side non-circular gears (low-speed input gear 61a, medium-speed input gear 62a, and high-speed input gear 63a) that are rotatably supported by the input shaft 26, and Three output-side non-circular gears (low-speed output gear 61b, medium-speed output gear 62b, and high-speed output gear 63b) that are rotatably supported by spline fitting to the output shaft 27 are provided. The three non-circular gear pairs (the non-circular gear pair for low speed 61a and 61b, the non-circular gear pair for medium speed 62a and 62b, and the non-circular gear pair for high speed 63a and 63b) are always meshed. Has been.

  The inconstant speed transmission unit 25 includes a key shifter 64 that connects any one of the three input-side non-circular gears 61a, 62a, and 63a and the input shaft 26 so as not to be relatively rotatable. The key shifter 64 is configured to be movable along the axial direction of the input shaft 26, and thereby configured to switch the input-side non-circular gears 61 a, 62 a, 63 a connected to the input shaft 26. Yes.

  The medium-speed non-circular gear pair 62a, 62b is configured such that the acceleration and deceleration of the inconstant speed movement are smaller than those of the low-speed non-circular gear pair 61a, 61b. In other words, the non-circular gear pair 62a, 62b for medium speed has a shape closer to a circular gear than the non-circular gear pair 61a, 61b for low speed. Further, the high-speed non-circular gear pair 63a, 63b is configured such that the acceleration and deceleration of the inconstant speed motion are smaller than those of the medium-speed non-circular gear pair 62a, 62b. In other words, the non-circular gear pair 63a, 63b for high speed has a shape closer to a circular gear than the non-circular gear pair 62a, 62b for medium speed.

  Note that the proportional relationship between the rotation period of the input shaft 26 and the rotation period of the output shaft 27 is set to be the same regardless of which non-circular gear pair transmits the drive. Thereby, even if it is a case where a drive is transmitted by which non-circular gear pair, the planting space | interval of a seedling does not change.

  In this embodiment, the inconstant speed transmission unit 25 includes a shifter driving unit 65 that can drive the key shifter 64. The shifter driving unit 65 is an actuator such as a solenoid, and is configured to be controllable by the control unit 45.

  Then, when the rotation speed of the planting drive take-out shaft 51 detected by the rotation sensor 43 is less than a predetermined first threshold (that is, when the rotation case 21 is rotating at a low speed), the control unit 45 shifts the shifter. The drive unit 65 is appropriately controlled to connect the low speed input gear 61 a and the input shaft 26. As a result, the rotational driving force from the engine 10 output from the front axle case 37 is converted into an inconstant speed rotational driving force by the low-speed non-circular gear pair 61a, 61b and output from the output shaft 27.

  Here, the shape of the non-circular gear pair 61 a and 61 b for low speed is set to a shape that can output the inconstant speed rotational driving force corresponding to the ideal inequal speed rotational motion of the rotating case 21 from the output shaft 27. ing. That is, in the case of low-speed running, the transmission system twist and backlash are small, so that the inconstant speed rotational driving force from the output shaft 27 can be transmitted almost directly to the rotating case 21. Therefore, by setting the shape of the low-speed non-circular gear pair 61a, 61b to an ideal shape, the planting claw 22 can be driven with an ideal locus during low-speed rotation.

  On the other hand, when the rotation speed of the planting drive take-out shaft 51 detected by the rotation sensor 43 is not less than the first threshold value and less than the second threshold value (that is, when the rotation case 21 is rotating at a medium speed), Appropriately controls the shifter driving unit 65 to connect the medium speed input gear 62 a and the input shaft 26. As a result, the rotational driving force from the engine 10 output from the front axle case 37 is converted to an inconstant rotational rotational driving force by the non-circular gear pair 62a, 62b for medium speed and output from the output shaft 27. . Thereby, the acceleration and deceleration of the inconstant speed rotation output from the output shaft 27 during the medium speed rotation become smaller than those during the low speed rotation.

  As described above, when the rotational speed of the rotating case 21 is increased to some extent and a large backlash or twist can occur in the transmission system, the acceleration and deceleration of the nonuniform rotation are automatically reduced. Thus, generation of vibration and noise can be prevented.

  In addition, when the rotation speed of the planting drive take-out shaft 51 detected by the rotation sensor 43 is equal to or higher than the second threshold (that is, when the rotary case 21 is rotating at a high speed), the control unit 45 shifts the shifter driving unit 65. Is appropriately controlled to connect the high-speed input gear 63a and the input shaft 26. As a result, the rotational driving force from the engine 10 output from the front axle case 37 is converted into an inconstant rotational driving force by the high-speed non-circular gear pair 63a, 63b and output from the output shaft 27. As a result, the acceleration and deceleration of the inconstant speed rotation output from the output shaft 27 at the time of high speed rotation are further smaller than those at the time of medium speed rotation.

  As described above, when the rotation speed of the rotating case 21 is further increased and a larger backlash or twist can occur in the transmission system, the acceleration and deceleration of the non-uniform rotation are further reduced. Therefore, generation of vibration and noise can be prevented.

  By the way, in the present embodiment, as described above, the inconstant speed rotational driving force output from the inconstant speed transmission unit 25 at the time of low speed rotation is set to an ideal inconstant speed rotation. The inconstant speed rotational driving force having a smaller acceleration and deceleration than that of the inconstant speed revolution is output from the inconstant speed transmission unit 25. That is, at the time of medium speed rotation and high speed rotation, the output shaft 27 of the inconstant speed transmission unit 25 may rotate with acceleration / deceleration smaller than the ideal rotation of the rotation case 21.

  However, as the rotational speed increases, the transmission system may become more twisted and loose. In this case, a phenomenon occurs in which the acceleration and deceleration of the inconstant speed rotation output from the output shaft 27 of the inconstant speed transmission unit 25 are amplified and transmitted, and the rotating case 21 actually performs the inconstant speed rotation. The acceleration and deceleration of the increase. Therefore, even when the acceleration and deceleration of the inconstant speed rotational driving force output from the inconstant speed transmission unit 25 during the medium speed rotation and the high speed rotation are made smaller than those during the low speed rotation, the result is as follows. In some cases, the rotating case 21 rotates at a non-uniform speed with the same acceleration and deceleration. Thereby, even at the time of medium speed rotation or high speed rotation, clean planting can be realized in the same way as at the time of low speed rotation.

  In addition, the above description is description about the case where the planting space | interval is set to "sparse planting." That is, since the moving speed of the planting claw 22 is slow in the case of sparse planting, the planting claw 22 is easily dragged on the ground. In order to prevent this, since it was necessary to temporarily increase the moving speed of the planting claw 22 near the bottom dead center, the rotational speed of the rotating case 21 was accelerated and decelerated as described above. there were.

  On the other hand, when dense planting is performed, the planting claws 22 are driven faster than in the case of sparse planting, so that the planting claws 22 are less likely to be dragged across the ground. Therefore, when dense planting is performed (when the planting interval is narrow), the acceleration and deceleration of the non-uniform rotation of the rotating case 21 are smaller than when sparse planting is performed (when the planting interval is narrow). good.

  Therefore, in the present embodiment, the control unit 45 is configured to reduce the acceleration and deceleration in the inconstant speed transmission unit 25 as the seedling planting interval set in the inter-plant transmission unit 29 is wider. That is, the rice transplanter 1 of the present embodiment is configured so that the acceleration and deceleration in the inconstant speed transmission unit 25 can be changed. Therefore, using this configuration, the acceleration and deceleration can be changed according to the planting interval. It is possible to control to change. Thereby, since the planting nail | claw 22 can be driven with the optimal locus | trajectory according to a planting space | interval, a seedling can be planted cleanly irrespective of a planting space | interval.

  This will be described more specifically. When the planting interval is set to “close planting” and the rotating case 21 rotates at a low speed, the control unit 45 appropriately controls the shifter driving unit 65 to input the medium speed input gear 62a. The shaft 26 is configured to be connected. Thereby, when set to "dense planting", the acceleration and deceleration of the rotating case 21 at the time of low-speed rotation can be made smaller than when set to "sparse planting".

  Of course, even in the case of dense planting, as the rotational speed of the rotating case 21 increases, the play and twist that can occur in the transmission system increase, and as a result, noise and vibration are likely to occur. Therefore, even when the control unit 45 is set to be densely planted, the acceleration and deceleration in the inconstant speed transmission unit 25 are reduced when a large backlash or twist can occur in the transmission system. Control to make it smaller. For example, in the present embodiment, when the rotational speed of the rotating case 21 is increased to some extent when the control unit 45 is set to dense planting, the control unit 45 appropriately controls the shifter driving unit 65 to input the high speed input gear 63a. The shaft 26 is configured to be connected. With this configuration, even in the case of dense planting, it is possible to prevent the noise and vibration of the planting unit 3 from increasing when the rotational speed of the rotating case 21 increases.

  That is, by configuring the rice transplanter 1 as in the present embodiment, it is possible to prevent the noise and vibration of the planting part 3 from increasing regardless of the seedling planting interval.

  As described above, the rice transplanter 1 of the present embodiment includes the inconstant speed transmission unit 25, the planting unit 3, the rotation sensor 43, and the control unit 45. The unequal speed transmission unit 25 converts the rotational driving force from the engine 10 into an unequal speed rotational driving force and outputs it. The planting unit 3 plants the seedlings by driving the planting claws 22 with the inconstant speed rotational driving force output from the inconstant speed transmission unit 25. The rotation sensor 43 detects the amount of backlash or twist that may occur in the transmission system that transmits the driving force from the inconstant speed transmission unit 25 to the planting claw 22. Further, the unequal speed transmission unit 25 is configured to be able to change the acceleration and deceleration of the unequal speed rotational driving force output by the unequal speed transmission unit 25. And the control part 45 makes the acceleration and deceleration of the inconstant speed transmission part 25 small as the play and the twist of the said transmission system which the rotation sensor 43 detected become large.

  In this way, by automatically reducing the acceleration and deceleration of the non-uniform rotation, it is possible to prevent the transmission system from being excessively twisted and loosened, so that generation of vibration and noise can be suppressed. Even if the acceleration and deceleration of the inconstant speed transmission unit 25 are reduced as described above, the transmission system still has torsion and backlash, so that when the planting claw 22 is actually driven, Acceleration and deceleration increase. Thereby, the part which made the acceleration and deceleration of the inconstant speed transmission part 25 small can be supplemented, and beautiful planting can be implement | achieved.

  Moreover, the rice transplanter 1 of this embodiment is comprised as follows. That is, the inconstant speed transmission unit 25 is a gear-type transmission mechanism including a plurality of non-circular gear pairs. The inconstant speed transmission unit 25 changes the acceleration and deceleration by switching a non-circular gear pair that transmits driving.

  Thereby, the acceleration and deceleration of the inconstant speed rotational driving force can be changed with a simple configuration. In addition, since a gear is used for shifting, efficient driving force transmission can be realized.

  Moreover, the rice transplanter 1 of this embodiment is provided with the stock | strain transmission part 29 which changes the planting space | interval of the seedling by the planting part 3. FIG. And the control part 45 enlarges the acceleration and deceleration of the inconstant speed transmission part 25, so that the said planting space | interval is wide.

  That is, since the rice transplanter 1 of this embodiment is configured to be able to change the acceleration and deceleration of the inconstant speed transmission unit 25 as described above, the acceleration can be accelerated according to the planting interval using this configuration. And if it controls to change a deceleration, the planting nail | claw 22 can be driven with the optimal locus | trajectory according to the planting space | interval.

  Next, a modification of the above embodiment will be described.

  In this modification, a rotation sensor is provided on the rotation case drive shaft 28, and the rotation speed of the rotation case drive shaft 28 is detected by the rotation sensor. If the unequal speed rotation of the rotary case drive shaft 28 and the unequal speed rotation (rotation of the output shaft 27) output from the unequal speed transmission unit 25 are misaligned, backlash or twisting occurs in the transmission system. Can be determined.

  Therefore, in the present embodiment, the control unit 45 compares the rotation speed of the rotation case drive shaft 28 detected by the rotation sensor with the rotation speed of the output shaft 27 of the inconstant speed transmission unit 25, and the difference between the two is large. Based on this, it is configured to determine the size of the play or twist generated in the transmission system. The rotational speed of the output shaft 27 of the inconstant speed transmission unit 25 is determined by the shape of the non-circular gear of the inconstant speed transmission unit 25. Since the shape of the non-circular gear is known at the design stage, the rotation speed of the output shaft 27 can be obtained by appropriate calculation or the like by the control unit 45 without being detected by a rotation sensor or the like.

  In the case of this modification, it is possible to determine the amount of backlash or twist generated in the transmission system based on the detection result of the rotation sensor, so it can be said that the rotation sensor is a backlash / twist detection unit.

  Then, when the backlash or twist detected as described above is large, the control unit 45 appropriately controls the shifter driving unit 65 to reduce the acceleration and deceleration of the inconstant speed transmission unit 25. Thereby, since the play and the twist which generate | occur | produce in the transmission system can be made small, it not only becomes possible to plant a seedling cleanly, but it can also prevent that a noise and a vibration become large.

  Next, a second embodiment of the present invention will be described with reference to FIG. In addition, about the structure which is the same as that of the said 1st Embodiment, or similar, the code | symbol same as 1st Embodiment is attached | subjected to drawing, and description is abbreviate | omitted.

  The rice transplanter 1 of this embodiment includes a swing case 70 instead of the inconstant speed transmission unit 25 of the first embodiment. The swing case 70 includes an input shaft 26 and an output shaft 27. The input shaft 26 and the output shaft 27 are arranged so that the extension lines of the axis lines do not coincide. An input side sprocket 71 is fixed to the input shaft 26, and an output side sprocket 72 is fixed to the output shaft 27. Then, the endless chain 73 is suspended between the input side sprocket 71 and the output side sprocket 72, so that the drive is transmitted from the input shaft 26 to the output shaft 27.

  By the way, the first universal joint 23 that connects the planting drive take-out shaft 51 and the planting drive transmission shaft 52 and the second universal joint 24 that connects the planting drive transmission shaft 52 and the input shaft 26 have predetermined operating angles ( In the first universal joint 23 and the second universal joint 24, non-uniform rotation occurs.

  When there is an operating angle in the universal joint as described above, normally, in order to cancel the non-uniform rotation, the mounting phases of the first universal joint 23 and the second universal joint 24 at both ends of the planting drive transmission shaft 52 are used. Install with matching.

  However, in the present embodiment, the attachment phases of the first universal joint 23 and the second universal joint 24 are attached at both ends of the planting drive transmission shaft 52 with a shift of 90 °. As a result, the nonuniform rotation generated at the first universal joint 23 and the second universal joint 24 is transmitted to the input shaft 26 without being canceled.

  As described above, in the present embodiment, the rotational driving force output from the engine 10 is converted into the unequal speed rotational driving force by using the unequal speed of the universal joint. Therefore, in this embodiment, it can be said that the universal joints 23 and 24 are inconstant speed transmission parts.

  According to the above configuration, the inconstant speed shift can be realized without the need for a non-circular gear as in the first embodiment, so that a mechanism for performing the inconstant speed shift can be configured simply. In this embodiment, the input-side sprocket 71 and the output-side sprocket 72 of the swing case 70 are circular and non-eccentric sprockets. In other words, in this embodiment, the inconstant speed shift is performed using the inconstant speed of the universal joint, and the inconstant speed shift is not performed in the swing case 70.

  In the present embodiment, the swing case 70 is attached to the rear axle case 40 via a bearing 77. The bearing 77 supports the swing case 70 so that it can rotate about the axis of the output shaft 27. By rotating the swing case 70 in this manner, the positional relationship between the planting drive take-out shaft 51 and the input shaft 26 of the swing case 70 changes, so that the operating angles (folding angles) of the universal joints 23 and 24 are changed. ) Can be changed. Thereby, the acceleration and deceleration of the inconstant speed rotation by the universal joints 23 and 24 can be changed.

  The planting drive transmission shaft 52 has a spline fitting portion 74 that can slide in the axial direction. Thereby, since the planting drive transmission shaft 52 can be expanded and contracted in the axial direction, it is possible to cope with a change in the positional relationship between the planting drive extraction shaft 51 and the input shaft 26.

  A swing case drive gear 78 is formed in the swing case 70 so as to coincide with the axis of the output shaft 27. On the other hand, an electric motor 75 is disposed in the vicinity of the swing case 70. A gear that meshes with the swing case drive gear 78 is fixed to the output shaft of the electric motor 75. The electric motor 75 is configured to be controllable by the control unit 45.

  With this configuration, by driving the electric motor 75, the swing case 70 can be driven to rotate about the axis of the output shaft 27. The controller 45 can change the relative position of the input shaft 26 with respect to the planting drive take-out shaft 51 by appropriately controlling the electric motor 75 and rotating the swing case 70. Thereby, since the control part 45 can change the working angle of the universal joints 23 and 24 steplessly, it can change the acceleration and deceleration of the inconstant speed rotation by the said universal joints 23 and 24 steplessly. Can do.

  On the other hand, the rice transplanter 1 of the present embodiment includes a pedal sensor 76 that detects an operation amount of the shift pedal 8. The detection result of the pedal sensor 76 is output to the control unit 45. The control unit 45 is configured to determine the amount of backlash or twist that may occur in the transmission system based on the detection result of the pedal sensor 76.

  That is, as described above, the rotation speed of the rotary case 21 changes according to the operation amount of the shift pedal 8. As the rotational speed of the rotating case 21 increases, larger play or twist can occur in the transmission system. Therefore, the control unit 45 can determine that the larger the amount of operation of the speed change pedal 8 detected by the pedal sensor 76, the larger the backlash or twist that can occur in the transmission system. As described above, since the amount of play and twist that can occur in the transmission system can be determined based on the detection result of the pedal sensor 76, it can be said that the pedal sensor 76 is a play / twist detection unit. it can.

  In the present embodiment, the control unit 45 is configured to control the electric motor 75 such that the operating angle of the universal joints 23 and 24 decreases as the operation amount of the shift pedal 8 detected by the pedal sensor 76 increases. Has been. According to this, the greater the backlash and torsion that can occur in the transmission system, the smaller the acceleration and deceleration of the inconstant speed rotation that occur in the universal joints 23 and 24, and thus the greater the vibration and noise. Can be prevented. In addition, according to this configuration, the acceleration and deceleration of the non-uniform rotation can be adjusted in a stepless manner according to the amount of play or twist that can occur in the transmission system (the amount of operation of the shift pedal 8). Vibration and noise can be suppressed more appropriately.

  As described above, the rice transplanter of this embodiment is configured as follows. That is, the inconstant speed transmission unit is the universal joints 23 and 24 for transmitting the rotational driving force of the engine 10 to the planting unit 3, and the acceleration is changed by changing the bending angle of the universal joints 23 and 24. And change the deceleration.

  As a result, the inconstant speed shift can be realized without gears and the rice transplanter 1 can be configured simply. Further, since the angles of the universal joints 23 and 24 can be adjusted steplessly, the acceleration and deceleration can be adjusted steplessly.

  Next, a third embodiment of the present invention will be described with reference to FIG. In addition, about the structure which is the same as that of the said 1st Embodiment, or similar, the code | symbol same as 1st Embodiment is attached | subjected to drawing, and description is abbreviate | omitted.

  The rice transplanter 1 of the present embodiment includes an inconstant speed transmission unit 80 instead of the inconstant speed transmission unit 25 of the first embodiment. The unequal speed transmission unit 80 is configured to realize unequal speed transmission by an electric motor.

  This will be specifically described below. The inconstant speed transmission unit 80 includes a planetary gear mechanism (drive combining unit) 81 and an electric motor 86. The planetary gear mechanism 81 is well known and will not be described in detail, but includes a sun gear 82, a planetary carrier 84 that rotatably supports a plurality of planetary gears 83, and an outer gear 85. The driving force input to the input shaft 26 is input to the sun gear 82, and the rotational driving force of the outer gear 85 is output from the output shaft 27. On the other hand, the rotational driving force output from the electric motor 86 is input to the planetary carrier 84.

  With the above configuration, the rotational driving force from the engine 10 (the rotational driving force input to the input shaft 26) and the rotational driving force of the electric motor 86 are combined in the planetary gear mechanism 81 and output from the output shaft 27. The

  The operation of the electric motor 86 is configured to be controlled by the control unit 45. The control unit 45 drives and controls the electric motor 86 so as to periodically repeat acceleration and deceleration. Since the output of the electric motor 86 driven in this way is combined with the rotational driving force from the engine 10 in the planetary gear mechanism 81, the output shaft 27 is driven at an inconstant speed to periodically repeat acceleration and deceleration. Force is output. That is, with the above configuration, the rotational driving force from the engine 10 can be converted into an unequal speed rotational driving force and output.

  Moreover, the rice transplanter 1 of this embodiment is provided with the vibration sensor 87 which detects the vibration of the planting part 3. FIG. The detection result of the vibration sensor 87 is output to the control unit 45. Here, it can be considered that the vibration of the planting part 3 is caused by looseness or twist generated in the transmission system. Therefore, in the present embodiment, the control unit 45 is configured to determine the amount of backlash or twist occurring in the transmission system based on the magnitude of vibration detected by the vibration sensor 87. As described above, since it is possible to determine the amount of backlash and twist occurring in the transmission system based on the detection result of the vibration sensor 87, it can be said that the vibration sensor 87 is a backlash / twist detection unit. it can.

  And the control part 45 is controlled so that the acceleration and deceleration of the electric motor 86 are made small, so that the vibration which the vibration sensor 87 detected is large. As a result, when the backlash and torsion generated in the transmission system increase, the acceleration and deceleration of the inconstant speed rotational driving force output from the output shaft 27 of the inconstant speed transmission unit 80 can be reduced. Can be small.

  Further, since the electric motor 86 can flexibly and continuously control the acceleration and deceleration, appropriate control can be performed according to the magnitude of vibration.

  As described above, the rice transplanter of this embodiment is configured as follows. That is, the non-uniform speed transmission unit 80 includes an electric motor 86 that periodically accelerates and decelerates an output, and a planetary gear mechanism 81 that combines and outputs the driving force of the electric motor 86 and the driving force from the engine 10. Become. The inconstant speed transmission unit 80 changes the acceleration and deceleration of the driving force output from the planetary gear mechanism 81 by changing the acceleration and deceleration of the output of the electric motor 86.

  That is, since the rotational speed of the electric motor 86 can be controlled flexibly and steplessly, by configuring as described above, the inconstant speed rotational driving force output from the inconstant speed transmission unit 80 can be flexibly and flexibly controlled. It can be changed steplessly.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  In the above embodiment, the acceleration and deceleration of the inconstant speed transmission unit are reduced when the transmission system twist and backlash increase, but as a result of reducing the acceleration and deceleration, the inconstant speed transmission unit It is also possible to output a constant speed rotation. For example, in the first embodiment, a circular gear pair is provided in the inconstant speed transmission unit 25, and when the torsion and backlash become extremely large, constant speed rotation is output by transmitting the drive with the circular gear pair. To be able to. Further, in the second embodiment, when the torsion or backlash becomes extremely large, the swing case 70 is rotated so that the operating angle of the universal joints 23 and 24 becomes zero, and the constant speed rotation is output. Can be. In the third embodiment, when the twist or backlash becomes extremely large, the rotation of the electric motor 86 can be stopped to output a constant speed rotation.

  The inter-stock transmission unit 29 may be omitted. When the inter-strain transmission unit 29 is provided, the planting interval is not limited to two stages of “sparse planting” and “dense planting”, and may be set in three or more stages.

  In the first embodiment, the gear pair that rotates at a non-uniform speed is a non-circular gear pair, but is not limited thereto, and may be, for example, an eccentric gear pair.

  In the first embodiment, the rotation sensor 43 detects the rotation speed of the planting drive take-out shaft 51, but is not limited to this, and any position in the drive transmission path from the engine 10 to the rotation case 21. It is only necessary to detect the rotation speed.

  In the second embodiment, the drive transmission in the swing case 70 is performed by the endless chain 73. However, the present invention is not limited to this. For example, the drive transmission in the swing case 70 may be performed by a gear. .

  In 3rd Embodiment, it was set as the structure which detects the vibration of the planting part 3 with the vibration sensor 87, but it replaces with this, or in addition to this, the noise of the planting part 3 may be detected with a noise sensor. It can also be configured.

  In the first embodiment, the rotational speed of the drive shaft is detected, the operation amount of the shift pedal is detected in the second embodiment, and the vibration is detected in the third embodiment. An appropriate configuration can be used for the detection unit.

  In the said embodiment, although the planting part was a rotary type planting apparatus, even if it is a rice transplanter provided with the crank type planting apparatus, a planting claw is driven by an inconstant speed rotational driving force. In the case of a configuration, the present invention can be applied.

1 Rice transplanter 2 Car body 3 Planting part 10 Engine (drive source)
25 Inconstant speed transmission unit 43 Rotation sensor (backlash / torsion detection unit)
45 Control unit 61a, 61b Non-circular gear pair for low speed 62a, 62b Non-circular gear pair for medium speed 63a, 63b Non-circular gear pair for high speed

Claims (5)

An inconstant speed transmission unit that converts the rotational driving force from the driving source into an inconstant speed rotational driving force and outputs the same;
A planting unit for planting seedlings by driving a planting claw with an inconstant speed rotational driving force output by the inconstant speed transmission unit;
A backlash / torsion detection unit that detects the magnitude of backlash or twist that has occurred or can occur in a transmission system that transmits driving force from the inconstant speed transmission unit to the planting claw,
A control unit;
With
The inconstant speed transmission unit is configured to be able to change acceleration and deceleration of the inconstant speed rotational driving force output by the inequal speed transmission unit.
The rice transplanter characterized in that the control unit reduces the acceleration and deceleration of the inconstant speed change unit as the backlash and torsion of the transmission system detected by the backlash / torsion detection unit increases. The rice transplanter according to claim 1,
A strain shifting portion that changes the planting interval of seedlings by the planting unit,
The controller is configured to increase the acceleration and deceleration of the inconstant speed transmission unit as the planting interval increases. The rice transplanter according to claim 1 or 2,
The inconstant speed transmission unit is a gear-type transmission mechanism including a plurality of gear pairs that rotate at inconstant speed, and the acceleration and deceleration are changed by switching the gear pair that transmits driving. Rice transplanter. The rice transplanter according to claim 1 or 2,
The inconstant speed transmission unit is a universal joint for transmitting the rotational driving force of the drive source to the planting unit, and changes the acceleration and deceleration by changing the bending angle of the universal joint. Rice transplanter characterized by that. The rice transplanter according to claim 1 or 2,
The inconstant speed transmission unit includes an electric motor that periodically accelerates and decelerates an output, and a drive combining unit that combines and outputs the driving force of the electric motor and the driving force from the driving source,
The rice transplanter characterized in that the inconstant speed change unit changes the acceleration and deceleration of the driving force output from the drive combining unit by changing the acceleration and deceleration of the output of the electric motor.

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