JP2013005785A - Seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent uneven fertilization at the start of planting by a seedling transplanter.SOLUTION: The seedling transplanter includes: a planting device 14 which is provided on a traveling vehicle body and plants seedlings in a farm field; a fertilization device 16 which supplies fertilizer to planting positions of the seedlings; a continuously variable transmission 33 which changes the advancing direction and speed of the traveling vehicle body according to the operation of a traveling operation lever 38; a servo actuator which controls the continuously variable transmission; and a control unit 50 which controls the fertilization device and servo actuator according to the operation of the traveling operation lever. The control unit performs the control so as to drive the fertilization device, upon forward operation of the traveling operation lever, and drive the servo actuator after the lapse of a predetermined time to drive wheels 10, 11 and the planting device.

Description

  The present invention relates to a seedling transplanting machine provided with a fertilizer application device and a seedling planting device at a rear portion of a machine body having a traveling device.

  Conventionally, in a seedling transplanter equipped with a seedling planting device at the rear, a fertilizer tank is provided at the rear of the aircraft, and a riding type rice planting equipped with a fertilizer device that fertilizes the fertilizer stored in the fertilizer tank while planting seedlings on the field A machine is known (see, for example, Patent Document 1).

  FIG. 18 is a functional block diagram showing a drive system of a general riding seedling transplanter equipped with a fertilizer application apparatus.

  In FIG. 18, the power transmission path is indicated by a solid line, and the transmission path of the control system is indicated by a broken line.

  In general, in the seedling transplanter, the output from the engine 100 is input to a continuously variable transmission (HST) 101 that can be switched forward and backward, the power output from the HST 101 is distributed, and each part of the seedling transplanter is distributed. It is used as a driving force.

  The HST 101 outputs work power separated from the traveling power for driving the drive wheels 102, and the seedling planting device 103 and the fertilizer application device 104 are driven by the work power. The work power separated and output from the HST 101 drives the seedling planting device 103 via the planting clutch 107 and drives the fertilizer 104 via the fertilization clutch 108.

  By changing the rotation angle of the trunnion shaft of the HST 101 by the travel operation lever 105, the forward and backward advancement and speed of the airframe can be switched.

  In FIG. 19, the side view for demonstrating the operation position of the planting raising / lowering lever 106 which controls raising / lowering of the seedling planting apparatus 103 with which the body rear part was equipped is shown.

  The planting elevating lever 106 is arranged at a position where it can be reached by sitting in the driver's seat. When the planting lift lever 106 is operated from the “stop” position, which is a neutral state where the lift is stopped, to the front “lift” position, the seedling planting device 103 provided at the rear of the machine body is lifted, and rearward from the “stop” position. Is operated to the “down” position, the seedling planting device 103 is lowered to a position for planting seedlings in the field. When the planting lift lever 106 is operated from the “down” position to the “planting” position, the planting clutch 107 and the fertilizer clutch 108 are engaged, and the working power output from the HST 101 is applied to the seedling planting device 103 and the fertilizer device 104. It will be in the state transmitted to. When the planting elevating lever 106 is returned from the “planting” position to the “down” position, the planting clutch 107 and the fertilization clutch 108 are disengaged, and the working power output from the HST 101 is also applied to the seedling planting device 103. It will be in a state where it is not transmitted to.

  When planting seedlings with the seedling transplanter, first store the fertilizer in the fertilizer tank, operate the planting lift lever 106 from the “stop” position to the “down”, “planting” position, The traveling operation lever 105 is operated to advance the seedling transplanter to start seedling planting.

  At this time, since the planting clutch 107 and the fertilizer clutch 108 are included, the seedling planting device 103 and the fertilizer device 104 also start to operate at the same time as the driving wheel 102 rotates and the machine body starts moving forward to the field. Planting and fertilization of seedlings begins.

JP 2009-201520 A

  However, the above-described conventional seedling transplanting machine has a problem in that there is a section where fertilizer is not sprayed at the start of planting.

  This problem will be described below.

  The fertilizer tank of the fertilizer applicator 104 is disposed in the upper part of the machine body, and the fertilizer in the fertilizer tank is transferred to the seedling planting position through the transfer hose by the rotating operation of the feeding unit.

  Since there is no fertilizer in the transfer hose at the start of planting, after the rotation operation of the feeding part of the fertilizer application 104 has started, the time for the fertilizer in the fertilizer tank to be transferred to the planting position through the transfer hose has passed. Later, fertilization at the planting position will be started.

  As described above, in the conventional seedling transplanting machine, the seedling planting device 103 and the fertilizer application device 104 start operation simultaneously at the start of planting. The fertilizer application device 104 starts the operation of seedling planting since the fertilizer application to the planting position starts after a lapse of time when the fertilizer is transferred through the transfer hose after the feeding unit starts the operation. Then, fertilization to the planting position starts after a predetermined time has elapsed.

  Therefore, at the start of planting, a section (non-fertilized section) in which seedlings are planted without fertilizer being applied is generated. When a non-fertilization section arises, the crop in that section will become poor growth.

  An object of the present invention is to provide a seedling transplanting machine in which fertilization unevenness does not occur at the start of planting in consideration of the problems of the conventional seedling transplanting machine.

  The above-mentioned problem of the present invention is solved by the following means.

The first aspect of the present invention is
A planting device (14) provided on the traveling vehicle body (9), for planting seedlings in the field;
A fertilizer application device (16) for supplying fertilizer to a seedling planting position;
A continuously variable transmission (33) that changes the traveling direction and speed of the traveling vehicle body (9) in accordance with the operation of the traveling operation lever (38);
A servo actuator for controlling the continuously variable transmission (33);
A control unit (50) for controlling the fertilizer (16) and the servo actuator according to the operation of the travel operation lever (38),
The controller (50) drives the fertilizer application (16) when the travel operation lever (38) is operated forward, and after a predetermined time has elapsed, drives the servo actuator to drive the wheels (10, 11). ) And the planting device (14).

The second aspect of the present invention
A planting device (14) provided on the traveling vehicle body (9), for planting seedlings in the field;
A fertilizer application device (16) for supplying fertilizer to a seedling planting position;
A continuously variable transmission (33) that changes the traveling direction and speed of the traveling vehicle body (9) in accordance with the operation of the traveling operation lever (38);
A servo actuator for controlling the continuously variable transmission (33);
A rotation detector (62) for detecting rotation of a drive rotary shaft for driving the fertilizer application (16);
A residual fertilizer detection unit (63) for detecting that the amount of the fertilizer in the fertilizer hopper (17) of the fertilizer application device (16) in which the fertilizer for feeding is stored has become a predetermined amount or less;
A control unit (60) for controlling the servo actuator based on the operation of the travel operation lever (38) and the detection result of the residual fertilizer detection unit (63);
The seedling transplanter is characterized in that the wheels (10, 11), the planting device (14), and the fertilizer application device (16) are driven by the drive of the servo actuator.

The third aspect of the present invention
An inter-plant switching member (24) for adjusting an interval between seedlings planted in the field by the planting device (14);
The inter-plant switching member (24) includes a planting interval detection unit that detects that the planting interval is operated so as to change the planting interval of the seedling,
The control unit (60) reduces the speed of the traveling vehicle body (9) when the planting interval of the seedlings is adjusted to be wide according to the detection state of the planting interval detection unit. A seedling transplanting machine according to the second aspect of the present invention that controls the servo actuator.

The fourth aspect of the present invention is
An inclination detector (71) for detecting the inclination of the traveling vehicle body (9);
The controller (70) is configured to control the servo actuator to reduce the speed of the traveling vehicle body (9) when the inclination detector (71) detects an inclination greater than a predetermined value. A seedling transplanter according to the second or third aspect of the present invention, characterized in that the transmission (33) is operated.

The fifth aspect of the present invention provides
A wheel rotation detector (72) for detecting the rotation of the wheel (11) of the traveling vehicle body (9);
The controller (70) rotates the wheel when the inclination detector (71) detects an inclination before and after a predetermined value or more and the traveling operation lever (38) is operated in a neutral state. When the rotation of the wheel (11) is detected by the detection unit (72), the continuously variable transmission (33) is operated so as to stop the wheel (11) by controlling the servo actuator. This is a seedling transplanting machine according to the fourth aspect of the present invention.

The sixth aspect of the present invention provides
The planting device (14) includes a seedling replenishment detection member (46) for detecting replenishment work of seedlings to a seedling mount (1) for supplying seedlings to be planted,
The control unit (70)
When the seedling replenishment detection member (46) is turned on, until the seedling replenishment detection member (46) is turned off, the servoactuator operates the servooperation regardless of the operating state of the travel operation lever (38). The stepless transmission (33) is controlled to be neutral,
When the seedling replenishment detection member (46) is turned off, the seedling replenishment detection member (46) is not turned off unless the traveling operation lever (38) is in a neutral state. To the fifth one of the seedling transplanters of the present invention.

The seventh aspect of the present invention
An oil temperature measuring section (77) for measuring the temperature of the hydraulic oil of the continuously variable transmission (33);
An engine speed detector (76) for detecting the speed of the engine (23);
An engine servo actuator for controlling the rotational speed of the engine (23),
When the temperature of the hydraulic oil measured by the oil temperature measurement unit (77) is lower than a predetermined temperature, the control unit (75) drives the engine servo actuator to rotate the engine (23). The seedling transplanting machine according to any one of the first to sixth aspects, wherein the seedling transplanting machine is controlled so as to increase.

  According to the first aspect of the present invention, when the seedling transplanter (8) starts moving forward in the planting operation state, the machine body starts moving forward after the fertilizer fed from the fertilizer application (16) starts to be released to the field. Since it is possible to prevent the occurrence of a section where no fertilizer is sprayed (non-fertilized section), the growth of the crop is not uneven, and the quality of the harvested crop is stabilized.

  Moreover, in order to prevent generation | occurrence | production of a non-fertilization area, an operator does not need to perform complicated operation and operativity improves.

  According to the second aspect of the present invention, when the fertilization drive rotating shaft reaches a rotational speed equal to or higher than a predetermined value, the traveling speed is reduced, whereby the vibration of the fertilizer application (16) is transmitted to the planting device (14), and seedling planting work Can be prevented from being disturbed, so that seedling planting accuracy is improved.

  In addition, when the lack of fertilizer is detected, the vehicle runs at a low speed or stops, so that it is possible to prevent the planting operation from continuing without being aware of the lack of fertilizer.

  According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, the configuration is such that the traveling speed corresponding to the planting interval in the front-rear direction of the seedling is automatically controlled (restricted). This prevents the operator from operating mistakes and traveling at an inappropriate speed for the set planting interval, so that the seedling planting interval is stabilized and the planting depth is too shallow or deep. Since it is prevented from becoming too much, the planting accuracy of the seedling is improved.

  In particular, since the planting tool (4) has a structure that draws an elliptical orbit, if the vehicle speed is set to a predetermined speed or higher when performing sparse planting, the conduction system of the planting device (14) mechanically locks or stops. Although there is a problem that the seedling is missed due to generation of vibration, the planting accuracy is further improved by limiting the vehicle speed.

  According to the fourth aspect of the present invention, in addition to the effects of the second and third aspects of the present invention, when the aircraft tilts beyond a predetermined angle, the HST opening is reduced and the vehicle travels at a low speed. And an inclined plate for loading on a truck, etc.), the safety of work is improved.

  In addition, when traveling on uneven fields, road shoulders, and the like, the difference in the left and right heights of the aircraft causes the HST opening to be reduced, and the structure is configured to travel at a low speed, thereby improving safety.

  According to the fifth aspect of the present invention, in addition to the effects of the fourth aspect of the present invention, when the airframe is about to slip down while stopping on an inclined ground, the servo actuator is activated and the rear wheel (11) does not rotate. By adopting a configuration in which the HST opening is increased, it is possible to reliably stop at the same place even on a steep slope, thus improving safety.

  In addition, since the vehicle can be prevented from retreating during a run on an inclined land or slipping down rapidly, the safety can be further improved and the work efficiency can be improved.

  According to the sixth aspect of the present invention, in addition to the effects of any one of the first to fifth aspects of the present invention, the replenishment detection member is turned “ON”, and the replenishment work of the seedling to the fertilizer tank (17) is detected. Since the HST is neutral, the replenishment worker cannot travel while replenishing seedlings, so that the replenishment worker can perform replenishment work in a stable posture. Will improve.

  In addition, the seedling is prevented from being replenished in a distorted posture, and the planting tool (4) prevents the seedling from being missed and the planting posture of the seedling is disturbed. Improve and grow better.

  In addition, since the replenishment detection member does not become “off” unless the travel control lever (38) is neutral, it is possible to prevent the machine from starting to travel immediately after replenishing the seedling, thereby further improving the safety of the replenishment operator. To do.

  According to the seventh aspect of the present invention, in addition to the effect of any one of the first to sixth aspects of the present invention, it is sufficient to increase the rotational speed of the engine (23) even when the hydraulic fluid of the HST (33) is at a low temperature. Since the torque can be secured, the running performance on slopes and wetlands is improved, and the work efficiency and safety are improved.

Side view of rice transplanter according to first to fourth embodiments of the present invention The top view of the rice transplanter of Embodiment 1-4 of this invention (A) The side view for demonstrating the operation position of the traveling operation lever of Embodiment 1-3 of this invention, (b) The operation position of the traveling operation lever of Embodiment 1-3 of this invention is demonstrated. View from above to do The side view for demonstrating the operation position of the planting raising / lowering lever of Embodiment 1-3 of this invention The functional block diagram which shows the drive system of the rice transplanter of Embodiment 1 of this invention The figure which shows the operation | movement flow at the time of the seedling planting start of the rice transplanter of Embodiment 1 of this invention. Functional block diagram showing the drive system of the rice transplanter of Embodiment 2 of the present invention The figure which shows the operation | movement flow for preventing the planting defect by the abnormal vibration of the fertilizer application of the rice transplanter of Embodiment 2 of this invention. The figure which shows the operation | movement flow for preventing the fertilizer short in the fertilizer tank of the rice transplanter of Embodiment 2 of this invention. The figure which shows the relationship between the position of the traveling control lever at the time of normal time, and the time of sparse planting and the vehicle speed of the rice transplanter of Embodiment 2 of this invention The figure which shows the principal part of the structure which provided the rotation sensor which detects the rotation speed of the input shaft of a planting clutch in the rice transplanter of Embodiment 2 of this invention. Functional block diagram showing the drive system of the rice transplanter of Embodiment 3 of the present invention The figure which shows the operation | movement flow for preventing the movement in the slope of the rice transplanter of Embodiment 3 of this invention. The figure which shows the operation | movement flow at the time of performing the seedling joint work of the rice transplanter of Embodiment 3 of this invention The figure which shows the operation | movement flow at the time of performing a seedling joining operation | work when the seedling supplement sensor is utilized as a seedling joining switch of the rice transplanter of Embodiment 3 of this invention. Functional block diagram showing the drive system of the rice transplanter of Embodiment 4 of the present invention The figure which shows the operation | movement flow of the drive system control by temperature of the rice transplanter of Embodiment 4 of this invention. Functional block diagram showing the drive system of a conventional riding rice transplanter Side view for explaining the operation position of a planting lift lever of a conventional riding type rice transplanter

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 shows a side view of a riding type 8-row rice transplanter 8 equipped with a traveling vehicle according to Embodiment 1 of the present invention, and FIG. 2 shows a plan view.

  In the present specification, the front / rear / left / right direction reference defines the front / rear, left / right reference based on the traveling direction of the vehicle body as viewed from the driver's seat.

  A pair of left and right front wheels 10 and a rear wheel 11 are installed as traveling wheels before and after the vehicle body 9. A steering device having an operation box 12 and a steering handle 13 and the like is installed on the upper front side of the vehicle body 9, and a seedling planting portion 15 that can be moved up and down is provided behind the vehicle body 9.

  Further, a fertilizer device 16 is provided at the rear part of the vehicle body 9, and fertilizer stored in the fertilizer tank 17 is fed out by a predetermined amount by the feeding unit 18 of each strip, and the fed fertilizer is fed to each strip by the pressure air from the blower 19. The transfer hose 20 discharges the fertilizer from the discharge port 21 provided in the seedling planting portion 15 to the field and applies fertilizer.

  A driver's seat 22 is installed behind the control device, and an engine 23 that transmits rotational power to each part of the rice transplanter 8 is mounted below the driver's seat 22.

  The steering handle 13 is configured to steer by steering the left and right front wheels 10 via an output shaft, a pitman arm, a steering lot, and the like that are decelerated and rotated from the steering shaft in the steering post by a steering operation. ing.

  As shown in FIG. 1, the seedling planting portion 15 is mounted on the rear portion of the vehicle body 9 so as to be movable up and down via a lifting link mechanism 25, and is lifted and lowered by a telescopic operation of the lifting hydraulic cylinder 26. The rice transplanter 8 shown is configured to raise the seedling planting portion 15 on the pulling side of the lifting hydraulic cylinder 26. A planting elevating lever 27 for raising and lowering the seedling planting unit 15 is provided on the left side of the control device.

  The seedling planting section 15 includes a seedling platform 1 that reciprocates left and right, a pair of seedling planting devices 14 for every two strips, and left and right side floats 29 that level the ground while sliding on the seedling planting surface. The center float 30 is provided.

  On both sides of the seedling planting device 14, a rotating case 44 is rotatably supported on which two seedling planting tools 4 each having a planting rod 28 for scraping a seedbed for one strain and planting it in a farm scene are pivotally supported. Has been.

  In addition, the seedling placing stand 1 is provided with a seedling replenishment sensor 46 for each item. When the seedling replenishment sensor 46 detects that the seedling on the seedling platform 1 is no longer being pressed, a buzzer or a lamp informs that the seedling is gone or that the seedling needs to be replenished soon.

  The rotational power of the engine 23 is transmitted from the engine output pulley 31 via the belt 32 to the input pulley 34 of a hydraulic continuously variable transmission (HST) 33 with a hydraulic servo, and the hydraulic pump is driven by circulating hydraulic oil. The shift power is transmitted from the output shaft of the driven hydraulic motor to the input shaft of the mission case 36.

  The operation box 12 is provided with a travel operation lever 38 for shifting the speed of the HST 33. The travel operation lever 38 can be switched between forward and reverse by a forward / backward switching operation of the travel operation lever 38. It can be selected according to the configuration. The operation box 12 is also provided with an operator operation switch 47 for the operator to perform various operations.

  The mission case 36 is configured as a four-wheel drive that is distributed and transmitted to the front wheel 10 and the rear wheel 11, and is configured to be distributed and transmitted to the seedling planting unit 15 side. The power distributed from the mission case 36 is transmitted to the planting clutch 35 provided behind the vehicle body 9 through the work transmission shaft, and then transmitted to the seedling planting device 14 through the planting transmission shaft 39.

  Note that the fertilizer application device 16 is driven not by the power distributed from the mission case 36 but by the rotational power from the engine 23 separately from the HST 33, and the feeding unit 18 is operated by driving the fertilization drive rotational shaft. Let

  The rice transplanter 8 according to the first embodiment is configured to level the ground by rotating the leveling rotor 40 on the front side of each side float 29 and center float 30 as shown in FIGS. 1 and 2. The transmission mechanism in this case is configured to transmit from the transmission case 41 of the rear wheel 11 via the power take-off shaft 42.

  And as shown in FIG. 1 and FIG. 2, the seedling mounting stand 1 arrange | positions the right and left seedling feeding belts 43 and 43 for 1 row on the lower surface of the stand of each planting strip in parallel, and the seedling feeding apparatus 3 The mat seedling placed thereon is sent out in the direction of the front seedling outlet 2. Then, as the seedling planting tool 4 rotates while drawing the planting locus with the rotation of the rotating case 44, the mat seedling is scraped and locked as it passes through the seedling outlet 2, and the field is left as it is. It is configured to rotate and plant to the surface.

  In addition, a planting inter-plant lever 24 for changing the rotational speed of the rotary case 44 that drives the seedling planting tool 4 with respect to the traveling speed is provided beside the driver seat 22.

  In addition, on both front sides of the vehicle body 9, a preliminary seedling stage 45 supported by a support frame fixed to the vehicle body 9 is provided.

  3A shows a side view for explaining the operation position of the travel operation lever 38, and FIG. 3B shows a view of the travel operation lever 38 as viewed from above.

  In FIG. 4, the side view for demonstrating the operation position of the planting raising / lowering lever 27 is shown.

  In FIG. 5, the functional block diagram which shows the drive system of the rice transplanter 8 of this Embodiment 1 is shown. In FIG. 5, the power transmission path is indicated by a solid line, and the transmission path of the control system is indicated by a broken line.

  As shown in FIGS. 3A and 3B, the travel operation lever 38 can freely move between the forward range F and the reverse range R at the shift neutral position N.

  The trunnion shaft that changes the inclination angle of the swash plate of the HST 33 is rotated by a servo motor. The controller 50 changes the rotation angle of the trunnion shaft (referred to as the trunnion opening) by controlling the servo motor in accordance with the operation position of the travel operation lever 38.

  The rice transplanter 8 corresponds to an example of the seedling transplanter of the present invention. A servo motor that rotates the trunnion shaft corresponds to an example of the servo actuator of the present invention. The controller 50 corresponds to an example of a control unit of the present invention.

  The controller 50 controls the servo motor so that the swash plate of the HST 33 is in a neutral position when the traveling operation lever 38 is in the neutral position N, and when the traveling operation lever 38 is in the forward range F, the fuselage When the servomotor is controlled so that the trunnion opening degree is set so that the front wheel 10 and the rear wheel 11 rotate in the forward direction, and the traveling operation lever 38 is in the reverse range R, the front wheel 10 and the rear wheel 10 are moved in the reverse direction. The servo motor is controlled so that the trunnion opening degree is set so that the rear wheel 11 rotates.

  In addition, the controller 50 controls the servo motor so that when the traveling operation lever 38 is operated at a position further away from the neutral position N in the forward range F, the trunnion opening on the higher speed side is obtained. Similarly, also in the reverse travel region R, the servo motor is controlled so that the faster the trunnion opening becomes, the more the travel control lever 38 is operated to a position farther from the neutral position N.

  For example, the traveling operation lever 38 can be parked at eight stages in the forward zone F and at three stages in the reverse zone R. The travel operation lever 38 may be parked at an arbitrary position within the range of the forward travel area F and the reverse travel area R instead of being parked at a predetermined stepped position.

  As shown in FIG. 5, in the feeding unit 18 and the blower 19 of the fertilizer application 16, the rotational power from the engine 23 is transmitted to the fertilization drive rotation shaft via the fertilization clutch 51, and is driven by the fertilization drive rotation shaft. The fertilization clutch 51 is an electronically controlled clutch and is controlled by the controller 50.

  As shown in FIG. 4, when the planting lift lever 27 is operated from the “stop” position, which is a neutral state where the lift is stopped, to the front “lift” position, the seedling planting portion 15 provided at the rear of the vehicle body 9 is raised. Then, when the operation is performed from the “stop” position to the rearward “down” position, the seedling planting unit 15 is lowered to a position where the seedling is planted in the field. When the seedling planting unit 15 is operated from the “down” position to the “planting” position, the planting clutch 35 is engaged, and the power output from the HST 33 is transmitted to the seedling planting device 14. When the planting lift lever 27 is returned from the “planting” position to the “down” position, the planting clutch 35 is disengaged and the power output from the HST 33 is not transmitted to the seedling planting device 14.

  Next, the operation | movement at the time of the seedling planting start of the rice transplanter 8 of this Embodiment 1 is demonstrated.

  In FIG. 6, the operation | movement flow at the time of the seedling planting start in the rice transplanter 8 of this Embodiment 1 is shown.

  First, before starting seedling planting, a fertilizer for fertilizing is placed in the fertilizer tank 17. Then, the driver sitting in the driver's seat 22 operates the planting lift lever 27 from the “stop” position to the “down” and “planting” positions.

  When the planting lift lever 27 is operated to the “planting” position, the planting clutch 35 is engaged. When it is detected that the planting clutch 35 is engaged (step S10), the operation box 12 displays that the planting clutch 35 has been engaged.

  When the driver confirms that the planting clutch 35 has been engaged, the driver operates the travel operation lever 38 from the neutral position N to the forward range F (step S11).

  When the planting clutch 35 is engaged and the travel operation lever 38 is operated to the forward travel area F, the controller 50 engages the fertilizer clutch 51 and transmits the rotational power of the fertilizer driving rotary shaft driven by the rotational power of the engine 23. Then, the operation of the fertilizer application 16 is started (step S12). When the fertilizer clutch 51 is engaged, the feed unit 18 and the blower 19 are driven by the fertilizer driving rotation shaft, and the fertilizer stored in the fertilizer tank 17 is transferred to the discharge port 21 through the transfer hose 20. Go.

  The controller 50 measures the time from when the fertilizer clutch 51 is put on (step S13), and stops the servo motor that rotates the trinion shaft of the HST 33 until a predetermined time elapses (step S17). Here, the predetermined time is an estimated time required for the fertilizer in the fertilizer tank 17 to reach the discharge port 21 through the transfer hose 20 after the feeding unit 18 starts to rotate, and is a preset time.

  When a predetermined time has elapsed since the application of the fertilizer clutch 51, the controller 50 activates the servo motor according to the operation position of the travel operation lever 38 (step S14). By operating the servo motor, the trunnion opening increases in the direction in which the machine moves forward (step S15).

  When the trunnion opening increases, the front wheel 10 and the rear wheel 11 are rotated by the power from the HST 33 to advance the machine body (step S16). At the same time, the seedling planting device 14 is also started to operate by the power from the HST 33, so Operation starts.

  In the rice transplanter 8 of the first embodiment, the controller 50 controls in this way, so that when the fertilizer stored in the fertilizer tank 17 reaches the discharge port 21 at the start of seedling planting, the body is While starting to advance, seedling planting operation by the seedling planting device 14 is started.

  Accordingly, since the fertilizer starts to be discharged from the discharge port 21 to the field when the seedling planting starts, planting of the seedling can be started without generating a non-fertilization section. Since seedlings can be planted without fertilization unevenness, poor growth can be prevented.

(Embodiment 2)
A side view and a plan view of a riding type eight-row rice transplanter equipped with a traveling vehicle according to the second embodiment of the present invention are the same as those of the rice transplanter 8 according to the first embodiment, and as shown in FIGS. It is.

  The rice transplanter of the second embodiment is different from the rice transplanter 8 of the first embodiment in the configuration for transmitting the driving force to the fertilizer application 16.

  In FIG. 7, the functional block diagram which shows the drive system of the rice transplanter of this Embodiment 2 is shown. In FIG. 7, the power transmission path is indicated by a solid line, and the transmission path of the control system is indicated by a broken line.

  In the first embodiment, the fertilizer driving rotation shaft is rotated by the rotational power from the engine 23 separately from the HST 33 to drive the fertilizer application device 16, whereas in the rice transplanter of the second embodiment, the fertilizer application device Similarly to the driving force of the seedling planting device 14, the driving force of 16 is configured to use the power output from the HST 33 and distributed by the mission case 36.

  Therefore, the planting lifting / lowering lever 27 of the second embodiment is also operated as shown in FIG. 4, but when the operation is further performed from the “down” position to the “planting” position, the planting clutch 35 is engaged and fertilization is performed. The clutch 61 is also engaged, and the power output from the HST 33 is transmitted to the seedling planting device 14 and the fertilizer application device 16. Then, when the planting lift lever 27 is returned from the “planting” position to the “down” position, the planting clutch 35 and the fertilizer clutch 61 are disengaged, and the power output from the HST 33 is also applied to the seedling planting device 14. No state 16 is transmitted.

  In the second embodiment, a rotation sensor 62 that detects the number of rotations of the fertilization drive rotation shaft and a fertilizer runout sensor 63 that detects that the amount of fertilizer stored in the fertilizer tank 17 has decreased are provided.

  Then, the controller 60 of the second embodiment controls the servo motor of the HST 33 according to the operation position of the travel operation lever 38, the detection result of the rotation sensor 62, and the detection result of the fertilizer running sensor 63, so that the trunnion shaft Change the rotation angle.

  The controller 60 corresponds to an example of the control unit of the present invention. Moreover, the fertilizer tank 17 corresponds to an example of the fertilizer hopper of the present invention, and the fertilization drive rotation shaft corresponds to an example of the drive rotation shaft of the present invention. Further, the rotation sensor 62 corresponds to an example of the rotation detection unit of the present invention, and the fertilizer running-out sensor 63 corresponds to an example of the residual fertilizer detection unit of the present invention.

  The rice transplanter of the second embodiment is configured to prevent planting defects due to abnormal vibration of the fertilizer application 16, and the operation thereof will be described.

  In FIG. 8, the operation | movement flow for preventing the planting defect by the abnormal vibration of the fertilizer application 16 in the rice transplanter of this Embodiment 2 is shown.

  When the planting elevating lever 27 is operated to the “planting” position and the travel operation lever 38 is operated from the neutral position N to the forward travel region F, the controller 60 controls the servo according to the operation position of the travel operation lever 38. Operate the motor. When the servo motor is activated, the machine body moves forward, and the seedling planting device 14 and the fertilizer application device 16 are activated (step S20).

  The rotation sensor 62 detects the number of rotations of the fertilizer application rotation shaft that is driving the fertilizer application device 16 (step S21), and transmits the detection result to the controller 60.

  The controller 60 determines the number of rotations of the fertilizer application drive shaft based on the detection result received from the rotation sensor 62 (step S22). If the rotation speed of the fertilizer driving rotary shaft is within a predetermined rotation speed, the controller 60 continues to operate the fertilizer application device 16 (step S26).

  On the other hand, when the rotation speed of the fertilization drive rotation shaft exceeds the predetermined rotation speed, the servo motor is operated (step S23). At this time, the controller 60 controls the servo motor so that the trunnion opening decreases in the direction in which the aircraft decelerates (step S24).

  Then, the rotational speeds of the front wheels 10 and the rear wheels 11 are reduced, and the traveling speed of the aircraft is reduced (step S25). And while the traveling speed of a body slows, the rotation speed of the fertilization drive rotating shaft which drives the fertilizer application 16 also falls.

  In addition, although the controller 60 demonstrated the example which controls a servomotor so that a trunnion opening degree may decrease according to the rotation speed of a fertilization drive rotating shaft here, depending on conditions, it changes to the rotation speed of a fertilization drive rotating shaft. Accordingly, the servo motor may be controlled so that the trunnion opening increases in the direction in which the speed of the aircraft increases.

  Since the rice transplanter of this Embodiment 2 distributes the motive power output from HST, and uses it for the drive of the seedling planting apparatus 14 and the fertilizer application apparatus 16, the planting transmission shaft which drives the seedling planting apparatus 14 The number of rotations 39 and the number of rotations of the fertilizer driving rotation shaft that drives the fertilizer application 16 are both proportional to the traveling speed of the aircraft.

  Therefore, when the rotation speed of the engine 23 increases, the rotation speed of the fertilizer application rotation shaft also increases. When the rotation speed of the fertilizer application rotation shaft exceeds a certain rotation speed, vibration increases, and the abnormal vibration causes planting failure.

  By controlling as described above, the controller 60 of the second embodiment can suppress the rotation speed of the fertilizer driving rotation shaft so as not to increase to the rotation speed that generates abnormal vibration, and poor planting due to abnormal vibration. Can be prevented. Therefore, a value smaller than the rotational speed at which abnormal vibration occurs may be set as the predetermined rotational speed in the above.

  The rice transplanter of the second embodiment is configured to prevent the fertilizer tank 17 from running out of fertilizer, and its operation will be described.

  In FIG. 9, the operation | movement flow for preventing the fertilizer short in the fertilizer tank 17 in the rice transplanter of this Embodiment 2 is shown.

  When the planting elevating lever 27 is operated to the “planting” position and the travel operation lever 38 is operated from the neutral position N to the forward travel region F, the controller 60 controls the servo according to the operation position of the travel operation lever 38. Operate the motor. When the servo motor is activated, the machine body moves forward, and the seedling planting device 14 and the fertilizer application device 16 are activated (step S30).

  When the fertilizer running-out sensor 63 detects that the fertilizer in the fertilizer tank 17 has run out or has decreased to a predetermined amount or less, it transmits the detection result to the controller 60 (step S31).

  The controller 60 determines whether a fertilizer shortage detection result has been received from the fertilizer shortage sensor 63 (step S32). If the controller 60 has not received the fertilizer shortage detection result from the fertilizer shortage sensor 63, the controller 60 continues to operate the fertilizer application device 16 (step S36).

  On the other hand, when the fertilizer shortage sensor 63 receives the fertilizer shortage detection result, the servo motor is actuated (step S33). At this time, the controller 60 controls the servo motor so that the trunnion opening decreases in the direction in which the aircraft decelerates or stops in the aircraft (step S34).

  Then, the rotational speeds of the front wheels 10 and the rear wheels 11 are decelerated or stopped, and the traveling speed of the aircraft is decreased, or the aircraft is stopped (step S35).

  If the planting operation is continued with no fertilizer in the fertilizer tank 17, a non-fertilization section in which seedlings are planted without fertilization is generated.

  By controlling as described above, the controller 60 of the second embodiment can prevent forgetting to replenish fertilizer and can prevent the occurrence of a non-fertilized section.

  Further, the position of the planted strain lever 24 may be detected, and the controller 60 may control the servo motor according to the detection result.

  For example, a limit switch is provided in the vicinity of the planting inter-strain lever 24 so that it can be detected that the planting inter-strain lever 24 has been operated to “sparse planting”.

  Then, when it is detected that the planted stock lever 24 is operated to “sparse planting”, the controller 60 may control the servo motor so as to decrease the trunnion opening degree with respect to the operation position of the travel operation lever 38. .

  In addition, the planting strain | interval lever 24 corresponds to an example of the inter-plant switching member of this invention, and a limit switch corresponds to an example of the planting space | interval detection part of this invention. Further, the operation of the planted inter-strain lever 24 to “sparse planting” is an example of adjusting the seedling planting interval to be wide according to the present invention.

  FIG. 10 is a diagram showing the relationship between the position of the travel operation lever 38 and the vehicle speed in a control example for reducing the trunnion opening degree when sparsely planted.

  In FIG. 10, the relationship between the position of the traveling operation lever 38 and the vehicle speed in a normal state is indicated by a solid line, and these relationships when the planted stock lever 24 is operated to “sparse planting” are indicated by a broken line.

  The “traveling lever angle” in FIG. 10 indicates an angle from the neutral position N of the traveling control lever 38, and “MAX” indicates the position farthest from the neutral position N, that is, FIG. FIG. 6B shows a case where the travel operation lever 38 is at the uppermost position in the forward travel area F.

  In the example shown in FIG. 10, the vehicle speed is 1.8 [m / s] at the maximum when the traveling operation lever 38 is at the fastest position, while the planted inter-strain lever 24 is “sparse planting”. The vehicle speed when the travel operation lever 38 is set to the fastest position is set to 1.2 [m / s] at the maximum, and the other positions of the travel operation lever 38 are similarly from the normal time. Also, the trunnion opening is changed so that the speed at the time of sparse planting becomes slower.

  In general, since the seedling transplanter adjusts the traveling speed and other operating speeds of the machine so that high-speed seedling planting can be performed appropriately, the seedling transplanting apparatus 14 does not change the operating speed of other parts. If sparse planting is performed with only the movement speed of the plant being reduced, planting accuracy will be degraded.

  Therefore, as described above, by controlling the controller 60 so as to reduce the trunnion opening at the time of sparse planting, sparse planting can be performed with high planting accuracy.

  As shown in FIG. 10, at each operation position of the travel operation lever 38, by controlling the vehicle speed to be proportionally lower than that at the normal time, the driver can drive at the time of sparse planting without any discomfort from the normal time. be able to.

  Further, the rotational speed of the input shaft of the planting clutch 35 may be detected, and the controller 60 may control the servo motor according to the detection result.

  FIG. 11 shows a main part when a rotation sensor for detecting the rotation speed of the input shaft of the planting clutch 35 is provided.

  The rotation sensor 64 detects the number of rotations of the input shaft of the planting clutch 35 and transmits the detection result to the controller 60.

  When the planted interstitial lever 24 is operated to “loose planting” and the rotational speed of the input shaft of the planting clutch 35 exceeds a predetermined rotational speed, the controller 60 The servo motor is controlled to reduce the trunnion opening so that the rotation speed of the input shaft does not exceed the predetermined rotation speed.

  When the seedling transplanting machine performs sparse planting, if the operation of the seedling planting device 14 is too fast, a shackle phenomenon occurs, and the seedling planting accuracy decreases.

  Therefore, if the rotation speed at which the occurrence of the brushing phenomenon does not occur is set to the above-mentioned predetermined rotation speed, the controller 60 controls the servo motor as described above so that the planting can be performed at the maximum speed within the range where the brushing phenomenon does not occur. Can be performed.

  The above-mentioned shackle phenomenon means that when the planting operation is performed at high speed, the rotation of the transmission gear mechanism (not shown) of the seedling planting device 14 is not linked to the traveling speed, and the rotation of the seedling planting device 14 is stopped. If this phenomenon occurs, seedlings may not be planted at an appropriate timing.

  Here, the rotational speed of the input shaft of the planting clutch 35 is detected by the rotation sensor 64. However, the rotational speed of the output shaft of the planting clutch 35 is detected and the detection result is determined according to the detection result. The same effect can be obtained by controlling the servo motor.

(Embodiment 3)
A side view and a plan view of a riding type eight-row rice transplanter having a traveling vehicle according to the third embodiment of the present invention are the same as those of the rice transplanter 8 according to the first embodiment, as shown in FIGS. 1 and 2. It is.

  In FIG. 12, the functional block diagram which shows the drive system of the rice transplanter of this Embodiment 3 is shown. In FIG. 12, the power transmission path is indicated by a solid line, and the transmission path of the control system is indicated by a broken line.

  Compared to the configuration of the second embodiment shown in FIG. 7, the difference is that a horizontal sensor 71 and a rotation sensor 72 are provided, and that the controller 70 can also control the rotational speed of the engine 23.

  The controller 70 corresponds to an example of a control unit of the present invention. Moreover, the horizontal sensor 71 corresponds to an example of the inclination detection unit of the present invention, and the rotation sensor 72 corresponds to an example of the wheel rotation detection unit of the present invention.

  The horizontal sensor 71 is a sensor that detects the inclination of the vehicle body 9 in the front-rear direction, and transmits the detection result to the controller 70.

  The controller 70 of the third embodiment changes the rotation angle of the trunnion shaft and controls the engine by controlling the servo motor of the HST 33 according to the operation position of the travel operation lever 38 and the detection result of the horizontal sensor 71. The rotation of the motor that controls the number of rotations 23 is controlled.

  When the controller 70 detects from the detection result of the horizontal sensor 71 that the vehicle body 9 is tilted to a predetermined value or more in the front-rear direction, the controller 70 controls the servo motor so as to reduce the trunnion opening and slows down the vehicle speed. The torque is increased by controlling to increase the rotational speed of 23. Note that, when the inclination is less than the predetermined value, the controller 70 does not operate the servo motor.

  For example, when the rice transplanter crosses the fence or when the rice transplanter is loaded onto or unloaded from the truck, the horizontal sensor 71 detects the tilt in the front-rear direction, and at that time, the speed is decreased and the torque is increased. .

  Thus, the controller 70 controls the engine speed to increase at the same time as slowing down the vehicle speed, so that the running torque increases. Therefore, the controller 70 can easily move forward even if the inclination angle is large, and the work efficiency is improved. For example, the running performance is stable when going over a ridge or loading / unloading on a truck.

  The rotation sensor 72 is a sensor that detects the rotation of the rear wheel 11.

  Based on the detection result of the rotation sensor 72, the controller 70 performs control so as to prevent the rice transplanter from moving due to the inclination when the rice transplanter is on the inclined ground.

  In FIG. 13, the operation | movement flow for preventing the movement in an inclined land in the rice transplanter of this Embodiment 3 is shown.

  The controller 70 confirms the operation position of the travel operation lever 38 (step S40). If the controller 70 is in the neutral position N, the controller 70 receives and determines the detection result from the rotation sensor 72 (steps S41 and S42). When the traveling operation lever 38 is in a position other than the neutral position N, the detection result from the rotation sensor 72 is not determined.

  If it is determined that the rear wheel 11 is stopped, the process returns to step S40, and the detection result from the rotation sensor 72 is continuously determined while the traveling operation lever 38 is in the neutral position N.

  If it is determined in step S42 that the rear wheel 11 is rotating in the reverse direction, the controller 70 operates the servo motor (step S43), and changes the trunnion opening degree in the direction in which the aircraft advances (step S44). .

  Conversely, when it is determined in step S42 that the rear wheel 11 is rotating in the forward direction, the controller 70 operates the servo motor (step S45), and changes the trunnion opening degree in the direction in which the machine body moves backward ( Step S46).

  The rear wheel 11 rotates in the backward direction when the rear part of the rice transplanter is positioned so as to face the lower side of the slope, for example, on an inclined ground, and the controller 70 performs control as in steps S43 and S44. Thus, the rice transplanter is controlled to move forward, and the rice transplanter is prevented from moving backward in the downward direction of the slope.

  The rear wheel 11 rotates in the forward direction when the front part of the rice transplanter is positioned so as to face the lower side of the slope, for example, on an inclined ground, and the controller 70 performs control as in steps S45 and S46. Thus, the rice transplanter is controlled to move backward to prevent the rice transplanter from moving forward in the downward direction of the slope.

  Here, the rotation sensor 72 detects the rotation of the rear wheel 11. However, when the front wheel 10 is also a driving wheel as in the rice transplanter of the present embodiment, the rotation sensor 72 detects the rotation of the front wheel 10. The same effect can be obtained even if 72 is detected and the control is performed according to the detection result.

  In the above description, the horizontal sensor 71 is a sensor that detects the tilt of the aircraft in the front-rear direction. However, the horizontal sensor 71 is a sensor that detects the tilt of the aircraft in the horizontal direction, and the controller 70 controls according to the detection result of the horizontal sensor 71. You may make it do.

  For example, when the horizontal sensor 71 that detects the tilt in the left-right direction detects a tilt that is greater than or equal to a predetermined tilt, the relationship between the angle of the travel operation lever 38 and the vehicle speed is, for example, the relationship at the time of sparse planting in FIG. The controller 70 controls the servo motor to change the trunnion opening.

  The case where the horizontal sensor 71 detects an inclination equal to or greater than a predetermined inclination is, for example, when the rice transplanter travels in a dangerous place where it tends to fall sideways, and the controller 70 controls in this way. Thus, a low speed mode in which a change in the vehicle speed by the travel operation lever 38 is small is achieved, and the driver can travel around the place with peace of mind.

  In addition, when there are not enough seedlings on the seedling stage 1 and the spare seedling stage 45, the machine is stopped and the seeding operation is performed. A seeding switch is provided to detect the state of the seeding switch and 70 may control as follows. The seedling joining switch is a switch operated by an operator, and is turned on when starting the seeding joining work and turned off when the seeding joining work is finished and the planting work is resumed.

  The seedling switch corresponds to an example of the seedling supplement detection member of the present invention.

  In FIG. 14, the operation | movement flow at the time of performing the seedling joining operation | work in the rice transplanter of this Embodiment 3 is shown.

  Steps S50 to S54 shown in FIG. 14 show operations before the start of the seedling joining operation, and steps S55 to S57 show operations after the end of the seedling joining operation.

  When starting the seedling joining operation, the driver stops the aircraft and turns on the seedling joining switch (step S50).

  When the controller 70 detects that the seedling switch has been turned on, the controller 70 confirms the position of the traveling operation lever 38 at this time (step S51).

  When the traveling operation lever 38 is at a position other than the neutral position N, the controller 70 operates the servo motor (step S52), and changes the trunnion opening so that the machine body stops (step S53). That is, the controller 70 controls the HST 33 to be in a neutral state.

  While the seedling switch is on, the controller 70 keeps the HST 33 in a neutral state regardless of the position of the travel operation lever 38 even if the travel operation lever 38 is operated to a position other than the neutral position N. Is controlled to be maintained (step S54).

  And after completion | finish of a seedling joining operation | work, an operator tries to operate so that a seedling joining switch may be switched from an ON state to an OFF state.

  At this time, the controller 70 confirms the position of the travel operation lever 38 (step S55), and when the travel operation lever 38 is at the neutral position N, the seedling switch can be switched to the off state (step S55). S56). That is, in this case, the operator can turn off the seedling switch.

  On the other hand, when the travel control lever 38 is in a position other than the neutral position N when the seedling switch is to be turned off, the controller 70 cannot switch the seedling switch to the off state. Control is performed (step S57). That is, in this case, the operator cannot switch off the seedling switch, and can operate the traveling operation lever 38 to the neutral position N to switch off the seedling switch.

  In the conventional rice transplanter, if the traveling operation lever 38 is mistakenly moved from the neutral position N to the forward zone F or the reverse zone R during the seedling operation, the aircraft suddenly starts moving, It was dangerous.

  In the rice transplanter according to the third embodiment, the controller 70 is controlled as in step S54, so that the machine body is safe even if the traveling operation lever 38 is erroneously operated during the seedling operation.

  In addition, when the controller 70 performs the control as in steps S55 to S57, the airframe suddenly starts to move even when the traveling operation lever 38 is operated to a position other than the neutral position N when the seedling switch is turned off. There is no safety.

  In addition, although the structure of this Embodiment 3 demonstrated in the example added to the structure of the rice transplanter of Embodiment 2 shown in FIG. 7, with respect to the structure of the rice transplanter of Embodiment 1 shown in FIG. Even applicable.

  Further, a conventional seedling replenishment sensor 46 can be used as the seedling joining switch, that is, the seedling replenishment detection member of the present invention.

  FIG. 15 shows an operation flow when performing a seeding operation when a conventional seedling replenishment sensor 46 is used as a seedling switch.

  The seedling replenishment sensor 46 activates a notification device such as a buzzer when detecting that the loaded seedlings have disappeared or become less than a predetermined amount on the plurality of seedling platforms 1.

  When the seedling supplement sensor 46 is used as a seedling switch, the seedling placed on the seedling stand 1 is planted and consumed by the seedling planting device 14 and the amount of seedling is less than a predetermined amount. Then, the seedling joining switch (the seedling replenishment sensor 46) is not pressed by the seedling and is turned OFF, and the notification device is activated (step S70).

  At this time, it is determined whether or not the traveling operation lever 38 is neutral (step S71). If the traveling operation lever 38 is not in the neutral position, the controller 70 operates the servo motor (step S72), The trunnion shaft is moved to the stop side (step S73). When the travel operation lever 38 is neutral, the HST 33 is maintained neutral (step S74).

  As a result, the traveling is stopped, and the operator loads the seedling placed on the spare seedling stage 45 on the seedling stage 1 that needs to be replenished by vibrations of the body or unevenness of the field. Since it can be performed without being disturbed by severe shaking, work efficiency is improved and work safety is improved. And since the seedling planting apparatus 14 can mount a seedling on the seedling mounting stand 1 in a posture in which the seedling is not missed or the planting posture is not disturbed, the planting accuracy is improved.

  When the seedling replenishment operation is completed, the seedling joining switch (the seedling supplementing sensor 46) is pressed by the seedling and turned on (step S75). Until all the seedling switches are turned on, the servo motor does not operate regardless of how many steps the traveling operation lever 38 is operated in the forward or reverse direction, and the control is performed to keep the HST 33 in a neutral state (step S79). When all the seedling switch are turned on, it is determined whether or not the traveling operation lever 38 is in a neutral state (step S76). If not, the servo motor is operated until the traveling operation lever 38 is in a neutral state. Control is performed to keep the HST 33 in a neutral state without operating.

  When the travel operation lever 38 is moved to the neutral position, the servo motor is activated (step S77), and control is performed to increase the opening of the trunnion shaft in accordance with the operation direction of the travel operation lever 38 (step S78). .

  If the travel operation lever 38 is not continuously located in the neutral position for a predetermined time (about 2 to 3 seconds or more), the servo motor is not operated even if the travel operation lever 38 is moved to the forward or reverse position. When the travel control lever 38 is moved from reverse to reverse, or from reverse to forward, it can be determined that the servo motor has been operated neutrally, so that the machine travels during the seedling replenishment operation, and the replenishment operation It is possible to prevent the worker who performs the tumbling and the replenishment posture of the seedling from becoming strange.

  Further, the opening of the trunnion shaft when the seedling switch is turned off is stored in the controller 70. When the seedling switch is ON and the traveling operation lever 38 is positioned at the neutral position, the trunnion shaft stored by the controller 70 is stored. If it is configured to automatically return to the opening, the traveling speed before and after seedling replenishment does not change, and the planting position and depth of the seedling can be stabilized.

  Also, an operator operation switch 47 is provided in the operation box 12, and when the seedling replenishment sensor 46 detects a decrease in seedling (seedling out), the operator presses the operator operation switch 47 to rotate the HST servo motor. If the number is stopped and the seedling replenishment is completed, the HST servo motor may be moved by turning off the operator operation switch 47 after the HST operation lever is operated neutrally.

(Embodiment 4)
A side view and a plan view of a riding type eight-row rice transplanter having a traveling vehicle according to the fourth embodiment of the present invention are the same as those of the rice transplanter 8 according to the first embodiment, as shown in FIGS. 1 and 2. It is.

  In FIG. 16, the functional block diagram which shows the drive system of the rice transplanter of this Embodiment 4 is shown. In FIG. 16, the power transmission path is indicated by a solid line, and the transmission path of the control system is indicated by a broken line.

  Similar to the controller 70 of the third embodiment, the controller 75 of the fourth embodiment has a function of controlling the rotational speed of the engine 23. The rice transplanter according to the fourth embodiment includes a rotation sensor 76 that detects the number of revolutions of the engine 23 and an oil temperature sensor 77 that measures the temperature of the hydraulic oil of the HST 33.

  The controller 75 corresponds to an example of a control unit of the present invention. The rotation sensor 76 corresponds to an example of the engine speed detection unit of the present invention, and the oil temperature sensor 77 corresponds to an example of the oil temperature measurement unit of the present invention.

  The rotational speed of the engine 23 detected by the rotation sensor 76 and the temperature of the hydraulic oil measured by the oil temperature sensor 77 are transmitted to the controller 75.

  FIG. 17 shows an operation flow of drive system control by temperature in the rice transplanter of the fourth embodiment.

  When the engine 23 and the HST 33 are operated, the rotation sensor 76 detects the rotation speed of the engine 23 and transmits the rotation speed to the controller 75 (step S60), and the oil temperature sensor 77 measures the temperature of the hydraulic oil of the HST 33. Then, the measured temperature is transmitted to the controller 75 (step S61).

  The controller 75 determines whether or not the temperature of the hydraulic oil in the HST 33 is equal to or higher than a predetermined temperature (step S62). When the temperature of the hydraulic oil of the HST 33 is equal to or higher than the predetermined temperature, the controller 75 does not perform correction control particularly for the drive system.

  On the other hand, when the temperature of the hydraulic oil of HST 33 is lower than the predetermined temperature, the controller 75 controls the engine servo actuator so as to increase the rotational speed of the engine 23 (step S63). At this time, neither the HST opening degree nor the proportional valve opening degree is changed, and control is performed such that only the rotational speed of the engine 23 is increased.

  When the temperature of the hydraulic fluid of the HST 33 is low, the hydraulic fluid has a high viscosity, so that a sufficient output with respect to the rotational speed of the engine 23 cannot be obtained from the HST 33 and a desired torque cannot be obtained.

  In the fourth embodiment, when the temperature of the hydraulic oil is lower than a predetermined temperature, the oil supply amount is increased and the output of the HST 33 is increased by controlling the rotational speed of the engine 23 to be increased. At this time, since only the rotation speed of the engine 23 is increased without changing the HST opening and the proportional valve opening, the torque for driving the front wheels 10 and the rear wheels 11 can be increased.

  Therefore, it is desirable to set the predetermined temperature determined by the controller 75 in step S62 to the minimum temperature of the hydraulic oil when the driving force of the HST 33 sufficient for the rotational speed of the engine 23 is obtained.

  After the control for increasing the rotational speed of the engine 23 (step S63), when the driving force sufficient for the rotational speed of the engine 23 is output from the HST 33, the controller 75 Return to normal control so that the number of revolutions is as specified.

  Since the seedling transplanting machine according to the present invention does not cause uneven fertilization even at the start of planting, the seedling transplanting machine can be applied to a seedling transplanting machine equipped with a fertilizing device at the rear of a machine body having a traveling device, such as a riding rice transplanter. High availability.

DESCRIPTION OF SYMBOLS 1 Seedling stand 2 Seed taking-out port 3 Seedling feeding device 4 Seedling planting tool 8 Rice transplanter 9 Car body 10 Front wheel 11 Rear wheel 12 Operation box 13 Steering handle 14 Seedling planting device 15 Seedling planting part 16 Fertilizer 17 Fertilizer tank 18 Feeding unit 19 Blower 20 Transfer hose 21 Discharge port 22 Driver's seat 23 Engine 24 Planted inter-plant lever 25 Lifting link mechanism 26 Lifting hydraulic cylinder 27 Planting lift lever 28 Planting rod 29 Side float 30 Center float 31 Engine output pulley 32 Belt 33 HST (Hydraulic continuously variable transmission with hydraulic servo)
34 Input pulley 35 Planting clutch 36 Mission case 38 Traveling control lever 39 Planting transmission shaft 40 Ground leveling rotor 41 Transmission case 42 Power take-off shaft 43 Seedling feed belt 44 Rotating case 45 Spare seedling stand 46 Seedling replenishment sensor 47 For operator operation Switch 50 Controller 51 Fertilizer clutch 60 Controller 61 Fertilizer clutch 62 Rotation sensor 63 Fertilizer running out sensor 64 Rotation sensor 70 Controller 71 Horizontal sensor 72 Rotation sensor 75 Controller 76 Rotation sensor 77 Oil temperature sensor 100 Engine 101 HST (continuously variable transmission)
DESCRIPTION OF SYMBOLS 102 Drive wheel 103 Seedling planting device 104 Fertilizer device 105 Traveling operation lever 106 Planting raising / lowering lever 107 Planting clutch 108 Fertilizer clutch

Claims (7)

A planting device (14) provided on the traveling vehicle body (9), for planting seedlings in the field;
A fertilizer application device (16) for supplying fertilizer to a seedling planting position;
A continuously variable transmission (33) that changes the traveling direction and speed of the traveling vehicle body (9) in accordance with the operation of the traveling operation lever (38);
A servo actuator for controlling the continuously variable transmission (33);
A control unit (50) for controlling the fertilizer (16) and the servo actuator according to the operation of the travel operation lever (38),
The controller (50) drives the fertilizer application (16) when the travel operation lever (38) is operated forward, and after a predetermined time has elapsed, drives the servo actuator to drive the wheels (10, 11). ) And the planting device (14). A planting device (14) provided on the traveling vehicle body (9), for planting seedlings in the field;
A fertilizer application device (16) for supplying fertilizer to a seedling planting position;
A continuously variable transmission (33) that changes the traveling direction and speed of the traveling vehicle body (9) in accordance with the operation of the traveling operation lever (38);
A servo actuator for controlling the continuously variable transmission (33);
A rotation detector (62) for detecting rotation of a drive rotary shaft for driving the fertilizer application (16);
A residual fertilizer detection unit (63) for detecting that the amount of the fertilizer in the fertilizer hopper (17) of the fertilizer application device (16) in which the fertilizer for feeding is stored has become a predetermined amount or less;
A control unit (60) for controlling the servo actuator based on the operation of the travel operation lever (38) and the detection result of the residual fertilizer detection unit (63);
A seedling transplanter, wherein the servo actuator is driven to drive the wheels (10, 11), the planting device (14), and the fertilizer application (16). An inter-plant switching member (24) for adjusting an interval between seedlings planted in the field by the planting device (14);
The inter-plant switching member (24) includes a planting interval detection unit that detects that the planting interval is operated so as to change the planting interval of the seedling,
The control unit (60) reduces the speed of the traveling vehicle body (9) when the planting interval of the seedlings is adjusted to be wide according to the detection state of the planting interval detection unit. The seedling transplanter according to claim 2, wherein the servo actuator is controlled. An inclination detector (71) for detecting the inclination of the traveling vehicle body (9);
The controller (70) is configured to control the servo actuator to reduce the speed of the traveling vehicle body (9) when the inclination detector (71) detects an inclination greater than a predetermined value. The seedling transplanter according to claim 2 or 3, characterized in that the transmission (33) is operated. A wheel rotation detector (72) for detecting the rotation of the wheel (11) of the traveling vehicle body (9);
The controller (70) rotates the wheel when the inclination detector (71) detects an inclination before and after a predetermined value or more and the traveling operation lever (38) is operated in a neutral state. When the rotation of the wheel (11) is detected by the detection unit (72), the continuously variable transmission (33) is operated so as to stop the wheel (11) by controlling the servo actuator. The seedling transplanter according to claim 4, wherein The planting device (14) includes a seedling replenishment detection member (46) for detecting replenishment work of seedlings to a seedling mount (1) for supplying seedlings to be planted,
The control unit (70)
When the seedling replenishment detection member (46) is turned on, until the seedling replenishment detection member (46) is turned off, the servoactuator operates the servooperation regardless of the operating state of the travel operation lever (38). The stepless transmission (33) is controlled to be neutral,
The seedling replenishment detection member (46) is not turned off when the seedling replenishment detection member (46) is turned off unless the traveling operation lever (38) is in a neutral state. The seedling transplanter according to any one of 1 to 5. An oil temperature measuring section (77) for measuring the temperature of the hydraulic oil of the continuously variable transmission (33);
An engine speed detector (76) for detecting the speed of the engine (23);
An engine servo actuator for controlling the rotational speed of the engine (23),
When the temperature of the hydraulic oil measured by the oil temperature measurement unit (77) is lower than a predetermined temperature, the control unit (75) drives the engine servo actuator to rotate the engine (23). The seedling transplanting machine according to any one of claims 1 to 6, wherein the seedling transplanting machine is controlled so as to increase.

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