JP2014045685A - Seedling transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling transplanter attaining good traveling performance and operability in rectilinear traveling to improve the accuracy of planting a seedling.SOLUTION: A seedling transplanter includes: a vehicle body frame 1 provided with right and left front wheels 7 and right and left rear wheels 8; a steering member 18 for the right and left front wheels 7; steering angle detection means 70 of a steering angle of the steering member 18; a seedling planting part 9 mounted on a rear side of the vehicle body frame 1 to be lifted; vertical position detection means 72 for detecting a vertical position of the seedling planting part 9 from a field surface based on a lifting angle of a lift link mechanism S; and a power supply B for supplying a drive force to the right and left front wheels 7 and the right and left rear wheels 8. The seedling transplanter includes: traveling motors 67, 68 operated by the drive force from the power supply B, which are provided on the right and left front wheels 7 and the right and left rear wheels 8, respectively, and a controller 100 provided to make the traveling motors 68 of the right and left rear wheels 8 equal in rotational frequencies when the seedling planting part 9 is at a height of a planting operation in a lowered state and also a steering angle is under a predetermined angle. In performing delicate steering such as correction for rectilinear traveling in the planting operation, the right and left rear wheels 8 can be kept to the same rotational frequency.

Description

  The present invention relates to a seedling transplanter for transplanting seedlings such as paddy rice to a field.

  The riding-type seedling transplanter has a configuration in which a seedling planting apparatus is mounted on the rear part of a traveling vehicle body provided with a seat on which an operator boards via a lifting link mechanism. In many cases, an engine is used as a power source for driving the seedling transplanter and for operating the seedling planting device, but a seedling transplanter using an electric motor equipped with a battery as a power source is also known.

According to the seedling transplanter using an electric motor as a power source, it is possible to work in a quiet environment with little vibration. For example, there is the following Patent Document 1 as a seedling transplanter using an electric motor.
In Patent Document 1, a traveling motor for driving the traveling device and a battery serving as a power source are provided in the vehicle body, a planting motor for driving the seedling planting unit is provided in the seedling planting unit, and the leveling device is driven. An arrangement has been disclosed in which a seedling transplanter provided with a ground leveling motor for the purpose of planting a suitable leveling planting by adjusting the rotational speed of the planting motor or leveling motor to the change in the rotational speed of the traveling motor.

  In addition, the transmission structure from each motor is simplified to reduce the weight of the airframe and improve the running performance and planting performance. Further, when the airframe is turning, the driving motor of the rear wheel inside the turn is stopped and the rear wheel inside the turn is idled to smoothly turn the airframe. Further, it is determined that the turning is not smoothly performed when the rotational speed of the rear wheel inside the turning is lower than a predetermined rotational speed based on the rotational speed of the rear wheel outside the turning, and the rear wheel inside the turning is determined. Is driven by a predetermined amount of rotation, slip of the rear wheel outside the turn can be suppressed.

JP 2011-30473 A

With the configuration described in Patent Document 1, it is possible to reduce the weight of the airframe, improve the running performance and planting performance, and smoothly turn the airframe when it turns.
However, even if a smooth turn is possible at the time of turning, the efficiency of the planting work is not improved unless the running performance and operability during straight traveling in which the planting work is performed are not good. When the farm field and the traveling wheels come into contact with each other, the traveling direction of the traveling vehicle body is distorted little by little by the resistance generated at that time, so the operator needs to operate the handle to correct the traveling direction.

  Due to factors such as the state of the field and the weight of the aircraft, it is difficult to travel straight when traveling straight. In addition, according to the configuration described in Patent Document 1, the seedling planting device mounts behind the rear wheel during planting work (at the time of seedling planting work, the seedling planting part descends and is positioned on the rear side of the aircraft). In the case of fine handle operation such as correction of straight traveling, the seedling planting device is swung to the opposite side to the operation direction of the handle.

  When this shaking occurs, the planting position of the seedlings is shifted, and the seedling planting row is distorted, resulting in deterioration of seedling planting accuracy. Moreover, the space | interval of adjacent seedlings becomes narrow, air permeability worsens, and the problem that a pest tends to generate | occur | produce also arises.

  Further, in the configuration described in Patent Document 1, since the front and rear wheels are four-wheel drive driven by the respective traveling motors, the work is performed without hindering traveling in a field where the soil is soft and the rotation of the traveling wheels is easily disturbed. Efficiency is improved.

However, in fields where the soil is hard and the rotation of the traveling wheels is difficult to prevent, extra power is consumed by the four-wheel drive.
Furthermore, since the seedling transplanter operates as operated by the operator regardless of the remaining amount of the battery, it consumes a lot of electric power such as a turning operation at the field end when the remaining amount of the battery is very small. If you do, it will stop on the spot. In this case, the battery mounting part is often located at a position away from the field edge, and the operator must carry a replacement work with a heavy battery in the field, which greatly increases the efficiency of the battery replacement work. And the labor of the worker increases.

  The subject of this invention is provision of the seedling transplanting machine which makes the runnability and operativity at the time of planting work favorable, and improves the planting precision of a seedling. Another object of the present invention is to provide a seedling transplanter that has a power saving effect, can reduce the efficiency of replacement work of a power source such as a battery, and can reduce the burden of replacement work for an operator.

The above-described problems of the present invention are solved by the following solution means.
The invention according to claim 1 is a vehicle body frame (1) having left and right front wheels (7) and left and right rear wheels (8), and the left and right front wheels (7) provided on the vehicle body frame (1). A steering member (18) for steering the vehicle, a steering angle detection means (70) for detecting the steering angle of the steering member (18), and a lifting link mechanism (S) on the rear side of the vehicle body frame (1). A seedling planting section (9) that is mounted so as to be able to be lifted and planted in the field, and a seedling planting section (9) that is provided in the lifting link mechanism (S) and that is raised and lowered by the lifting link mechanism (S). ) And a vertical position detection means (72) for detecting the vertical position of the vehicle body frame (1) from the vehicle body frame (1), and provided at the front part of the vehicle body frame (1), on the left and right front wheels (7) and the left and right rear wheels (8). In a seedling transplanter equipped with a power source (B) for supplying driving force, from the power source (B) Travel motors (67L, 67R, 68L, 68R) that are operated by driving force are provided on the left and right front wheels (7) and the left and right rear wheels (8), respectively, and the seedlings are detected by the detection values from the vertical position detecting means (72). When the planting part (9) is in the lowered state and the steering angle detected by the steering angle detection means (70) is less than a predetermined angle, the left and right rear wheel (8) travel motors (68L, 68R) It is a seedling transplanting machine provided with a control device (100) having the same motor rotation speed control function to make the rotation speed of the same.

  In the invention according to claim 2, the control device (100) is configured such that the seedling planting part (9) is detected by the vertical position detecting means (72) when the seedling planting part (9) is in a lowered state. When the vertical position exceeds the reference value set as the reference position at the time of work by a predetermined value or more, it is judged as shallow planting work, and when it falls below the reference value by a predetermined value or more, it is judged as deep planting work, and it is judged as shallow planting work. In this case, two-wheel drive travel control is performed in which the travel motors (67L, 67R) of the left and right front wheels (7) are not driven and only the travel motors (68L, 68R) of the left and right rear wheels (8) are driven. In this case, the vehicle has a traveling control function of four-wheel drive traveling control for driving the traveling motors (67L, 67R, 68L, 68R) of both the left and right front wheels (7) and the left and right rear wheels (8). This is a seedling transplanter.

  The invention according to claim 3 is provided on the vehicle body frame (1) and can be switched to an operation position including a forward position, a neutral position, and a reverse position, and the speed increases as the operation amount from the neutral position increases. In this way, the left and right front wheels (7) and the left and right rear wheels (8) are operated in the forward / backward direction and the traveling speed, and the traveling operation lever (16) detects the operating position of the traveling operation lever (16). A lever position detecting means (16a), a remaining amount detecting means (78) for detecting the remaining amount of the power source (B), and a notifying means (76, 77) for notifying an operator by voice or display; The control device (100) changes the drive output of each traveling motor (67L, 67R, 68L, 68R) according to the operation position detected by the traveling operation lever position detecting means (16a), and the traveling operation lever (16). When the operation position is switched from the neutral position to the reverse position and the remaining amount of power detected by the remaining amount detecting means (78) is less than a predetermined ratio, the notifying means (76, 77) is activated. It is a seedling transplanter of Claim 1 or Claim 2 which has the alerting | reporting control function to be made.

  The invention according to claim 4 is provided on the vehicle body frame (1) and can be switched to an operation position including a forward position, a neutral position, and a reverse position, and the speed increases as the operation amount from the neutral position increases. In this way, the left and right front wheels (7) and the left and right rear wheels (8) are operated in the forward / backward direction and the traveling speed, and the traveling operation lever (16) detects the operating position of the traveling operation lever (16). Lever position detection means (16a) and travel load detection means (80, 82) for detecting the travel load of the left and right front wheels (7, 7) or the left and right rear wheels (8, 8) are provided, and the control device ( 100) If the load detected by the travel load detecting means (80, 82) is larger than the reference load, increase the current value output to each travel motor (67L, 67R, 68L, 68R). Each travel motor (67L 67R, 68L, 68R) and the torque of each traveling motor (67L, 67R, 68L, 68R) are increased while the load detected by the traveling load detecting means (80, 82) is a reference load. Is smaller than the current value output to each traveling motor (67L, 67R, 68L, 68R) to increase the rotational speed of each traveling motor (67L, 67R, 68L, 68R) and each traveling motor (67L, 67R, 68L, 68R), the current / torque control function for reducing the torque, and the upper limit value of the rotational speed of each traveling motor (67L, 67R, 68L, 68R) as the detected value of the traveling operation lever position detecting means (16a). The seedling transplanting machine according to any one of claims 1 to 3, wherein the seedling transplanting machine has an upper limit rotational speed control function for a corresponding value.

  According to a fifth aspect of the present invention, the control device (100) does not switch the operation position of the travel operation lever (16) for a predetermined time or more, and the detection value of the travel operation lever position detecting means (16a) changes for a predetermined time or more. If not, the rotational speed of each traveling motor (67L, 67R, 68L, 68R) is set to a value corresponding to the detected value of the traveling operation lever position detecting means (16a), and the left and right front wheels (7) and the left and right rear wheels (8). Auto-cruise function that keeps the traveling speed of the vehicle approximately constant, and an auto-cruise cancel function that cancels the auto-cruise function when the load detected by the travel load detecting means (80, 82) is larger than the reference load The seedling transplanter according to claim 4, comprising:

  According to the sixth aspect of the present invention, a shock absorbing spring (90) is provided on each of the left and right front wheels (7) and the left and right rear wheels (8), and a cylinder (87L, 87R, 88L, 88R) are provided on each spring (90), and the cylinders (87L, 87R, 88L, 88R) extend and retract independently, so that the left and right front wheels (7) and the left and right rear wheels (8) The suspension mechanism (K) that moves up and down independently is configured, and the control device (100) includes a traveling motor (67L, 67R, 68L) with the smallest load detected from each of the traveling load detecting means (80, 82). , 68R), the front wheels (7) or the rear wheels (8) corresponding to the farm scene are lifted and the cylinders (87L, 87R, 88L, 88R) are extended, and the traveling motor (67 , 67R, 68L, 68R) when the load detected by the travel load detecting means (80, 82) reaches the reference load, the cylinders (87L, 87R, 88L, 88R) are stopped and the corresponding front wheels ( 7) or a traveling wheel torque control function for increasing the torque of the traveling motor (67L, 67R, 68L, 68R) by decreasing the rotational speed of the traveling motor (67L, 67R, 68L, 68R) of the rear wheel (8). A seedling transplanter according to claim 4 or claim 5.

According to the first aspect of the present invention, the rotation of the left and right rear wheels (8, 8) is kept the same when performing fine steering such as correction of straight traveling during planting work. Therefore, when the seedling planting part (9) is in a planting operation state where the seedling planting part (9) rides behind the left and right rear wheels (8, 8), the seedling planting part (9) is swung to the opposite side to the steering direction. Since the planting position of the seedling can be prevented from shifting, the seedling planting row is not disturbed, and the planting accuracy of the seedling according to the field is improved.
Further, since the seedling planting part (9) can be prevented from being shaken and the traveling direction of the traveling vehicle body can be prevented from being disturbed, the traveling direction of the traveling vehicle body can be easily returned to the straight traveling direction, and the operability is improved.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, in the case of shallow planting work, the farm scene is often hard and the traveling wheels (7, 8) are difficult to sink. Stable travel is possible even if the motor torque of the travel motors (67L, 67R, 68L, 68R) is small. Therefore, in this case, the left and right front wheels (7, 7) are not driven, and only the left and right rear wheels (8, 8) are driven so that the vehicle is driven by two-wheel drive. Power consumption is reduced and the power saving effect is high.

  On the other hand, during deep planting, the farm scene is often soft, and the traveling wheels (7, 8) tend to sink. Therefore, the motor torque of each traveling motor (67L, 67R, 68L, 68R) is required to stabilize the traveling performance. Need to be larger. Therefore, in this case, by driving the left and right front wheels (7, 7) and the left and right rear wheels (8, 8) to drive by four-wheel drive, stable forward running without losing the resistance of the field scene. This will improve the efficiency of planting work.

  According to the invention described in claim 3, in addition to the effect of the invention described in claim 1 or 2, when the traveling operation lever (16) is operated from the neutral position to the reverse position, B) When the remaining amount of electricity is low, the reverse running is not performed, so that the running motor (67L, 67R, 68L, 68R) stops during turning of the seedling transplanter, or resists the mud soil resistance in the field. The work efficiency is improved because it is possible to prevent the work from being interrupted due to the inability to secure the output to be obtained.

In particular, when turning, it is more susceptible to mud resistance than when traveling straight, and the traveling motors (67L, 67R, 68L, 68R) need to rotate the traveling wheels (7, 8) with higher output. If the power is insufficient, the traveling wheels (7, 8) cannot rotate due to the resistance of mud and cannot move, but such problems can be prevented.
In addition, by bringing the front part of the traveling vehicle body closer to the farm field end, the power source (B) at the front part can be easily replaced or charged, so that the work efficiency is further improved.

  According to the invention described in claim 4, in addition to the effect of the invention described in any one of claims 1 to 3, the front wheel (7, 7) and the rear wheel of the seedling transplanter are caused by the resistance of mud. When the current value to the travel motors (67L, 67R, 68L, 68R) fluctuates in accordance with the load applied to (8, 8), the travel motors (67L, 67R, 68L, 68R) in places where the mud resistance is large. Since the motor torque can be prioritized by reducing the rotation speed of the motor, it is prevented that the vehicle cannot run due to the resistance of the mud, and the work efficiency is improved. On the other hand, in places where the resistance of mud is small, the speed of the traveling motor (67L, 67R, 68L, 68R) can be increased to give priority to the traveling speed, so the operator operates the traveling operation lever (16) to set it. Since it is possible to move at the traveling speed, the work efficiency is improved.

  According to the fifth aspect of the invention, in addition to the effect of the fourth aspect of the invention, the vehicle travels according to the operation position of the travel operation lever (16) when the travel operation lever (16) is not operated for a predetermined time or more. By operating the motors (67L, 67R, 68L, 68R) at a constant number of rotations, the traveling speed of the seedling transplanter is kept substantially constant, so that the traveling operation lever ( It is not necessary to adjust the traveling speed by operating 16), and the operability is improved.

  Moreover, since the seedling transplanter can plant seedlings while traveling at a constant traveling speed, the spacing between the front and rear of the seedlings can be easily maintained, and the seedling planting accuracy is improved. When a high load state is detected by the load sensors (80, 82), priority is given to securing the motor torque, thereby preventing the seedling transplanter from moving forward and improving the work efficiency.

  According to the invention described in claim 6, in addition to the effect of the invention described in claim 4 or claim 5, the traveling wheels (7, 8) can be reliably connected to the four wheels even in a field with large surface irregularities. Since it can be grounded, the traveling direction of the traveling vehicle body is less likely to be disturbed, and the seedlings are planted in a straight line, so that the work efficiency is improved.

Further, it is not necessary to frequently perform an operation of adjusting the traveling direction of the traveling vehicle body, and the operability is improved.
Further, the motor torque is reduced by automatically reducing the rotational speed of the traveling motors (67L, 67R, 68L, 68R) corresponding to the traveling wheels (7, 8) that are extended and grounded by the cylinders (87, 88). Therefore, it is possible to prevent the grounded traveling wheels (7, 8) from becoming unrotatable due to the resistance of the mud, to reliably travel, and to prevent the traveling direction from being disturbed.

It is a side view of the riding type rice transplanter of the Example of this invention. It is a top view of the riding type rice transplanter of FIG. FIG. 3A is a plan view of the main part of the riding type rice transplanter of FIG. 1, and FIG. 3B is a schematic diagram of FIG. It is the figure which showed the hydraulic circuit and accompanying apparatus of the riding type rice transplanter of FIG. It is a block diagram of the control apparatus of the riding type rice transplanter of FIG. It is an example of the control flow of the controller of the riding type rice transplanter of FIG. It is an example of the control flow of the controller of the riding type rice transplanter of FIG. It is the figure which showed the driving | running | working locus | trajectory of the riding type rice transplanter. It is an example of the control flow of the controller of the riding type rice transplanter of FIG. It is an example of the control flow of the controller of the riding type rice transplanter of FIG. It is an example of the control flow of the controller of the riding type rice transplanter of FIG. It is an enlarged front view of the axial part of a front wheel. It is an example of the control flow of the controller of the riding type rice transplanter of FIG. It is the figure which showed an example of the hardness sensor. It is a top view of the fertilizer application of the riding type rice transplanter of FIG.

  Embodiments of the present invention will be described below. In this specification, the left and right directions in the forward direction of the seedling transplanter are referred to as left and right, respectively. 1 and 2 show a side view and a plan view of a riding type rice transplanter which is an embodiment of a seedling transplanter. FIG. 3 (a) shows a plan view of the main part of the riding type rice transplanter, and FIG. 3 (b) shows a schematic diagram of FIG. 3 (a).

  This riding type rice transplanter is provided with a steering post 17 at the front part of the body frame 1, a front wheel 7 mounted on a front axle housing 19 that is steered by a steering handle 18 on the steering post 17, and a rear axle housing at the rear part. A riding four-wheel traveling form is employed in which the vehicle travels with the rear wheel 8 mounted on the shaft 20. Further, a seedling planting portion 9 having a multi-row planting shape is connected to the rear of the vehicle body frame 1 via an elevating link mechanism S composed of parallel links 21a and 21b, and is transmitted from the vehicle body frame 1 through the PTO shaft 15. Thus, the planting device 30 can be operated.

  A battery B serving as a driving power source for each device is mounted on the center upper portion of the vehicle body frame 1, and a seat cover 6 covering the battery cover 4 of the battery B is formed to bulge upward from the floor step 2. A cockpit 5 is provided on the upper surface of the cover 6. The front part of the floor step 2 is formed with a steering post 17 on both sides, and a spare seedling stage 23 on which the seedling for replenishment is placed is arranged on the outer side, and the rear part is a rear step on the rear side part of the cockpit 5. It connects with 24, and the operator who drives a riding type rice transplanter forms these upper sides easily to move back and forth.

  The seedling planting section 9 has a center float 26 and a side float 27 arranged below the seedling planting frame 25 provided with an electric planting motor 22 (FIG. 5) inside, and a rear side descending on the side section. An inclined seedling mount (also referred to as a seedling tank) 28 is provided so as to reciprocate left and right, and is operated on a seedling inlet 29 of each seedling tank 28 on the rear side to plant the seedlings separately. Attaching device 30 is provided. The center float 26 and the side float 27 are slid and leveled on the soil surface at the planting positions at regular intervals on the left and right, and a constant planting trajectory line by the planting device 30 on the soil surface of each leveling track. It is configured in a multi-row planting form in which seedlings are planted by the operation of D. The center center float 26 is provided with an elevation sensor 98 (elevation angle detection means) (FIG. 5) for detecting the elevation angle of the center float 26. A pair of left and right drawing markers 184 for drawing the course of the aircraft in the next process to the topsoil surface is provided.

  Further, the parallel links 21a and 21b connected to the rear frame 31 of the vehicle body frame 1 are lifted and lowered by a lifting cylinder 32 that is expanded and contracted by opening and closing of a hydraulic valve 41 (FIG. 4), and each float 26 , 27 are configured to slide and level on the soil surface at a substantially constant pressure. And the fertilizer 33 is provided on the rear frame 31, and the fertilizer fed from the feeding part 61 is supplied to the leveling part of each float 26 and 27 via the fertilization hose 34, and is fertilized. The fertilizer application device 33 feeds the granular fertilizer stored in the fertilizer hopper 60 by a certain amount by the feeding unit 61, and applies the fertilizer to the left and right sides of the floats 26 and 27 with the fertilizer hose 34 (not shown). And is dropped into a fertilization groove formed in the vicinity of the side portion of the seedling planting line by a groove producing body 64 (FIG. 1) provided on the front side of the fertilization guide. Air generated by a fertilizer blower 62 driven by an electric fertilizer blower motor 63 is blown into the fertilizer hose 34 via an air chamber 69 that is long in the left-right direction, and the fertilizer in the fertilizer hose 34 is forcibly conveyed by wind pressure. It is like that. The feeding unit 61 is driven by a feeding motor 65 (FIG. 5), and the fertilizer blower motor 63 and the feeding motor 65 are operated or turned on and off by a fertilizer blower switch 106 and a feeding switch 108 (FIG. 5) provided near the cockpit 5. Stop.

  Further, on the front side of each float 26, 27, ground leveling rotors 35, 36 that preliminarily scrape the soil surface before leveling are disposed, and can be transmitted and rotated from the transmission mechanism of the rear axle housing 20 via the interlocking shaft 37. it can.

  The traveling control lever 16 for operating the forward / rearward and traveling speed provided in the lower front part of the cockpit 5 is rotated along the lever guide 16b (FIG. 2) to move the aircraft forward and backward, increase / decrease the traveling speed, In addition, the travel stop is manually switched. The operation position of the travel operation lever 16 can be detected by a travel operation lever sensor (such as a potentiometer that detects the operation angle of the lever 16) 16a provided on the base side of the travel operation lever 16.

  Note that a pair of left and right side markers 75 and 75 are provided on the left and right sides of the front part of the machine body, which are positioned above the seedlings planted on the adjacent strips and are used as a guide for the operator to run the machine body. The drawing markers 184 and 184 are used to form a line that is used as a guide for straight running by cutting the field scene. However, if the soil is soft, the groove is naturally filled with the passage of time, or the drawing markers 184 and 184 are wound up. The mud may disappear from the mud. At this time, if the side markers 75, 75 and the adjacent seedlings that have already been planted are run, the seedlings can be planted in accordance with the planting of the adjacent strips so that the planting direction of the seedlings is not disturbed. , Planting accuracy is improved.

  And in the riding type rice transplanter of this embodiment, it forms so that it may swell higher than the floor step 2 on the vehicle body frame 1, and while covering the battery cover 4, it is a seat cover which mounts the cockpit 5 on the upper surface. 6, the battery B is mounted on the battery cover 4, and the driving wheels (front wheels and rear wheels) 7 and 8 and the seedling planting unit 9 are driven to perform seedling planting work.

  A total of four traveling wheels including left and right front wheels 7 and left and right rear wheels 8 are driven by dedicated electric traveling motors 67L, 67R, 68L, and 68R (four in total). The output shafts of the traveling motors 67L, 67R, 68L, 68R serve as axles, and each traveling wheel is driven. The travel operation lever 16 can be operated forward (operating forward), neutral position, and backward (operating backward). A detection value (detection angle) from the travel operation lever sensor 16a is determined by a controller (control device) 100. Is being monitored. If the detection angle of the travel operation lever sensor 16a is changed when there is no other control condition, the controller 100 increases or decreases the rotational speed of the travel motors 67L, 67R, 68L, 68R, or the travel motors 67L, 67R, 68L and 68R are stopped.

  Specifically, when the travel operation lever sensor 16a is a potentiometer and the detected angle is ± 0 ° (neutral position), the travel motors 67L, 67R, 68L, 68R are stopped. When the forward or backward tilt angle detected by the travel operation lever sensor 16a increases, the rotational speed of the travel motor increases. When the forward or rearward tilt angle detected by the travel operation lever sensor 16a decreases, the rotational speed of the travel motors 67L, 67R, 68L, 68R decreases.

  And the seedling planting part 9 becomes a structure driven with the motive power of the electric planting motor 22 provided in the lower part position. The planting motor 22 is driven by turning on a planting motor on / off switch 102 provided in the vicinity of the cockpit 5.

  Next, as shown in FIG. 1, the elevating cylinder 32 is configured to connect the piston side to the elevating link mechanism S equipped at the rear part of the vehicle body frame 1 and elevate the seedling planting unit 9. 51 will be described. FIG. 4 shows the hydraulic circuit and associated devices.

  First, the elevating hydraulic cylinder 32 is connected so that hydraulic oil is fed from the hydraulic pump 52 through the feed oil passage 53, the hydraulic valve 41, and the feed oil passage 55, and is provided on the side (left side) of the steering handle 18. The hydraulic valve 41 is switched by the switching operation of the planting lift lever 45 (FIG. 2) to be expanded and contracted. As shown in FIG. 4, the elevating hydraulic cylinder 32 is connected to the reflux oil passage 57 and further connected to the vane pump 59 via the hydraulic valve 41 and the reflux oil passage 58. When the hydraulic valve 41 is switched to the communication side by the operation, the seedling planting part 9 is compressed to the reducing side while compressing the hydraulic oil in the elevating hydraulic cylinder 32 by its own weight, and the hydraulic oil that recirculates at high pressure is supplied to the vane pump 59. It is configured to rotate. In this way, the vane pump 59 is driven by the hydraulic oil that returns to the tank 43 to generate power.

  Of the four, one traveling motor 68 for driving the rear wheels is configured to transmit the hydraulic pump 52 by providing the output shaft 40 for power extraction. A vane pump 59 is also installed next to the pump 52 to simplify the configuration. The hydraulic pump 52 is configured to be driven only when the output shaft 40 is forwardly rotated to deliver hydraulic oil, and is equipped with a one-way clutch so that it cannot be rotated during reverse rotation. On the other hand, the vane pump 59 is A one-way clutch is provided so that 40 does not rotate during normal rotation.

  Furthermore, the planting lift lever 45 is connected and provided so that the switching operation of the brake 11 provided between the hydraulic pump 52 and the vane pump 59 can be performed in accordance with the switching operation of the hydraulic valve 41. The brake 11 is applied to the vane pump 59 side and to the hydraulic pump 52 side at the time of reverse rotation so that the generation of excessive current can be cut off.

  A controller (CPU) 100 serving as a control device is housed in the battery cover 4 together with the battery B, and based on an input signal from the traveling operation lever sensor 16 a that detects the operation position of the traveling operation lever 16, The drive speeds of the travel motors 67L, 67R, 68L, 68R are controlled to control the travel speed.

FIG. 5 shows a block diagram of the controller 100 of the riding rice transplanter of FIG.
A steering sensor (potentiometer or the like) 70 for detecting the steering angle is provided at the base of the steering handle 18 (stored in the bonnet 17), and the lifting link mechanism S is seeded from the lifting angles of the parallel links 21a and 21b. A vertical position sensor 72 (FIG. 1) for detecting the vertical position of the planting unit 9 is provided.

  The vertical position sensor 72 is a sensor that detects the angle of the upper link 21a, and detects the angle of the upper link 21a of the parallel link over the vertical rotation range of the upper link 21a. The vertical position of the seedling planting unit 9 with respect to the vehicle body frame 1 is measured by the vertical position sensor 72. The vertical position sensor 72 may be provided on the upper link 21a or the lower link 21b. When provided on the lower link 21b, the angle of the lower link 21b is detected over the vertical rotation range of the lower link 21b. The vertical position sensor 72 may be provided on either the upper link 21a or the lower link 21b, and detects the link angle of the elevating link mechanism S regardless of which is provided.

  The steering angle detected by the steering sensor 70 is less than a predetermined angle (for example, 30 degrees) when the vertical position sensor 72 detects that the seedling planting unit 9 is in the lowered state during work. Sometimes, the controller 100 controls the rotational speeds of the traveling motors 68, 68 of the left and right rear wheels 8, 8 to be the same. This rotational speed is detected by rear wheel rotation sensors 71L and 71R provided on the axles 8aL and 8aR of the left and right rear wheels 8 and 8, respectively. The function of the controller 100 is referred to as a motor rotation speed identical control function.

FIG. 6 shows an example of the control flow of the controller 100 of the riding rice transplanter shown in FIG.
When the worker starts traveling of the riding type rice transplanter, it is detected by the vertical position sensor 72 whether or not the seedling planting part 9 is in the lowered state, that is, whether or not the planting work height is reached.

  This is determined based on whether the angle of the upper link 21a is greater than or equal to a predetermined angle (up state when not working) or less than a predetermined angle (down state during planting work). And the up-and-down position of the seedling planting part 9 is calculated from the raising / lowering angle of the parallel links 21a and 21b.

  When the seedling planting part 9 is at the planting work height, the steering direction and the steering angle of the steering handle 18 are detected from the steering sensor 70. When the seedling planting part 9 is above a predetermined angle (for example, 30 degrees), The traveling motor 68 of the wheel 8 stops, and the traveling motor 68 of the rear wheel 8 on the outside of the turn is driven. In this case, since it is determined that the riding type rice transplanter is turning, the body can be smoothly turned by turning the rear wheel 8 inside the turning freely.

  On the other hand, when the steering angle of the steering wheel 18 is less than 30 degrees, the traveling motors 68 and 68 of the rear wheels 8 and 8 on the inside of the turn and the outside of the turn are synchronized and rotate at substantially the same speed. In this case, since it is determined that the riding type rice transplanter travels straight (work travel), the rotation of the left and right rear wheels 8 and 8 is kept the same to correct straight travel during planting work. Even if there is a steering operation, the seedling planting row is not disturbed, and the seedling planting accuracy in accordance with the field is improved.

  In the flow of FIG. 6, the traveling motor 68 of the rear wheel 8 inside the turn when the rotational speed of the traveling motor 68 of the rear wheel 8 inside the turn is lower than the rotational speed of the traveling motor 68 of the rear wheel 8 outside the turn. Is adjusted to the rotational speed of the traveling motor 68 of the rear wheel 8 on the outside of the turn. That is, the control is adjusted to a high rotational speed, but the opposite control (adjusting to a low rotational speed) may be used, or the rotational speed between the two rotational speeds (for example, an average value) may be used.

  At the time of planting, since the seedling planting part 9 runs behind the rear wheel 8, the seedling planting part 9 swings in the direction opposite to the operation direction of the steering wheel 18 when performing fine steering operations such as correction of straight traveling. It will be.

  When this shaking occurs, the planting position of the seedlings is shifted, and the seedling planting row is distorted, resulting in deterioration of seedling planting accuracy. Moreover, the space | interval of adjacent seedlings becomes narrow, air permeability worsens, and the problem that a pest tends to generate | occur | produce also arises.

  However, according to this configuration, the left and right rear wheels 8 and 8 are kept in the same rotation during straight traveling with a small steering angle of the steering handle 18, so that the seedling planting portion 9 is located behind the left and right rear wheels 8. Since it is possible to prevent the seedling planting section 9 from being shaken to the side opposite to the steering direction of the steering handle 18 and shifting the planting position of the seedling when it is in the planting operation state where it is set out, The planting accuracy of the seedling according to the field is improved without being disturbed.

Moreover, since it can prevent that the seedling planting part 9 shakes and the advancing direction of a riding type rice transplanter is disturbed, it becomes easy to return the advancing direction of a riding type rice transplanter to rectilinear advance, and operativity improves.
Then, the vertical position sensor 72 can also determine whether the shallow planting operation or the deep planting operation. The seedling planting unit 9 is lowered, and the controller 100 is based on the angle of the vertical position sensor 72 when the angle of the elevation angle sensor 98 (set in the controller 100), which is determined to be grounded, is detected. To remember. Detection angle X ° = reference value 0. When the planting operation is performed, if the elevation angle sensor 98 detects a predetermined angle by the rotation of the center float 26, the seedling planting unit 9 is raised or lowered. When the angle detected by the vertical position sensor 72 during the ascent or descent changes by a predetermined value or more from the reference value, it is determined that the plant has shifted to shallow planting or deep planting.

  In this way, the controller 100 determines that the planting portion 9 detected by the vertical position sensor 72 is a shallow planting operation when the vertical position of the seedling planting unit 9 exceeds a reference value during work by a predetermined value or more, and sets the reference value during work as a predetermined value. If it falls below the value, it is determined that the planting operation is deep, but if it is determined that the planting operation is shallow, only the traveling motors 68L, 68R for the left and right rear wheels 8, 8 are driven without driving the traveling motors 67L, 67R for the left and right front wheels 7, 7. Two-wheel drive driving control is performed, and when it is determined that the deep planting operation is performed, four-wheel drive driving is performed to drive the driving motors 67L, 67R, 68L, 68R of both the left and right front wheels 7, 7 and the left and right rear wheels 8, 8. It is good also as control. This function of the controller 100 is referred to as a travel control function.

FIG. 7 shows an example (running control) of a control flow of the controller 100 of the riding type rice transplanter of FIG.
When the worker starts traveling of the riding type rice transplanter, the vertical position sensor 72 detects whether or not the seedling planting part 9 is at the planting work height, and whether the planting depth is a shallow planting work. It is judged whether it is deep planting work.

  Specifically, when the rotation angle of the center float 26 changes to the + (upward) side, it can be determined that the farm scene has become shallow. At this time, the controller 100 operates the hydraulic valve 41 to contract the elevating cylinder 32 and raise the seedling planting unit 9. At this time, the angle change of the vertical position sensor 72 is a predetermined value (eg, +3) from the reference value. If it changes more than ~ 5 °), it is regarded as shallow planting. When the farm field is shallow, the body is often hard to sink and load is not likely to occur. Therefore, when it is determined that the planting work is shallow, the driving motors 67L, 67R of the left and right front wheels 7, 7 are stopped, Only the traveling motors 68L and 68R of the rear wheels 8 and 8 are driven. On the other hand, when it is determined that the deep planting operation is performed, the traveling motors 67L, 67R, 68L, 68R of both the left and right front wheels 7, 7 and the left and right rear wheels 8, 8 are driven.

  During shallow planting work, the farm scene is often hard and the traveling wheels 7 and 8 are unlikely to sink. Therefore, stable traveling is possible even if the motor torque of each traveling motor 67L, 67R, 68L, 68R is small. Therefore, in this case, the left and right front wheels 7 and 7 are not driven and only the left and right rear wheels 8 and 8 are driven so as to run by two-wheel drive, thereby making it possible to run without using excess power. Power consumption is reduced and power saving effect is high.

  On the other hand, when the rotation angle of the center float 26 changes to the − (downward) side, it can be determined that the farm scene has become deeper. At this time, the controller 100 operates the hydraulic valve 41 to extend the elevating cylinder 32 and lower the seedling planting unit 9. At this time, the angle change of the vertical position sensor 72 changes from a reference value to a predetermined value (for example, − If it changes 3-5 °) or more, it is regarded as deep planting. When the field is deep, the field scene is often soft and the body is likely to sink and load is often generated. Therefore, the riding type rice transplanter is difficult to move forward, so each traveling motor 67L, It is necessary to increase the motor torque of 67R, 68L, and 68R. Therefore, in this case, by driving the left and right front wheels 7 and 7 and the rear wheels 8 and 8 to drive by four-wheel drive, stable forward running is possible without losing the resistance of the field scene, and planting work Improves efficiency.

  If it is determined that the operation is a shallow planting operation, the driving motors 67L and 67R for the left and right front wheels 7 and 7 are left in the four-wheel drive mode without stopping the driving of the driving motors 67L and 67R for the left and right front wheels 7 and 7. May be controlled to be smaller than the rotational speeds of the traveling motors 68L, 68R of the left and right rear wheels 8, 8.

  The travel control by the controller 100 is performed by changing the current value (energization amount) and frequency of the travel motors 67L, 67R, 68L, 68R and changing the output of the motor torque. The consumption of electric power accompanying the turning on / off of the travel motors 67L, 67R, 68L, 68R is suppressed, and power saving is achieved by minimizing the turning on / off of the motor as much as possible.

  In addition, in this type of electric riding rice transplanter, the operation is performed as the operator operates regardless of the remaining amount of the battery B. When an operation that consumes a large amount of electric power, such as a turning operation, is performed, traveling stops on the spot.

  The mounting part of the battery B is often at a position away from the field end such as the front part of the aircraft, for example, a position away from the field edge such as the inside of the bonnet 17 at the front part of the aircraft or the lower part of the cockpit 5. The operator has to carry heavy battery B into the field, put his feet in the mud and perform the replacement work, and the efficiency of battery B replacement work is greatly reduced, The labor of the worker will also increase.

FIG. 8 shows a travel locus of the riding rice transplanter. The arrow in the figure indicates the direction of travel.
When traveling straight and turning straight (referred to as simple turning, shown in FIG. 8A), the riding rice transplanter travels straight to the edge of the field and then returns to the turning position and turns there. There is a case (referred to as one-step turning, shown in FIG. 8B).

  In the case of simple turning, seedling is not planted until the end of the field, but in the case of one-step turning, seedling is planted until the end of the field ((1) in FIG. 8B). After the person once operates the traveling operation lever 16 from the neutral position to the reverse position and backs up ((2) in FIG. 8B), the vehicle turns (step (3) in FIG. 8B).

  If the remaining amount of the battery B is less than a predetermined amount during the operation to the reverse position of the traveling operation lever 16, notification of buzzer 76, lamp 77 (FIG. 5), monitor (not shown) display, etc. The controller 100 may be provided with a notification control function that issues a warning by means.

  During a simple turn, the vehicle turns without interruption from forward travel, so there is no need to warn because it does not stop during the turn. Note that general notification means such as the lamp 77 is activated when the remaining amount of the battery B becomes less than a predetermined amount ratio.

  On the other hand, in the case of one-step turning, the vehicle travels straight to the end of the field and then backs. Therefore, after stopping to a predetermined position, it stops and then shifts to turning. Consumption increases. For this reason, there is a high possibility that the power will be insufficient if the vehicle turns with a small amount of remaining power.

  Such turning is often performed in order to finish the headland planting work in one round when planting seedlings in the four corners (headland) of the field. However, since it is not possible to make a turn when approaching the end of the field, it is necessary to back a predetermined distance, stop at an appropriate position, and then make a turn. Whether or not to make such a turn depends on the worker, the size of the field, or the work mode.

FIG. 9 shows an example (notification control) of the control flow of the controller 100 of the riding rice transplanter of FIG.
When the operator starts traveling on the riding type rice transplanter and the operation position of the traveling operation lever 16 detected by the traveling operation lever sensor 16a is switched from the neutral position to the reverse position, the controller 100 detects the remaining amount of the battery B. The remaining amount of the battery B is checked by an input signal from the checker 78. When the remaining amount of the battery B is sufficient, each traveling motor 67L, 67R, 68L, 68R is driven (reversely rotates each motor), and the riding type rice transplanter is moved backward.

  On the other hand, when the remaining amount of the battery B is insufficient, the traveling motors 67L, 67R, 68L, 68R are not driven (output signals to the motors are canceled), and the riding type rice transplanter is not moved. Then, notification means such as a buzzer 76 and a lamp 77 are operated. The determination of the remaining amount of the battery B may be based on the case where the charge amount of the battery B is less than 1/3. Or it is good also as a standard when it becomes almost zero.

  When the travel control lever 16 is operated from the neutral position to the reverse position, when the remaining amount of electric power of the battery B is low, the reverse travel is not performed, so that the travel motors 67L, 67R, 68L, 68R are performed during the turning of the riding rice transplanter. Can be prevented from being interrupted, or the operation can be prevented from being interrupted due to the inability to secure an output that can resist the mud's resistance in the field, thus improving work efficiency. In particular, when turning, it is more susceptible to mud resistance than when traveling straight, and the traveling motors 67L, 67R, 68L, 68R need to rotate the traveling wheels 7, 8 at a higher output, resulting in insufficient power. If this occurs, the traveling wheels 7 and 8 cannot rotate due to the resistance of mud and cannot move, but this can be prevented.

  In addition, when the riding type rice transplanter is moved to the end of the field, a warning that the battery level is insufficient is given, so that the operator can replace the battery as soon as he gets off the machine body, so work efficiency is not lowered. And, by bringing the front part of the riding type rice transplanter closer to the farm field end, it is possible to easily replace and charge the battery B under the front cockpit 5 or in the hood 17 at the front part of the machine body, Work efficiency is further improved.

  The traveling motors 67L, 67R are provided on the axle 7a of the front wheel 7 or the axle 8a of the rear wheel 8 with traveling load sensors 80, 82 for detecting traveling loads applied to the left and right front wheels 7, 7 and the left and right rear wheels 8, 8. , 68L, 68R, and when the load detected by the travel load sensors 80, 82 is high, the current value output to each travel motor 67L, 67R, 68L, 68R is increased to increase the travel motor 67L. , 67R, 68L, 68R and the torque of each of the traveling motors 67L, 67R, 68L, 68R are increased, while each of the traveling motors 67L when the load detected by the traveling load sensors 80, 82 is low. , 67R, 68L, 68R, the current value output to each of the traveling motors 67L, 67R, 68L, 68R is increased and the traveling motors 67L, 6R are decreased. R, 68L, may be provided with current and torque control function to reduce the torque of the 68R to the controller 100. Furthermore, it is preferable to provide an upper limit rotational speed control function that sets the upper limit value of the rotational speed of each traveling motor 67L, 67R, 68L, 68R to a value corresponding to the detected value of the traveling operation lever sensor 16a.

  That is, each of the traveling motors 67L, 67R, 68L, 68R is a motor in which when the current value to be output is increased, the motor torque increases and the rotational speed of each of the traveling motors 67L, 67R, 68L, 68R decreases.

  As an example of the traveling load sensors 80 and 82, there is one that measures a time required for one rotation by providing a tachometer on the axles 7a and 8a (a total of four axles on the left and right and front and rear) of the front wheel 7 or the rear wheel 8. . If the load is large, the time required for one rotation will be longer, and if the load is small, the time required for one rotation will be shortened. Therefore, the reference time (time to determine that the load is normal, the range between the upper limit value and the lower limit value is Whether the load is high or low is determined based on whether the time required for one rotation is longer or shorter than that. That is, when the load is larger than the reference load, the load is high, and when the load is small, the load is low. When the field is mud, the running resistance is inevitably larger than the dry paddy, and a large running load is applied.

FIG. 10 shows an example of the control flow (current / torque control and upper limit rotational speed control) of the controller 100 of the riding type rice transplanter of FIG.
When the worker starts traveling on the riding type rice transplanter and the load detected by the traveling load sensors 80, 82 is high, the rotational speed of the corresponding traveling motor 67L, 67R, 68L, 68R is reduced. The torque of the traveling motors 67L, 67R, 68L, 68R is increased. At this time, the motor speed is decreased until a normal load (reference load) is reached. On the other hand, when the load detected by the travel load sensors 80, 82 is low, the rotational speed of the corresponding travel motor 67L, 67R, 68L, 68R is increased and each travel motor 67L, 67R, 68L, 68R is increased. Reduce the torque. At this time, the upper limit value of the rotational speed of each traveling motor 67L, 67R, 68L, 68R is set to a value corresponding to the detected value of the traveling operation lever sensor 16a. There is no change in the rotational speed of the wheels 7 and 8 where the load detected by the traveling load sensors 80 and 82 is neither low nor high.

  In this configuration, the mud resistance is high because the current value to the traveling motors 67L, 67R, 68L, 68R varies according to the load applied to the front wheel 7 and the rear wheel 8 of the riding type rice transplanter due to mud resistance. Then, the motor torque can be prioritized by reducing the rotational speed of the traveling motors 67L, 67R, 68L, 68R. Therefore, the riding-type rice transplanter is not able to run due to the resistance of mud and is not caught in the field, so that the speed reduction and stoppage of the riding-type rice transplanter are prevented and the work efficiency is improved. .

  On the other hand, in a place where the resistance of mud is small, it is possible to give priority to the traveling speed by increasing the rotational speed of the traveling motors 67L, 67R, 68L, 68R, so that the operator operates the traveling operation lever 16 at the traveling speed set. Since it is possible to move, work efficiency is improved. At this time, the upper limit value of the motor rotation speed is set to a value corresponding to the detected value of the travel operation lever sensor 16a, so that the motor rotation speed is prevented from excessively increasing and high-speed travel is prevented, and safety is also ensured. Is done.

  Also, this type of work vehicle is known that is equipped with an auto-cruise device that can automatically run at that speed when set at a certain speed. You may provide the said auto-cruise apparatus also in the riding type rice transplanter of this embodiment.

  When the travel control lever 16 provided near the cockpit 5 is operated from the neutral position to another position and the travel of the riding rice transplanter is started, the travel control lever 16 is not operated for a predetermined time thereafter. The auto-cruise traveling is automatically performed at a constant speed while maintaining the traveling speed. That is, the speed at the operating position of the travel operation lever 16 at that time is maintained, and the travel speed of the front wheels 7 and the rear wheels 8 is kept constant by the controller 100 (auto-cruise function).

  Then, the auto-cruise function is canceled by stepping on the brake pedal 12 (FIG. 1). When the brake pedal 12 is strongly depressed, the travel operation lever 16 is mechanically moved to the neutral position. As a result, the auto cruise is canceled and the traveling stops. The brake pedal 12 is an auto-cruise canceling member that forcibly cancels auto-cruise when operated.

When the speed of the riding rice transplanter decreases on a slope or the like by the auto-cruise function, the controller 100 maintains the vehicle speed at that time.
FIG. 11 shows an example (auto cruise) of the control flow of the controller 100 of the riding rice transplanter of FIG.

  When the travel control lever 16 is operated to a position where an output at a desired travel speed can be obtained to enter the auto-cruise state and the travel of the riding rice transplanter is started, the timer 85 of the controller 100 starts counting. When it is detected from the travel operation lever sensor 16a that detects the operation position of the travel operation lever 16 that the travel operation lever 16 has not been operated for a predetermined time (for example, 5 seconds), the controller 100 detects each travel motor 67L, 67R, The auto cruise is started to keep the running speed constant by controlling the rotational speeds of 68L and 68R. At this time, the rotational speeds of the traveling motors 67L, 67R, 68L, 68R are values corresponding to the detected values of the traveling operation lever sensor 16a.

  When the traveling load sensors 80 and 82 detect a load greater than or equal to a predetermined value (same as the high load state in FIG. 10) during auto-cruising, the controller 100 cancels auto-cruising and each traveling motor 67L, 67R, 68L, The control is performed to reduce the rotational speed of 68R. At this time, the motor speed is decreased until a normal load (reference load) is reached. Then, the torque of each traveling motor 67L, 67R, 68L, 68R is increased.

  If the travel control lever 16 is not operated for a predetermined time or longer, the travel speeds of the riding type rice transplanter are operated by operating the travel motors 67L, 67R, 68L, 68R at a constant rotational speed in accordance with the operation position of the travel control lever 16. Therefore, even if fine acceleration or deceleration occurs, it is not necessary to adjust the traveling speed by operating the traveling operation lever 16, and the operability is improved.

  Moreover, since the riding type rice transplanter can plant seedlings while traveling at a constant traveling speed, the distance between the seedlings can be kept constant, and the seedling planting accuracy is improved. When a high load state is detected by the traveling load sensors 80 and 82, priority is given to securing the motor torque, so that the riding type rice transplanter is prevented from being unable to move forward, and the work efficiency is improved.

According to this riding type rice transplanter, the left and right front wheels 7, 7 and the left and right rear wheels 8, 8 are provided with four-wheel independent suspensions.
A shock absorbing suspension spring 90 is provided in each of the left and right front wheels 7 and 7 and the left and right rear wheels 8 and 8 and shock absorber suspension springs 90 are provided. (Also called suspension cylinders) 87L, 87R, 88L, and 88R are provided (four in total), and the suspension cylinders 87L, 87R, 88L, and 88R extend and contract independently, so that the left and right front wheels 7 and 7 and the left and right rear wheels A suspension mechanism K in which the wheels 8 and 8 are moved up and down independently may be configured.

FIG. 12 is an explanatory view of the suspension mechanism K of the front wheel 7 and is an enlarged front view of the shaft portion of the front wheel 7. The rear wheel 8 has a similar mechanism.
The front axle housing 19 of the front wheel 7 is divided vertically, and the upper case 19b is inserted into the outer periphery of the lower case 19a, so that the lower case 19a can slide up and down along the inner side of the upper case 19b. It has become. Suspension cylinders 87 and 88 are provided on the outer surface of the upper and lower divided case, and the suspension cylinders 87 and 88 connect the upper and lower parts of the front axle housing 19 divided into upper and lower parts. The upper and lower divided cases 19a and 19b have a transmission shaft, and a suspension spring 90 is mounted on the outer periphery of the transmission shaft.

When the suspension cylinders 87 and 88 are contracted, the lower case 19a moves upward while pushing up the suspension spring 90. However, when the suspension spring 90 comes into contact with the vertical regulating member inside the upper case 19b, the lower case 19a cannot move further upward. Go.
On the contrary, when the suspension cylinders 87 and 88 are extended, the lower case 19a moves downward while pulling down the suspension spring 90, so that the suspension spring 90 extends (within the movable range of the lower case).

  The suspension cylinders 87 and 88 normally expand and contract freely with force applied, and when a switch (not shown) is operated or a signal is transmitted from the controller 100 (due to oil supply, energization, etc.) It expands and contracts. For example, the suspension cylinders 87 and 88 may be hydraulic dampers. In that case, when a hydraulic valve (not shown) is opened / closed by a signal from the controller 100 and hydraulic fluid is supplied or discharged, the hydraulic damper expands / contracts according to the operation. On the other hand, when there is no operation, the hydraulic damper expands and contracts freely according to the direction in which the force is applied. At this time, the suspension spring 90 expands and contracts when the wheels 7 and 8 move up and down through the unevenness of the field.

  As described above, the suspension springs 90 expand and contract by extending and contracting the suspension cylinders 87 and 88 provided on the outer surfaces of the upper and lower divided cases 19a and 19b. And the appropriate height of the front wheel 7 and the rear wheel 8 can be ensured.

  Although the suspension cylinders 87 and 88 and the suspension spring 90 naturally expand and contract due to unevenness in the field, problems such as that the wheels 7 and 8 do not come into contact with the ground or do not lift up sufficiently due to natural expansion and contraction may occur. For this reason, by appropriately extending and retracting the suspension cylinders 87 and 88 by the controller 100, it is possible to ensure an appropriate height of the wheels 7 and 8.

  When the load detected from the travel load sensors 80, 80, 82, 82 is low (same as the previous low load), the controller 100 detects the front wheels 7, 7 corresponding to the travel motors 67L, 67R, 68L, 68R. Alternatively, it is determined that the rear wheels 8, 8 are floating from the field scene, and the suspension cylinders 87L, 87R, 88L, 88R are extended. Then, when the load detected by the traveling load sensors 80, 80, 82, 82 increases and reaches a predetermined value or more, that is, when the normal load (reference load) is reached, the suspension cylinder that is being extended is stopped, and a response is made. The rotational speed of the traveling motors 67L, 67R, 68L, 68R of the front wheels 7, 7 or the rear wheels 8, 8 is decreased to increase the torque of the traveling motor. The function of the controller 100 is referred to as a traveling wheel torque control function.

FIG. 13 shows an example of the control flow (running wheel torque control) of the controller 100 of the riding rice transplanter shown in FIG.
The worker starts traveling of the riding type rice transplanter, detects the motor load by each of the traveling load sensors 80, 80, 82, and 82, and identifies the motor with the lowest load among them.

  For example, when it is the traveling motor 67L of the left front wheel 7, the suspension cylinder 87L of the left front wheel 7 is extended, the left front wheel 7 is securely grounded, and detected from the traveling load sensor 80 of the left front wheel 7. When the value reaches the predetermined value, the suspension cylinder 87L is stopped, the rotational speed of the traveling motor 67L of the left front wheel 7 is decreased, and the motor torque is increased.

  With this configuration, the four traveling wheels 7 and 8 can be reliably grounded, so that the traveling direction of the riding rice transplanter is less likely to be disturbed, and the seedlings are planted in a straight line, thereby improving work efficiency. Further, it is not necessary to frequently perform an operation of adjusting the traveling direction of the riding type rice transplanter, and the operability is improved.

  Further, the motor torque is increased by automatically reducing the rotational speeds of the traveling motors 67L, 67R, 68L, 68R corresponding to the traveling wheels 7, 8 that extend the suspension cylinders 87L, 87R, 88L, 88R and are grounded. Therefore, it is possible to prevent the grounded traveling wheels 7 and 8 from becoming unrotatable due to the resistance of the mud, to reliably travel and to prevent the traveling direction from being disturbed.

  You may provide the riding type rice transplanter of this embodiment with the hardness sensor for measuring the hardness of a farm field. Fig.14 (a) shows an example (plan view) of a hard / soft sensor, and FIG.14 (b) shows the side view of the hard / soft sensor of Fig.14 (a). The hard / soft sensor 95 is disposed between the front leveling rotor 35 and the rear leveling rotor 36.

  As shown in FIG. 14, on the other end of the support arm 109, one end of which is connected to the drive shaft of the leveling rotor 35, the tip of the arm 107 is supported so as to be swingable up and down via a rotating shaft 109a. The other end of the arm 107 is rotatably connected to a rotating shaft 101a of a drum-like rotating body 101 having a grounding surface having a predetermined lateral width. The two rotating bodies 101 and 101 rotate integrally on the same axis of the rotating shaft 101a. A rotation speed detection sensor 105 that detects the rotation speed of the rotating body 101 is provided on the rotation shaft 101a.

The rotating body 101 tries to enter the field topsoil surface by its own weight while rotating.
Then, when the rotation speed detection sensor 105 detects that the rotating body 101 does not rotate, it is determined that the field is hard. If the field is hard, the topsoil is sticky and mud adheres to the rotating body 101, making it difficult to rotate. On the other hand, if the farm field is soft, the topsoil is not sticky and mud hardly adheres to the rotating body 101, so that there is little influence on the rotation.

  When the rotation speed detection sensor 105 determines that the field is hard, that is, the harder the field detected by the hardness / softness sensor 95 is, the lower the rotation speed of the traveling motors 67L and 67R on the front wheel 7 side becomes. The vehicle is driven so as to be lifted from the wheel 8 side and pulled by the front wheel 7 side. Although the vehicle is moved forward by pulling the airframe on the front wheel 7 side, a slight sneaking occurs. However, when the rotational speed of the traveling motors 68L and 68R on the rear wheel 8 side is increased, the front wheel 7 is pushed into the ground by being pushed by the rear wheel 8. It is pushed in and crawls over the ground, making it less difficult to plant seedlings.

  In addition, as described above, the seedling planting unit 9 is driven by the power of the electric planting motor 22, and the fertilizer application device 33 is driven by the power of the fertilizer blower motor 63 and the feeding motor 65. When these motor drives are interlocked with the traveling motors 68L and 68R of the left and right rear wheels 8 and 8, the operator automatically drives the planting motor 22 and the fertilizer blower motor 63 without individually operating them. Excellent operability and workability.

  A rear wheel interlock switch 115 (FIG. 5) is provided in the vicinity of the cockpit 5, and when the rear wheel interlock switch 115 is turned on regardless of whether the planting motor on / off switch 102, the fertilizer blower switch 106, or the feeding switch 108 is on / off. When the riding type rice transplanter starts traveling, the planting motor 22, the fertilizer blower motor 63, and the feeding motor 65 are automatically driven.

  In this case, it is conceivable that the left and right front wheels 7 and 7 are linked to the travel motors 67L and 67R, but it is preferable to use the driving of the rear wheels 8 having a large traction force for the linkage with the vehicle speed. Basically, in the rice transplanter, the rear wheel 8 has a larger diameter than the front wheel 7, so that the traction force is increased. In addition, since heavy objects such as the fertilizer application device 33 and the seedling planting unit 9 are concentrated at the rear part of the machine body, the traction force is also increased by the influence thereof.

  Then, at the start of planting work, fertilization is performed by performing the fertilization work by increasing the rotation speed of the motor shaft of the fertilizer blower motor 63 above a predetermined rotation speed (the rotation speed during normal fertilization work, which is about 4000 rpm). You can reduce the number of unused parts (unfertilized area).

  Further, when the riding type rice transplanter stops traveling and the traveling motors 68L, 68R of the left and right rear wheels 8, 8 stop, the planting motor 22, the fertilizer blower motor 63, and the feeding motor 65 also automatically stop. When the planting lifting / lowering lever 45 is moved up and down to expand and contract the lifting hydraulic cylinder 32 and the seedling planting unit 9 is lifted or lowered, it is preferable to drive only the fertilizer blower motor 63. At this time, since the feeding motor 65 is stopped, the fertilizer is not supplied into the fertilizer hose 34.

  Before and after the turning movement of the riding type rice transplanter, the seedling planting part 9 is raised by a turning interlocking mechanism (automatic control) or manual operation. When the fertilizer blower motor 63 stops suddenly at this time, the fertilizer is supplied to the fertilizer hose. The conveyance wind sent to the seedling planting part 9 vicinity via 34 may be lost, and a fertilizer may remain in the fertilization hose 34. FIG. In particular, since the water and mud in the field are likely to splash and adhere near the outlet of the fertilizer hose 34, it is desirable to stop the conveying wind after planting by the planting device 30 and completion of fertilization by the fertilizer 33.

  Accordingly, the fertilizer hose 34 can be cleaned by discharging the fertilizer remaining in the fertilizer hose 34. The grooving body 64 at the outlet of the fertilizer hose 34 is easily clogged with mud, and the fertilizer is easily clogged in the fertilizer hose 34. By discharging the fertilizer in the fertilizer hose 34 with the fertilizer blower motor 63, clogging of the fertilizer can be prevented. .

In FIG. 15, the top view of the fertilizer application 33 is shown.
A connection pipe (not shown) communicating in the front-rear direction is connected to the discharge port of the feeding portion 61. And the fertilization hose 34 is connected to the rear-end part of this connection pipe. The front end portion of each connecting pipe is inserted and connected to the back surface of the air chamber 69. The left end portion of the air chamber 69 is connected to the fertilizer blower 62 via an air switching pipe 181, and air from the fertilizer blower 62 is blown from the connecting pipe into the fertilizer hose 34 via the air chamber 69. Yes.

  The air chamber 69 is configured by alternately connecting a rubber pipe 69a to which a connecting pipe is attached and a resin pipe 69b at an intermediate portion. Further, the fertilizer discharge port of each feeding portion 61 is connected to a fertilizer discharge pipe 185 that is provided at the rear of the feeding portion 61 and that is long in the left-right direction. The left end of the fertilizer discharge pipe 185 is connected to the fertilizer blower 62 via the air switching pipe 181.

  The air switching pipe 181 is a bifurcated pipe, and an air chamber 69 is connected to one side, and a fertilizer discharge pipe 185 is connected to the other side. The air switching pipe 181 is provided with an air switching shutter 186 as an air switching unit, and the air switching shutter 186 is rotated by a lever or the like (not shown) to switch the air path so that the air blown from the fertilizer blower 62 is supplied. The state can be switched between a state of supplying to the air chamber side and a state of supplying to the fertilizer discharge pipe side.

  Since the air switching shutter 186 is located in the front and rear center between the air chamber 69 and the fertilizer discharge pipe 185, the air supply to both is stable. The right end portion of the fertilizer discharge pipe 185 is a fertilizer collection port 187.

  In a conventional rice-type rice transplanter driven by an engine, the fertilizer blower 62 does not operate unless the engine is operated. Therefore, it is necessary to move the engine and consume fuel when discharging the fertilizer.

  However, in this embodiment, since the driving is performed by the battery B, the traveling motors 67L, 67R, 68L, 68R can be individually operated. Utilizing this, a fertilizer blower switch (may be a potentiometer) 106 is provided at the base (rotation fulcrum) 186a of the air switching shutter 186 that switches the air path to which the conveying wind is directed, and the conveying air is directed to the fertilizer discharge pipe 185. If the fertilizer blower switch 106 is turned on when switching to (discharge side), the fertilizer blower motor 63 can be operated to discharge the fertilizer simply by switching the air switching shutter 186 during the fertilizer discharge operation. If this fertilizer blower switch 106 is made independent, the power supply to the other motors such as the traveling motors 67L, 67R, 68L, 68R can be kept off, so that the power consumption is reduced.

  The present invention is not limited to a riding seedling transplanter equipped with a seedling planting unit, and can also be used for other work vehicles.

DESCRIPTION OF SYMBOLS 1 Body frame 2 Floor step 4 Battery cover 5 Driver's seat 6 Seat cover 7 Front wheel 8 Rear wheel 9 Seedling planting part 11 Brake 12 Brake pedal 15 PTO shaft 16 Traveling operation lever 17 Steering post 18 Steering handle 19 Front axle housing 20 Rear axle housing 21a, 21b Parallel link 22 Planting motor 23 Preliminary seedling stage 24 Rear step 25 Seedling frame 26 Center float 27 Side float 28 Seedling tank 29 Seedling port 30 Planting device 31 Rear frame 32 Lifting hydraulic cylinder 33 Fertilizer 34 Fertilizer Hose 35, 36 Leveling rotor 37 Interlocking shaft 40 Output shaft 41 Hydraulic valve 43 Tank 45 Planting lift lever 51 Hydraulic circuit 52 Hydraulic pump 53 Feeding oil passage 55 Feeding oil passage 57 Returning oil passage 58 Returning oil 59 Vane pump 60 Fertilizer hopper 61 Feeding section 62 Fertilizer blower 63 Fertilizer blower motor 64 Groove body 65 Feed motor 67, 68 Travel motor 69 Air chamber 70 Steering sensor 71 Rear wheel rotation sensor 72 Vertical position sensor 75 Side marker 76 Buzzer 77 Lamp 78 Remaining Quantity checkers 80, 82 Travel load sensor 85 Timer 87, 88 Suspension cylinder 90 Suspension spring 95 Hard / soft sensor 98 Elevation angle sensor 100 Controller 101 Rotating body 102 Planting motor on / off switch 105 Rotation speed detection sensor 106 Fertilizer blower switch 107 Arm 108 Feeding switch 109 Support Arm 115 Rear Wheel Link Switch 181 Air Switch Pipe 184 Line Marker 185 Fertilizer Discharge Pipe 186 Air Switch Shutter 187 Fertilizer Recovery Port

Claims (6)

A body frame (1) with left and right front wheels (7) and left and right rear wheels (8);
A steering member (18) provided on the vehicle body frame (1) for steering the left and right front wheels (7);
Steering angle detection means (70) for detecting the steering angle of the steering member (18);
A seedling planting section (9) that is mounted on the rear side of the vehicle body frame (1) so as to be movable up and down via a lifting link mechanism (S), and for planting the loaded seedlings in a field;
An up / down position detecting means (72) provided in the up / down link mechanism (S) for detecting the up / down position of the seedling planting part (9) from the body frame (1) from the up / down angle of the up / down link mechanism (S); ,
In the seedling transplanting machine provided with the power source (B) provided at the front part of the vehicle body frame (1) and supplying driving force to the left and right front wheels (7) and the left and right rear wheels (8),
The left and right front wheels (7) and the left and right rear wheels (8) are respectively provided with traveling motors (67L, 67R, 68L, 68R) that are operated by the driving force from the power source (B),
When the seedling planting part (9) is in the lowered state by the detection value from the vertical position detection means (72) and the steering angle detected by the steering angle detection means (70) is less than a predetermined angle, A seedling transplanter provided with a control device (100) having the same motor rotation speed control function for making the rotation speeds of the travel motors (68L, 68R) of the rear wheels (8) the same.   In the control device (100), the seedling planting part (9) is in a lowered state, and the vertical position of the seedling planting part (9) detected by the vertical position detecting means (72) is a reference position at the time of work. If it exceeds the reference value set as a predetermined value or more, it is judged as shallow planting work, and if it falls below the reference value by a predetermined value or more, it is judged as deep planting work, and if it is judged as shallow planting work, the left and right front wheels (7) Driving motor (67L, 67R) is not driven, and only the driving motors (68L, 68R) of the left and right rear wheels (8) are driven, and the left and right front wheels (7 2) A seedling transplanting method according to claim 1, wherein the seedling transplanting function has a traveling control function of four-wheel drive traveling control for driving the traveling motors (67L, 67R, 68L, 68R) of both the left and right rear wheels (8). Machine. The left and right front wheels (1) are provided on the vehicle body frame (1) and can be switched to an operation position including a forward position, a neutral position, and a reverse position, and the speed increases as the operation amount from the neutral position increases. 7) and a traveling operation lever (16) for operating forward and backward movement and traveling speed of the left and right rear wheels (8);
Traveling operation lever position detecting means (16a) for detecting the operation position of the traveling operation lever (16);
A remaining amount detecting means (78) for detecting the remaining amount of the power source (B);
An informing means (76, 77) for informing the worker by voice or display;
The control device (100) changes the drive output of each traveling motor (67L, 67R, 68L, 68R) according to the operation position detected by the traveling operation lever position detecting means (16a), and the traveling operation lever (16). When the operation position is switched from the neutral position to the reverse position, and the remaining amount of power detected by the remaining amount detecting means (78) is less than a predetermined ratio, the notifying means (76, 77) is set. The seedling transplanting machine according to claim 1, wherein the seedling transplanting machine has a notification control function to be operated. The left and right front wheels (1) are provided on the vehicle body frame (1) and can be switched to an operation position including a forward position, a neutral position, and a reverse position, and the speed increases as the operation amount from the neutral position increases. 7) and a traveling operation lever (16) for operating forward and backward movement and traveling speed of the left and right rear wheels (8);
Traveling operation lever position detecting means (16a) for detecting the operation position of the traveling operation lever (16);
Travel load detection means (80, 82) for detecting the travel load of the left and right front wheels (7, 7) or the left and right rear wheels (8, 8);
When the load detected by the travel load detecting means (80, 82) is larger than a reference load, the control device (100) outputs a current output to each travel motor (67L, 67R, 68L, 68R). While increasing the value to decrease the rotational speed of each traveling motor (67L, 67R, 68L, 68R) and increasing the torque of each traveling motor (67L, 67R, 68L, 68R), traveling load detection means (80, 82) When the load detected by the motor is smaller than the reference load, the current value output to each traveling motor (67L, 67R, 68L, 68R) is lowered to rotate each traveling motor (67L, 67R, 68L, 68R). A current / torque control function for increasing the number and reducing the torque of each traveling motor (67L, 67R, 68L, 68R), and each traveling motor (67L, 6 R, 68L, 68R) and an upper limit rotational speed control function for setting the upper limit value of the rotational speed to a value corresponding to the detected value of the travel operation lever position detecting means (16a). The seedling transplanter according to any one of 3 above.   When the operation position of the travel operation lever (16) is not switched over a predetermined time and the detected value of the travel operation lever position detecting means (16a) does not change over the predetermined time, the control device (100) , 67R, 68L, 68R), and the traveling speed of the left and right front wheels (7) and the left and right rear wheels (8) are kept substantially constant with the rotation speed corresponding to the detected value of the traveling control lever position detecting means (16a). An auto-cruise function; and an auto-cruise canceling function for canceling the auto-cruise function when the load detected by the travel load detecting means (80, 82) is larger than the reference load. The seedling transplanter according to claim 4. The left and right front wheels (7) and the left and right rear wheels (8) are respectively provided with shock absorbing springs (90) on the left and right, and cylinders (87L, 87R, 88L, 88R) for extending and retracting the springs (90) vertically Suspension mechanism (each provided on a spring (90)), wherein each cylinder (87L, 87R, 88L, 88R) independently expands and contracts so that the left and right front wheels (7) and the left and right rear wheels (8) are independently raised and lowered. K),
The control device (100) includes a front wheel (7) or a rear wheel (7) corresponding to the travel motor (67L, 67R, 68L, 68R) having the smallest load detected by the travel load detection means (80, 82). 8) is determined to be floating from the field scene, the cylinder (87L, 87R, 88L, 88R) is extended, and the traveling load detecting means (80, 82) of the traveling motor (67L, 67R, 68L, 68R) is extended. ), The cylinders (87L, 87R, 88L, 88R) are stopped and the corresponding front wheel (7) or rear wheel (8) travel motor (67L, 67R, 68. A running wheel torque control function for increasing the torque of the traveling motor (67L, 67R, 68L, 68R) by lowering the rotational speed of 68L, 68R). Seedling transplanting machine according to 5.

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