JP2017099290A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle including a ground work device capable of matching a work height of the ground work device to a depth of a field at an appropriate position and improving work accuracy.SOLUTION: A work vehicle includes: a cylinder 46 lifting/lowering a seedling planting device 3 to a travel vehicle 2; a float 138 levelling a field face; a float sensor 143 detecting a rotation amount of the float 138; and a control device 100 operating the cylinder 46 in accordance with the detection rotation amount of the float sensor 143. A stroke sensor 50 detecting an operation amount of the cylinder 46 is arranged in the work vehicle. The control device 100 has a function calculating an operation amount of the cylinder 46 for operating in changing a work height of the seedling planting device 3 from a detection rotation amount of the float sensor 143, comparing the calculated operation amount to an actual operation amount detected by the stroke sensor 50, and operating the cylinder 46 until corresponding to the calculated operation amount. Thereby, a work height of the seedling planting device 3 can be matched to a field depth at an appropriate position.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a work vehicle including a ground work device such as a seedling planting unit or a seeding device.

  Some work vehicles include ground work devices such as a seedling planting unit and a seeding device. For example, Patent Document 1 below describes a lower part of a seedling planting unit as a seedling transplanter including a seedling planting unit. In addition, there is disclosed a configuration in which a float that is in contact with a farm scene is rotatably attached so that the front end side moves up and down corresponding to the unevenness of the field topsoil surface. This seedling transplanter is provided with a float sensor (elevation angle sensor) that detects an angle when the float is rotated by unevenness in the field during planting work. And, by adopting a configuration in which the lifting hydraulic cylinder automatically expands and contracts according to the detection angle of the float sensor, the seedling planting part moves up and down with a substantially constant posture, so that the seedling planting part matches the unevenness of the field The working height of the field scene can be kept constant, and the seedling planting accuracy can be stabilized.

Japanese Patent Laid-Open No. 2015-8658

  However, since the seedling planting part is heavy and the amount of seedlings to be loaded increases and decreases, even if the lifting hydraulic cylinder expands and contracts based on the amount of rotation of the float, In some cases, the working height is slightly different from the corresponding working height, and there is a problem that the planting depth of the seedling is shallow and the seedling falls or is washed away. On the other hand, if the seedling planting depth is deep, there is a problem that the seedling cannot obtain sufficient sunshine and the growth is slow.

  In addition, when the descent of the seedling planting part is delayed compared to the time for the lifting hydraulic cylinder to expand and contract, planting of the seedling is started in a state where the seedling planting part is away from the field scene and cannot be planted in the field. There is a problem that seedlings and seedlings with a shallow planting depth are generated.

  Conversely, if the start of raising the seedling planting part is delayed, the seedlings will be planted in a place where no planting is carried out at that time (farm field edge), and then the climbing will start. There is a problem that seedlings are planted in the position and extra seedlings are consumed.

  In addition, when the seedling planting part moves up and down and stops, if the ascending / descending speed is fast, the seedling planting part may move up and down finely due to a reaction at the time of stoppage. There are also problems that it becomes stable and that the center of gravity shakes up and down and the running becomes unstable.

  The subject of this invention is providing the work vehicle provided with the ground work apparatus which can match | combine the work height of the ground work apparatus with respect to the depth of a farming field to an appropriate position, and work accuracy improves.

The above-described problems of the present invention are solved by the following solution means.
The invention according to claim 1 includes a traveling vehicle body (2) provided with a traveling device (12a, 12b), a ground work device (3) mounted on the travel vehicle body (2), and the ground work device (3). A lifting link device (28) that moves up and down with respect to the traveling vehicle body (2), a lifting actuator (46) that operates the lifting link device (28), and a ground work device (3) are rotatably attached to the farm field. A float (138) for leveling the unevenness of the surface, a float rotation detection member (143) for detecting the vertical rotation amount of the float (138), and a rotation detected by the float rotation detection member (143) The working amount of the lifting / lowering actuator (46) is detected in a work vehicle including a control device (100) that operates the lifting / lowering actuator (46) according to the amount of movement and adjusts the working height of the ground working device (3). Product An amount detection member (50) is provided, and the control device (100) is configured to change the work height of the ground work device (3) from the rotation amount of the float (138) detected by the float rotation detection member (143). The operation amount of the lift actuator (46) to be operated is calculated, the lift actuator (46) is operated so as to correspond to the calculated operation amount, and detected by the calculated operation amount and the operation amount detection member (50). When the actual operation amounts are compared and the two operation amounts are different, the work vehicle has an operation amount adjustment function for operating the elevating actuator (46) until it corresponds to the calculated operation amount.

  According to a second aspect of the present invention, the lifting / lowering link device (28) is provided with a working height detection member (148) for detecting a working height from an operation amount of the lifting / lowering link device (28), and the control device (100). Is detected by the operation amount of the lifting / lowering link device (28) corresponding to the operation amount of the lifting / lowering actuator (46) for a predetermined time detected by the operation amount detection member (50) and the work height detection member (148). The operation amount of the lifting / lowering link device (28) for a predetermined time is compared, and when the actual operation amount of the lifting / lowering link device (28) is small, the operation speed for increasing the operation control speed of the lifting / lowering actuator (46). A work vehicle having an adjustment function.

  According to a third aspect of the present invention, the lift link device (28) is provided with a work height detection member (148) for detecting a work height from an operation amount of the lift link device (28); A pressure adjusting device (78) for reducing the pressure, and an air pressure adjusting device (79) for adjusting the air pressure of the pressure adjusting device (78). The control device (100) is detected by an operation amount detecting member (50). The amount of operation of the lift link device (28) corresponding to the amount of operation of the lift actuator (46) for a predetermined time and the actual lift link device (28) for the predetermined time detected by the work height detection member (148). When the actual operation amount of the lifting / lowering link device (28) is small, the air pressure of the pressure adjusting device (78) is increased by the air pressure adjusting device (79), while the work height detecting member ( 148) If the number of upward and downward actuations of the lifting / lowering link device (28) detected is equal to or greater than a predetermined value within a predetermined time, the operating amount of the lifting / lowering link device (28) is not compared, and the air pressure It is a work vehicle of Claim 1 or 2 which has an air pressure adjustment function which reduces the air pressure of a pressure regulating device (78) with an adjusting device (79).

  According to a fourth aspect of the present invention, in the control device (100), when the float rotation detection member (143) detects a predetermined or more angle change in the upward and downward directions at a predetermined number of times within a predetermined time, The work vehicle according to any one of claims 1 to 3, further comprising an output time delay function for increasing an output time interval from the float rotation detection member (143).

  According to a fifth aspect of the present invention, the lift actuator (46) is a cylinder that operates the lift link device (28) by extending and contracting, and the control device (100) is operated by an operation amount detection member (50). Even if the operation of the elevating actuator (46) is detected, the operation height detecting member (148) does not detect the operation of the elevating link device (28) and is detected from the operation amount detecting member (50). 46) An output signal stop function for stopping transmission of an output signal from the float rotation detection member (143) to the control device (100) for a predetermined time when the expansion / contraction operation of 46) is more than a predetermined number of times within a predetermined time. 2. The work vehicle according to 2.

  According to the first aspect of the present invention, the operation amount of the lift actuator (46) calculated from the rotation amount of the float (138) is compared with the operation amount of the actual lift actuator (46), and the actual lift actuator (46) is compared. If the amount of operation is excessive or insufficient, the working height of the ground working device (3) with respect to the depth of the field can be adjusted to an appropriate position by extending and lowering the lifting actuator (46). improves.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the change in the work height of the ground work device (3) is delayed with respect to the expansion and contraction of the lift actuator (46). When the ground work device (3) is lowered, it is possible to prevent the ground work device (3) from starting until the ground work device (3) comes close to the ground. Is prevented.

  Also, when the work by the ground work device (3) is interrupted, the ground work device (3) is raised, but at that time, the ground work device (3) quickly leaves the ground so that the work is performed at a place where the ground work is not performed. Therefore, it is possible to prevent the work positions from overlapping.

  According to the invention described in claim 3, in addition to the effect of the invention described in claim 1 or 2, the air pressure of the pressure adjusting device (78) provided in the lift link device (28) is adjusted to the air pressure adjusting device ( 79), the pressure of the pressure adjusting device (78) can be optimized and the ground work device (3) can be quickly moved to the work height corresponding to the operation amount of the lifting actuator (46). The work height of the ground work device (3) with respect to the depth of the field can be adjusted to an appropriate position, and work accuracy is improved.

  In addition, when the lifting of the ground work device (3) is stopped, the lifting link device (28) can be prevented from swinging in the vertical direction by absorbing the reaction of the lifting operation, thus improving the working accuracy. In addition, the center of gravity position hardly changes and the traveling posture of the traveling vehicle body (2) is stabilized.

  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, work is performed in a field with many irregularities where the float (138) rotates frequently. At this time, by increasing the output time interval from the float rotation detection member (143) to the control device (100), the frequency of the lift link device (28) automatically moving up and down can be suppressed. ) Is prevented from being degraded due to an excessive change in work height.

  According to the fifth aspect of the invention, in addition to the effect of the second aspect of the invention, if the lifting link device (28) does not operate even if the lifting actuator (46) operates, By not performing automatic elevation based on the detection of the motion detection member (143) for a certain period of time, it is not necessary to perform unnecessary operation control of the elevation actuator (46), and the operation loss of the entire aircraft is reduced.

It is a side view of the rice transplanter of this Embodiment. It is a top view of the rice transplanter of FIG. It is a side view of the reserve seedling stand of the rice transplanter of FIG. 1 (overlapping state). It is a side view of the reserve seedling stand of the rice transplanter of FIG. 1 (expanded state). It is a block diagram of the control apparatus of the rice transplanter of FIG. It is detail drawing of the raising / lowering cylinder vicinity of FIG. It is a flow of the control apparatus of the rice transplanter of FIG. It is another example of the flow of a control apparatus. It is another example of the flow of a control apparatus. It is another example of the flow of a control apparatus. It is another example of the flow of a control apparatus. It is another example of the flow of a control apparatus. It is another example of the flow of a control apparatus. It is another example of the flow of a control apparatus. It is a partial cross section side view of the seedling planting mechanism of the rice transplanter of FIG. It is a partial cross section front view of the seedling planting mechanism of the rice transplanter of FIG. It is the figure which showed the internal structure of the rotary case of the rice transplanter of FIG. It is a plane sectional view (schematic diagram) of the planting transmission case part of the rice transplanter of FIG. It is the simplified side view which showed the relationship of the one part gear in a transmission case. 20A is a plan sectional view (schematic diagram) showing a part of another example of the planting transmission case of FIG. 18, and FIG. 20B is a side view (schematic diagram) of the brake disc. FIG. 20C is a side view (schematic diagram) of the brake shoe.

Embodiments of the present invention will be described below.
In FIG.1 and FIG.2, the seedling transplanter is shown as a working vehicle of this Embodiment. That is, a left side view and a plan view of a 6-row riding type rice transplanter provided with a seedling planting device 3 as a ground work device are shown. In this specification, the left and right are defined as left and right, respectively, and the front and rear are defined as front and rear, respectively, in the forward direction of the rice transplanter 1. Moreover, there are various ground working devices such as a seeding device, a tilling device, and a mowing device.

 This rice transplanter 1 is for planting seedlings in a farm field while traveling. As shown in FIGS. 1 and 2, the rice transplanter 1 includes a traveling vehicle body 2, a seedling planting device 3 attached to the rear part (rear side) of the traveling vehicle body 2, a power transmission mechanism 4, and a leveling device 5. And a control device (controller) 100 (FIG. 5).

  The traveling vehicle body 2 includes four wheels 12 including a pair of left and right front wheels 12a and 12a and a pair of left and right rear wheels (traveling wheels) 12b and 12b. The four-wheel drive vehicle uses the four wheels 12 as driving wheels. It has become. The traveling vehicle body 2 includes a main frame 10 and an engine 11 mounted on the main frame 10. In the rice transplanter 1, the driving force of the engine 11 is used not only for moving the traveling vehicle body 2 forward or backward, but also for driving the seedling planting device 3.

  The floor step 20 is provided between the front part (front side) of the traveling vehicle body 2 and the rear part (rear side) of the engine 11, and is mounted on the main frame 10. Part of the floor step 20 has a lattice shape so that mud attached to the shoes can be dropped onto the field. A rear step 21 that also serves as a fender for the rear wheels 12b and 12b is provided behind the floor step 20. The rear step 21 has an inclined surface that is inclined upward as it goes rearward, and is disposed on each of the left and right sides of the engine 11.

  The belt-type power transmission mechanism 16 includes a pulley 51 attached to the output shaft of the engine 11, a pulley 52 attached to the input shaft of the hydraulic continuously variable transmission 15, and a belt 53 wound around both pulleys 51, 52. It has. As a result, the belt-type power transmission mechanism 16 transmits the driving force generated by the engine 11 to the hydraulic continuously variable transmission 15 via the belt 53.

  The traveling vehicle body 2 is provided with a cockpit 22 above the engine cover 14, and a front cover 23 is disposed in front of the pilot seat 22 and in front of the traveling vehicle body 2. . The front cover 23 is disposed in a state of protruding upward from the floor surface of the floor step 20, and divides the front side of the floor step 20 left and right.

  Inside the front cover 23 are arranged a control device 100, an operation device such as an operation panel, a steering mechanism, a fuel tank for engine fuel, and the like. Further, on the upper portion of the front cover 23, various operation levers, instruments, and a handle 24 are disposed. The handle 24 is provided as a steering member for steering and steering the front wheels 12a and 12a when an operator rotates the steering wheel 24, and the front wheels 12a and 12a are steered (rotated) via a steering mechanism or the like in the front cover 23. Rudder).

  Further, as various operation levers provided on the upper portion of the front cover 23, a travel operation lever (not shown) for switching forward / backward, stop and moving speed of the traveling vehicle body 2 is disposed. In addition, as various operation levers provided on the upper portion of the front cover 23, a “road traveling mode” in which the traveling vehicle body 2 travels on the road, a “work traveling mode” in which seedlings are planted in the field while the traveling vehicle body 2 travels, and the like. A sub-transmission operation lever (not shown) for switching between the two is provided.

  In addition, a spare seedling stage 25 on which replenishment seedlings are placed is arranged on the left and right sides of the front cover 23 in the floor step 20. The preliminary seedling mounting table 25 is rotatably supported by a support shaft (vertical shaft) 149 protruding from the floor surface of the floor step 20. The preliminary seedling stage 25 is configured in three upper and lower stages, and includes an uppermost preliminary seedling stage 25a, an intermediate preliminary seedling stage 25b, and a lowermost preliminary seedling stage 25c, which are rotated by an operator's hand. Is possible.

  That is, by the link mechanism 139, a plurality (three in the illustrated example) of the preliminary seedling platforms 25a to 25c are vertically overlapped and overlapped in plan view (FIGS. 1 and 2), and a plurality of preliminary seedlings are mounted. It is the structure which can be switched to the expansion | deployment state which the bases 25a-25c expanded in the substantially straight line form in the front-back direction. 3 and 4 are side views of the spare seedling stage 25. FIG. FIG. 3 shows an overlapping state, and FIG. 4 shows a developed state.

  Specifically, by pulling the front end of the uppermost preliminary seedling stage 25a forward from the overlapping state or by pulling the rear end of the lowermost preliminary seedling stage 25c rearward, the uppermost preliminary seedling stage 25a. Can be aligned with the height position of the middle-stage preliminary seedling stage 25b by rotating around the fulcrum S, and the lowermost preliminary seedling stage 25c. The switching of the link mechanism 139 can also be performed by a switching drive device (gear mechanism or the like) 140 that is driven by the electric motor 141.

  Therefore, it is possible to replenish seedlings across the irrigation channel with a comfortable posture with a margin in the spare seedling mounting table 25. And even if it has mounted the seedling box on the preliminary seedling mounting stand 25, it can be switched between the overlapped state and the deployed state, and does not hinder the operation.

  Further, a fertilizer application device 26 (FIG. 1) is provided behind the cockpit 22 of the traveling vehicle body 2. The fertilizer application device 26 feeds the granular fertilizer stored in the fertilizer hopper 27 by a certain amount by the feeding unit 81, and applies the fertilizer to the left and right sides of the center float 138a and the side float 138b with the fertilizer hose 82 (see FIG. (Not shown), and is configured to drop into a fertilization structure formed in the vicinity of the side of the seedling planting line by a grooved body 84 provided on the front side of the fertilization guide. A configuration in which the air generated by the blower 58 driven by the blower electric motor 54 is blown into the fertilizer hose 82 via the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hose 82 is forcibly conveyed by wind pressure. It has become.

  The power of the engine 11 is transmitted to the feeding part 81 via a fertilization clutch (not shown), and the feeding part 81 is operated and stopped by the fertilization clutch. As a result, the fertilizer is fed out from the fertilizer hopper 27 by a predetermined amount by the feeding unit 81 along with the seedling planting described later, and the fertilizer is supplied to the groove body 84 through the fertilizer hose 82 by the blower 58. Yes, fertilizer is supplied to the rice field through the groove body 84. When an operator pushes (enters) a fertilizer application switch (switch sensor) 75 (FIG. 5), the fertilizer clutch is engaged and the blower electric motor 54 is operated.

  As shown in FIG. 1, the leveling device 5 is provided behind the center rotor 150 on the left and right sides of the center rotor 150, as shown in FIG. 1. A pair of side rotors 151 and a pair of connecting transmission mechanisms 152 that connect the left and right ends of the center rotor 150 and the pair of side rotors 151.

  The seedling planting device 3 includes a seedling planting unit 13 that is attached to the rear portion of the traveling vehicle body 2 and that plants seedlings in the field, and a lift link device 28 that raises and lowers the seedling planting unit 13 relative to the traveling vehicle body 2. ing. The seedling planting portion 13 is attached to the traveling vehicle body 2 via the lifting link device 28. The elevating link device 28 has a link mechanism including an upper link 28 a and a lower link 28 b that connect the rear portion of the traveling vehicle body 2 and the seedling planting portion 13, and these links 28 a and 28 b are connected to the main frame 10. By connecting the other end side of each link to the seedling planting section 13 so as to be rotatable, the seedling planting section 13 is rotatably connected to a rear-view portal-type link base frame 129 erected at the rear end. Is connected to the traveling vehicle body 2 so as to be movable up and down.

FIG. 5 shows a block diagram of a control device for the riding type rice transplanter of FIG.
The upper link 28a is provided with a lift link sensor (working height detection member) 148 (for example, a potentiometer). The elevating link sensor 148 is a sensor that detects the inclination angle of the upper link 28a with respect to the traveling vehicle body 2 (specifically, the main frame 10), and determines the inclination angle of the upper link 28a over the vertical rotation range of the upper link 28a. To detect. The working height (the depth of the field) is measured by the lift link sensor 148.

  The lifting link sensor 148 may be provided on the lower link 28b. The lift link sensor 148 may be provided on either the upper link 28a or the lower link 28b, and detects the link inclination angle of the lift link device 28 regardless of which is provided.

  The lifting mechanism of the seedling planting unit 13 has a lifting cylinder 46 that expands and contracts by the hydraulic pressure generated by the driving force of the engine 11, and the lifting link device 28 is moved by the stretching operation of the lifting cylinder 46. 13 can be moved up and down. That is, the seedling planting part 13 can be raised to a non-working position or lowered to a ground work position (seedling planting position).

  The seedling planting unit 13 can plant seedlings in a field with a plurality of sections or a plurality of rows in a seedling planting range. The rice transplanter 1 according to the embodiment is a so-called six-row planting in which seedlings are planted in six sections. The seedling planting unit 13 includes a seedling planting mechanism 18, a seedling platform 17, a float 138, and the like.

  The seedling placing stand 17 has seedling placing surfaces 17a corresponding to the number of planting strips partitioned in the left-right direction of the traveling vehicle body 2, and a mat-like seedling with soil can be loaded on each seedling placing surface 17a. It is possible. Thereby, it is not necessary to return the seedlings prepared outside the field every time the seedlings loaded on the seedling placing stand 17 are planted, and continuous work can be performed, so that work efficiency is improved.

  The seedling planting mechanism 18 plants the seedlings arranged below the seedling placing stand 17 and loaded on the seedling placing stand 17 in the field. The seedling planting mechanism 18 is provided for every two strips, and includes a plurality of seedling planting tools 127 for two strips. In the present embodiment, a total of three seedling planting mechanisms 18 are provided, and each seedling planting mechanism 18 includes two seedling planting tools 127 per one line. When the traveling vehicle body 2 is advanced with the float 138 in contact with the ground, the seedling placing base 17 is reciprocated to the left and right, and the seedling receiving port 125 of the seedling receiving frame 120 provided on the lower end side of the mat seedling on the stand is provided. The seedling planting mechanism 18 separates them one by one, and takes them out for planting in the field.

The external take-out power is transmitted from the planting clutch case 145 provided at the rear portion of the traveling vehicle body 2 to the planting transmission case 121 from the transmission case 170 (FIG. 18) by the planting transmission shaft 146.
When the planting clutch (not shown) in the planting clutch case 145 is in the engaged state (sometimes referred to as single unit), the seedling planting mechanism 18 for all planting strips is activated, and the seedling platform 17 also starts to move left and right, and the seedling feeding belt 17b of all the planting strips is operated at the left and right moving ends of the seedling stage 17. As the transmission mechanism, the seedling planting mechanism is transmitted from the planting clutch to the seedling planting unit 13 by the planting transmission shaft 146 and is respectively corresponding to each other through each partial clutch 64 (FIG. 18) in the seedling planting unit 13. 18, and is transmitted to the corresponding seedling feeding belts 17 b through the seedling feeding clutches (not shown) in the seedling planting portion 13. Each partial strip clutch 64 is operated to be turned on and off by each hook clutch operating lever 142.

  The planting transmission case 121 includes a rotary case 31 that is rotatably provided on the planting transmission case 121 around the center. The rotary case 31 rotatably supports two seedling planting tools 127 corresponding to each strip at both ends. The rotary case 31 is rotated around the center portion by the driving force from the engine 11 and rotates the two seedling planting tools 127 by the driving force from the engine 11.

  In the seedling planting mechanism 18, the seedling planting tool 127 is rotated at both ends of the rotary case 31 while the rotary case 31 is rotated around the center, and the seedling catching claws 36 (FIG. 15) are projected and retracted. Thus, the seedling planting tool 127 is used to plant the seedling loaded on the seedling mount 17 in the field. Details will be described later.

  In addition, the float 138 slides on the farm field and leveles with the movement of the traveling vehicle body 2. Three floats 138, one center float 138a provided at the center of the seedling planting portion 13 in the left-right direction of the traveling vehicle body 2, and side floats 138b, 138b provided on the left and right sides of the center float 138a, respectively. It consists of

  Moreover, each float 138a, 138b is rotatably attached so that the front end side moves up and down according to the unevenness | corrugation of the field topsoil surface. The seedling planting device 3 may be a float sensor (may be a float rotation detection member, a potentiometer, etc., also referred to as an elevation angle sensor) 143 that detects the amount of rotation when passing through the unevenness of the field on the rotation axis of the center float 138a. 5).

  The seedling planting device 3 is moved up and down by the control device 100 when the vertical movement of the front portion of the center float 138a is detected by the float sensor 143 at the time of planting and the detected angle is equal to or greater than a predetermined angle (in both directions). By switching the electromagnetic hydraulic valve (elevating hydraulic valve) 161 (FIG. 5) for controlling the cylinder 46, the elevating cylinder 46 is expanded and contracted to raise and lower the seedling planting part 13 (this is sometimes referred to as automatic raising / lowering). The seedling planting depth is always kept constant. Specifically, the operating amount of the elevating cylinder 46 that is operated when the working height of the seedling planting unit 13 is changed is calculated from the rotation amount of the center float 138a detected by the float sensor 143, and corresponds to the calculated operating amount. The elevating cylinder 46 is actuated to do this.

  And the rice transplanter 1 of this embodiment attaches the stroke sensor (operation amount detection member) 50 which detects the stroke amount of the raising / lowering cylinder 46 along the raising / lowering cylinder 46, detects the operation amount of the cylinder itself, and float sensor 143 It is the structure which grasps | ascertains the responsiveness of the hydraulic control with respect to the output of this, and improves the precision of control. FIG. 6 shows a detailed view of the vicinity of the elevating cylinder 46 of FIG. FIG. 6A shows the case when the cylinder is contracted, and FIG. 6B shows the case when the cylinder is extended.

  An expansion / contraction wire 55 inside the stroke sensor 50 is connected to the piston 46a of the cylinder and expands / contracts along the movement of the piston 46a. The stroke sensor 50 is connected to the control device 100 by a power transmission harness 56, and a detection signal is input to the control device 100.

  As described above, the expansion / contraction amount of the elevating cylinder 46 is controlled so as to be a theoretical value calculated based on the detection result from the float sensor 143, but even if there is almost no difference in appearance (for example, in millimeters), the calculation theory The value may differ from the actual expansion / contraction amount. Therefore, when the actual expansion / contraction operation amount (actual value) detected by the stroke sensor 50 is different from the calculated theoretical value, the control device 100 controls the operation amount of the elevating cylinder 46 so that the actual value matches the theoretical value. (Operation amount adjustment function).

FIG. 7 shows a flow at this time.
When the vertical movement of the front portion of the center float 138a is detected by the float sensor 143, the amount of expansion / contraction of the elevating cylinder 46 is calculated and the elevating cylinder 46 is activated. At this time, when the rotation direction of the center float 138a is downward (the depth of the field is deep), the lifting cylinder 46 extends to lower the seedling planting portion 13, while the rotation direction of the center float 138a is When it is above (the depth of the field is shallow), the lifting cylinder 46 contracts to raise the seedling planting unit 13. The operation amount of the elevating cylinder 46 is detected by the stroke sensor 50, and the elevating cylinder 46 is operated until the actually measured value detected by the stroke sensor 50 matches the theoretical value.

  That is, when the actually measured value is smaller than the theoretical value (insufficient operating amount), the center float 138a is further operated in the same direction (in the expansion direction when it is expanded, and in the contraction direction when it is contracted), When the actually measured value is larger than the theoretical value (excessive operation amount), the center float 138a is operated in the reverse direction (in the contraction direction when it is expanded, and in the expansion direction when it is contracted).

  Note that FIG. 7 shows an example in which the “hydraulic valve” is repeatedly stopped and actuated, but this control includes a case where the “hydraulic valve” continues to operate until the measured value matches the theoretical value. . The order of “hydraulic valve stop” and “stroke sensor detection” is not particularly limited, and the stroke sensor 50 constantly detects the operation of the elevating cylinder 46 and is performed almost simultaneously with the operation of the elevating cylinder 46. . This is common to other flows.

  With this configuration, if there is an excess or deficiency in the actual operating amount of the elevating cylinder 46 with respect to the operating amount of the elevating cylinder 46 calculated from the rotation amount of the center float 138a, the elevating cylinder 46 expands and contracts, thereby increasing the depth of the field. Since the working height of the seedling planting part 13 can be adjusted to an appropriate position, the working accuracy is improved.

  In addition, the raising / lowering link device 28 is operated in accordance with the expansion / contraction of the lifting / lowering cylinder 46 so that the seedling planting unit 13 is lifted / lowered. There may be a delay.

  Therefore, the actual lift amount (actual value) of the lift link device 28 calculated from the change amount of the link tilt angle detected by the lift link sensor 148 for a predetermined time is a predetermined value of the lift cylinder 46 detected by the stroke sensor 50. It is smaller than the lifting / lowering amount of the lifting / lowering link device 28 corresponding to the operating amount of time (calculated from the theoretical value, the operating amount of the lifting cylinder 46 detected by the stroke sensor 50 for a predetermined time), that is, the response of the operation is delayed. If there is, the control device 100 causes the elevating cylinder 46 to operate quickly (operation speed adjustment function).

With this function, the responsiveness of the hydraulic control can be grasped, and the control accuracy can be improved even when the responsiveness is not good.
FIG. 8 shows a flow of the operation speed adjustment function. The control by the operation speed adjustment function is in parallel with the operation amount adjustment function (FIG. 7), but is related to the ascending or descending portion of the ground work device in FIG.

  The actual lift amount of the lift link device 28 is calculated from the amount of change in the link inclination angle detected for a predetermined time detected by the lift link sensor 148, and corresponds to the operation amount of the lift cylinder 46 detected for a predetermined time detected by the stroke sensor 50. The lift amount (theoretical value) of the lift link device 28 is compared with the actual lift amount (actual value) of the lift link device 28. If the lift amount of the actual lift link device 28 is small (lifting delay), the lift cylinder Increase the operating speed of 46. Specifically:

  When the rotation direction of the center float 138a is downward, the elevating cylinder 46 extends to lower the seedling planting portion 13. The actual lowering amount of the lifting / lowering link device 28 is calculated from the amount of change in the link inclination angle for a predetermined time (for example, 0.5 seconds) detected by the lifting / lowering link sensor 148, and the lifting / lowering cylinder 46 detected by the stroke sensor 50 is calculated. The actual lowering link device is compared with the lowering amount (theoretical lowering amount) of the lifting / lowering link device 28 corresponding to the operating amount for a predetermined time (0.5 seconds) and the actual lowering amount (actually lowered amount) of the lifting / lowering link device 28. When the amount of lowering 28 (the seedling planting portion 13) is small (lowering delay), the extension operation of the elevating cylinder 46 is speeded up. The reference for speeding up is the amount of expansion / contraction of the lift cylinder 46 with respect to the rotation amount of the float sensor 143 recorded in the control device 100, and the theoretical time from the start to the end of expansion / contraction of the lift cylinder 46. The expansion / contraction operation of the elevating cylinder 46 is controlled at the control speed. Therefore, the expansion / contraction speed of the elevating cylinder 46 is made faster than the expansion / contraction control speed based on the theoretical time. The same shall apply hereinafter.

In addition, when the actual lowering amount of the lifting / lowering link device 28 is not small, it is determined that it is appropriate, and the operating speed of the lifting / lowering cylinder 46 is not changed.
On the other hand, when the rotation direction of the center float 138a is upward, the elevating cylinder 46 contracts and raises the seedling planting portion 13. The actual lift amount of the lift link device 28 is calculated from the change amount of the link tilt angle for a predetermined time (for example, 0.5 seconds) detected by the lift link sensor 148, and the lift cylinder 46 detected by the stroke sensor 50. The amount of rise (theoretical rise) of the lift link device 28 corresponding to the amount of operation for a predetermined time (0.5 seconds) is compared with the amount of rise of the actual lift link device 28 (actual rise amount), and the actual lift link device When the amount of elevation of 28 (seedling planting part 13) is small (rising delay), the contraction operation of the elevating cylinder 46 is speeded up.

If the actual lifting amount of the lifting / lowering link device 28 is not small, it is determined that it is appropriate and the operating speed of the lifting / lowering cylinder 46 is not changed.
There is no problem with respect to the fact that the actual lifting amount of the lifting and lowering link device 28 is larger than the theoretical value, that is, the raising and lowering of the seedling planting part 13 is fast. Since the elevating link device 28 is operated by a mechanical mechanism by the expansion and contraction operation of the elevating cylinder 46, mechanical loss becomes a problem. That is, this structure corrects the raising / lowering delay of the seedling planting part 13.

  With this configuration, when the change in the working height of the seedling planting portion 13 is delayed with respect to the expansion and contraction of the lifting cylinder 46, by speeding up the operation of the lifting cylinder 46, when the seedling planting portion 13 is lowered, It is possible to prevent the work from starting before the seedling planting unit 13 comes close to the ground, and unnecessary work is prevented from being performed.

  In addition, when the work by the seedling planting unit 13 is interrupted, the seedling planting unit 13 is raised, but when the seedling planting unit 13 moves away from the ground quickly, planting work is performed at a place where seedling planting is not performed. Therefore, it is possible to prevent the work positions from overlapping.

  In addition, the lifting link device 28 is provided with an accumulator 78 (pressure adjusting device) that reduces the reaction during lifting and lowering by air pressure, and an air compressor 79 (air pressure adjusting device) that adjusts the air pressure of the accumulator 78. By absorbing the reaction of the upper link 28a and the lower link 28b by the accumulator 78, the vibration is suppressed and the upper link 28a and the lower link 28b are smoothly stopped without bouncing. The accumulator 78 is connected to a hydraulic circuit (not shown) between the lift hydraulic valve 161 and the lift cylinder 46.

From the elevating link sensor 148, the amount of movement of the elevating link device 28 in the upward direction (link inclination angle increases) or in the downward direction (link inclination angle decreases) is detected.
When the actual amount of movement of the lifting / lowering link device 28 detected by the lifting / lowering link sensor 148 changes and the number of times of vertical movement is equal to or greater than a predetermined value within a certain time, that is, the link inclination angle increases or decreases, In the case where the working height 13 fluctuates finely, the control apparatus 100 causes the air compressor 79 to be discharged to lower the air pressure of the accumulator 78.

  This is because if the accumulator 78 has a high air pressure, when the lifting / lowering link device 28 stops moving up and down, the upper link 28a and the lower link 28b swing up and down and the seedling planting portion 13 moves up and down finely.

  On the other hand, the actual number of up / down movements of the lifting / lowering link device 28 detected by the lifting / lowering link sensor 148 is less than a predetermined value within a predetermined time. When the change in the working height is delayed, the air compressor 79 is compressed to increase the air pressure of the accumulator 78 (air pressure adjustment function).

  In the above-described operation speed adjustment function, when the change in the working height of the seedling planting unit 13 is delayed, the amount of oil fed from the lifting hydraulic valve 161 is increased, but in this configuration, the accumulator 78 is added. The delay in the rise or fall of the working height of the seedling planting part 13 can be eliminated by temporarily being accelerated by the pressure. That is, the elevating link device 28 has an air spring, and the urging force of the air spring prevents the elevating start from being delayed.

FIG. 9 shows a flow at this time.
When the rotation direction of the center float 138a is downward, the elevating cylinder 46 extends to lower the seedling planting portion 13. The actual number of up / down movements of the lifting / lowering link device 28 detected by the lifting / lowering link sensor 148 is set to a predetermined value (for example, upward and downward movements) as a set (one time) within a predetermined time (for example, 1 to 3 seconds). 10 times or more), the air compressor 79 is operated to lower the air pressure of the accumulator 78. This control detects the amplitude in a very short time, and is a level that cannot be seen from the appearance.

  From the lift link sensor 148, it is detected when there is an upward or downward change amount of the link inclination angle equal to or greater than a predetermined angle. The detection of the number of vertical movements of the lifting / lowering link device 28 within a predetermined time usually occurs when the lifting / lowering of the lifting / lowering cylinder 46 stops. At this time, the lifting / lowering link sensor 148 has a slight lifting / lowering link. The rotation of the device 28 is detected.

  When the actual number of vertical movements of the lifting / lowering link device 28 detected by the lifting / lowering link sensor 148 is less than a predetermined value within a predetermined time, the predetermined time (for example, 0.5 0.5) of the lifting / lowering cylinder 46 detected by the stroke sensor 50. The amount of lowering of the lifting / lowering link device 28 (theoretical lowering amount) corresponding to the operating amount of seconds) and the actual amount of lowering of the lifting / lowering link device 28 (actually lowered amount of motion, a predetermined time detected by the lifting link sensor 148 (0.5 seconds) ) Calculated from the change amount of the link inclination angle of), and when the actual lowering amount of the lifting / lowering link device 28 is small (lowering delay), the air compressor 79 is operated to increase the air pressure of the accumulator 78. . At this time, the extension operation of the elevating cylinder 46 may be speeded up.

  On the other hand, when the rotation direction of the center float 138a is upward, the elevating cylinder 46 contracts and raises the seedling planting portion 13. The actual number of up / down movements of the lifting / lowering link device 28 detected by the lifting / lowering link sensor 148 is set to a predetermined value (for example, upward and downward movements) as a set (one time) within a predetermined time (for example, 1 to 3 seconds). 10 times or more), the air compressor 79 is operated to lower the air pressure of the accumulator 78.

  When the actual number of vertical movements of the lifting / lowering link device 28 detected by the lifting / lowering link sensor 148 is less than a predetermined value within a predetermined time, the predetermined time (0.5 seconds) of the lifting / lowering cylinder 46 detected by the stroke sensor 50. The amount of rise (theoretical rise) of the lifting / lowering link device 28 corresponding to the amount of operation of the actual amount of rise of the lifting / lowering link device 28 (the actual rise amount, a predetermined time (0.5 seconds) detected by the lifting / lowering link sensor 148). (Calculated from the amount of change in the link inclination angle), and when the actual lift amount of the lifting / lowering link device 28 is small (rising delay), the air compressor 79 is operated to increase the air pressure of the accumulator 78. At this time, the contraction operation of the elevating cylinder 46 may be speeded up.

  That is, when the lifting / lowering amount of the lifting / lowering link device 28 is smaller (slower) than the theoretical value, the operation speed adjustment function speeds up the operation of the lifting / lowering cylinder 46 and compresses the air compressor 79 to increase the air pressure of the accumulator 78. It is good also as a structure to increase. In this case, the accumulator 78 can absorb the reaction of the lifting / lowering operation of the lifting / lowering link device 28 accompanying the increase in the operation speed of the lifting / lowering cylinder 46.

  With this configuration, it is possible to grasp the responsiveness of the hydraulic control and to optimize when the responsiveness is not good. Further, the air pressure of the accumulator 78 provided in the lifting / lowering link device 28 is increased / decreased by the air compressor 79 so that the air pressure is optimized and the seedling planting part 13 is quickly moved to the working height corresponding to the operating amount of the lifting / lowering cylinder 46. Therefore, the working height of the seedling planting unit 13 with respect to the depth of the field can be adjusted to an appropriate position, and the working accuracy is improved.

  In addition, when the raising / lowering of the seedling planting unit 13 is stopped, the lifting link device 28 can be prevented from swinging in the vertical direction by absorbing the reaction of the raising / lowering operation by the accumulator 78, so that the working accuracy is improved. In addition, the center of gravity position hardly changes and the traveling posture of the traveling vehicle body 2 is stabilized.

  And when the unevenness | corrugation of an agricultural field is intense, the raising / lowering cylinder 46 will act | operate frequently by the detection of the vertical movement of the center float 138a by the float sensor 143, and the seedling planting part 13 will frequently move up and down. When the change in the rotation angle within a predetermined time detected by the float sensor 143 is large, it means that there are many irregularities around the work position. Therefore, the seedling planting unit 13 is adjusted in accordance with the rotation of the float 138. As the seedling planting part 13 moves up and down, the next ascending or descending signal is output and the seedling planting part 13 frequently moves up and down. Since there is a time lag between the rotation of the float 138 and the raising / lowering of the seedling planting portion 13, if the plant is raised and lowered too frequently, the seedling planting portion 13 should be raised and lowered to adjust the planting depth. In some cases, seedlings are planted deeply in shallow places and shallowly in deep places.

  In order to prevent this, when unevenness of the field is frequently detected by the float sensor 143, the time interval of signal transmission of the potentiometer for detecting the rotation angle of the float 138 is lengthened, and the frequency of raising and lowering the seedling planting unit 13 is increased. Reduce.

  Specifically, if the detected angle is equal to or greater than a predetermined angle (in both directions), the float sensor 143 regards the rotation of the center float 138a and outputs it to the control device 100, but the float sensor 143 is within a short time. However, when the vertical movement of the center float 138a is detected a predetermined number of times or more, the output time interval from the float sensor 143 to the control device 100 may be increased (output time delay function).

FIG. 10 shows a flow at this time.
Within a relatively short predetermined time (for example, 0.5 to 1 second), the float sensor 143 moves the center float 138a up and down a predetermined number of times (for example, upward and downward movements as one set (once) 10 to 20 times. ) When detected above, the output time interval from the float sensor 143 to the control device 100 is made longer than the current output time, for example, from 0.05 seconds to 0.1 seconds. On the other hand, when the number of times the center float 138a moves up and down is less than a predetermined number and the output time interval from the float sensor 143 to the control device 100 is longer than the standard (for example, 0.05 seconds), The output time is shorter than the output time, and the output time interval is standard. Note that the standard is a stage where the product is assembled, in other words, an initial setting state at the time of shipment.

  In this way, when the center float 138a moves up and down rapidly in a short time, by increasing the output delay time from the float sensor 143 to the control device 100, in a field with many irregularities where the float 138 rotates frequently. Since the frequency with which the lifting / lowering link device 28 automatically moves up and down can be suppressed when working, a decrease in work accuracy due to an excessive change in the working height of the seedling planting unit 13 is prevented. On the other hand, when the center float 138a does not move up and down vigorously and the output time interval from the float sensor 143 to the control device 100 is long, the output time interval is shortened to improve followability and suitable for unevenness in the field. The seedling planting part 13 can be operated with high accuracy.

  Further, when the operation of the lifting cylinder 46 detected by the stroke sensor 50 repeats a slight movement (for example, 1 to 2 mm) such that the upper link 28a itself of the lifting link device 28 does not move, the float sensor 143 controls the control device. The output signal to 100 may be ignored for a certain period of time, and the lifting cylinder 46 may not be operated (output signal stop function). That is, even when the operation of the lifting cylinder 46 is detected by the stroke sensor 50, the amount of expansion / contraction operation is such that the operation of the lifting link device 28 by the lifting link sensor 148 is not detected and is repeated a predetermined number of times within a predetermined time. The lifting / lowering cylinder 46 is not operated so that unnecessary work is not performed.

FIG. 11 shows a flow at this time.
Even if the float sensor 143 detects the rotation of the center float 138 a and the operation of the elevating cylinder 46 is detected from the stroke sensor 50, the operation of the elevating link device 28 by the elevating link sensor 148 is not detected, and the stroke sensor 50 When the expansion / contraction operation within a predetermined time (for example, 1 to 3 seconds) is detected more than a predetermined number of times (for example, 10 times of expansion and contraction as one set), the output signal from the float sensor 143 to the control device 100 Transmission is stopped for a certain time (for example, 1 to 3 seconds).

  Although the lifting / lowering position of the lifting / lowering link device 28 with respect to the rotation of the center float 138a does not match slightly, the lifting / lowering cylinder 46 is actuated to move the lifting / lowering link device 28 up and down. When the device 28 is hardly moving, the lifting link sensor 148 does not detect the operation of the lifting link device 28. Thus, if the state where the elevating link device 28 does not operate even if the elevating cylinder 46 is operated, the automatic elevating and lowering based on the detection angle of the float sensor 143 is not performed for a certain period of time. It is no longer necessary to perform the operation, and the operation loss of the entire aircraft is reduced.

  The engine 11 of the rice transplanter 1 is a diesel engine and employs an electronic governor mechanism that performs governor control with a motor. The engine output is controlled by the fuel injection amount based on the position of the accelerator lever 71 (mounted on the engine 11 and not manually operated by the operator). As for the fuel injection amount, an instruction of the fuel injection amount is output to the engine electronic governor 72 by an input signal from the accelerator lever sensor 71 a that detects the position of the accelerator lever 71. The operation of the travel lever is detected by the “lever potentiometer X1”, the “accelerator lever switching motor X2” that moves the accelerator lever 71 in accordance with the detected value is operated, and the fuel injection amount by the electronic governor 72 is changed to change the engine. Change the rotation speed.

  In normal work, the engine speed is increased to, for example, 2500 rpm, which is a rated speed, by the travel operation lever. This rated speed is the speed necessary to ensure sufficient output for the operation of the seedling planting part while traveling during planting of the rice transplanter. Kept to a minimum.

  When the operator rotates the handle 24 to the left or right by 200 degrees (the handle 24 rotates 360 degrees to 400 degrees to the left or right), turning starts, and the turning start timing is the steering angle (cut angle) of the handle 24. It is detected by the sensor 73. The turning angle sensor 73 detects not only the steering angle but also the turning direction. The cutting angle sensor 73 may be a potentiometer provided on the steering shaft of the handle 24.

  When the turning angle sensor 73 detects the start of turning while turning on the headland, the control device 100 controls the fuel supply amount to reduce the engine speed to 2000 rpm and achieve stable operability. Secure. The driving force required for both traveling and planting work requires approximately 2500 rpm (an example of the number of revolutions during standard work), but the planting work is not performed during turning, so the engine speed required for running It is enough to secure.

FIG. 12 shows a flow at this time.
When the movement of the accelerator lever 71 is detected by the accelerator lever sensor 71a, the engine speed increases to 2500 rpm. When the turning angle sensor 73 detects the start of turning, the engine speed decreases to 2000 rpm.

  With the mechanical mechanism by the accelerator lever 71, only uniform control that the engine speed is kept constant can be performed. That is, at the time of planting work, the engine speed does not fall below 2500 rpm, but when the planting clutch is disengaged as in turning, the engine speed is wasted. However, this configuration can save fuel and save energy by lowering the engine speed during turning.

  As described above, the fertilizer application device 26 releases the granular fertilizer stored in the fertilizer hopper 27 to the farm field by a certain amount during planting work. When the fertilizer switch 75 is turned on, the fertilizer clutch on / off motor 77 is turned on and the blower electric motor 54 is also operated.

  When the turning of the rice transplanter 1 on the headland is completed, the operator turns on the fertilizer switch 75 and sows the fertilizer before the seedling planting begins. At this time, by controlling the fuel supply amount by the control device 100, the engine speed is increased again to about 2400 to 2500 rpm, and a supply current necessary for driving the seedling planting unit 13 is ensured.

FIG. 13 shows a flow at this time.
If the engine speed increases to 2500 rpm due to the movement of the accelerator lever 71 and starts turning, the engine speed decreases to 2000 rpm. However, when the turning angle sensor 73 detects the end of the turning and the fertilizer switch 75 is turned on, the engine is turned on. The rotational speed increases again to 2500 rpm.

  With the mechanical mechanism by the accelerator lever 71, only uniform control can be performed. However, with this configuration, the power necessary for planting work can be secured by returning the engine speed at the end of turning.

  The engine 11 is provided with a water temperature sensor 80 that detects the temperature of the cooling water. From the detected value from the water temperature sensor 80, it can be determined whether or not the engine 11 is overheated. When an abnormality is detected by the water temperature sensor 80, the fuel supply amount is controlled by the control device 100, so that the engine speed is reduced to 1200 rpm, and occurrence of problems such as burn-in is avoided in advance.

FIG. 14 shows a flow at this time.
When the movement of the accelerator lever 71 is detected by the accelerator lever sensor 71a, the engine speed increases to 2500 rpm. When an abnormality is detected by the water temperature sensor 80, the engine speed decreases to 1200 rpm, which is about the idling speed. .

  With the mechanical mechanism by the accelerator lever 71, only uniform control can be performed. However, with this configuration, it is possible to prevent the occurrence of problems such as seizure by lowering the engine speed to about the idling speed when the temperature of the cooling water becomes high.

Next, the structure of the seedling planting mechanism 18 of the seedling planting unit 13 of the rice transplanter 1 will be described.
FIG. 15 shows a partial cross-sectional side view of the seedling planting mechanism 18 according to the present embodiment as viewed from the left side of the traveling vehicle body 2, and FIG. 16 shows a partial cross-sectional front view of the seedling planting mechanism 18.

  The planting drive shaft 30 is rotatably supported at the rear end portion of the planting transmission case 121, and the center portion of the rotary case 31 is fixed to the left and right projecting portions of the planting drive shaft 30 so as to rotate integrally. It is attached.

  Furthermore, the planting rotation shaft 34 is rotatably supported by both ends of the rotary case 31 by the first bearing 32 and the second bearing 33, and seedling planting is performed on each of these two planting rotation shafts 34. A planting tool case 35 of the tool 127 is fixedly attached. The planting tool case 35 is provided with a seedling removing claw 36 and an extrusion rod 29 having a seedling extrusion claw 37 fixed to the tip.

  As shown in FIG. 16, the planting drive shaft 30 has a square shaft surface, and a tapered cotter pin 39 inserted through the boss portion 38 of the rotary case 31 so as to be orthogonal to the planting drive shaft 30 is passed through. The rotary case 31 is fixed to the planting drive shaft 30 in contact with the angular shaft surface.

In FIG. 17, the internal structure of the rotary case 31 of the rice transplanter 1 is shown.
An eccentric sun gear 40 that is fitted to the outer periphery of the planting drive shaft 30 and that does not revolve integrally with the planting transmission case 121 is disposed inside the rotary case 31, and two eccentric gears that mesh with the eccentric sun gear 40 are arranged. A gear mechanism comprising a center counter gear 41 and two eccentric planetary gears 42 meshing with each eccentric counter gear 41 is housed.

  The eccentric sun gear 40 is supported on the rotary case 31 by a third bearing 43. The eccentric counter gear 41 is attached to the counter gear shaft 44 and is configured to rotate freely corresponding to the rotary case 31. The eccentric planetary gear 42 is attached to the planting rotation shaft 34 so as to rotate integrally.

  When the planting drive shaft 30 is driven to rotate, the rotary case 31 rotates in a certain direction, the eccentric planetary gear 42 revolves around the eccentric sun gear 40, and in the direction opposite to the revolution direction during one revolution. The eccentric planetary gear 42 rotates once. In the left side view shown in FIG. 15, the rotary case 31 rotates counterclockwise together with the planting drive shaft 30, and the eccentric planetary gear 42 revolves counterclockwise around the planting drive shaft 30 and rotates clockwise. To do.

  Since the seedling planting tool 127 rotates together with the planting rotation shaft 34 fixed to the eccentric planetary gear 42, the seedling planting tool 127 seedlings as the planting drive shaft 30 rotates. The tip of the handle claw 36 moves in a configuration that draws the seedling planting tool tip locus 19. While the eccentric planetary gear 42 revolves once, the tip of the seedling catching claw 36 makes a round on the seedling planting tool tip locus 19. This seedling planting tool tip locus 19 is a static locus viewed from the left side when the traveling vehicle body 10 is stopped.

  In addition, in the rotary case 31, a braking cam 47 attached so as to rotate integrally with the planting rotation shaft 34, a braking arm 48 in contact with the outer peripheral surface of the braking cam 47, and the braking arm 48 are connected to the braking cam 47. There is provided a phase shift prevention mechanism comprising a braking spring 49 that presses against the spring. The braking arm 48 is pivotally supported by the counter gear shaft 44.

  The braking cam 47 brakes the rotation of the eccentric planetary gear 42 and absorbs backlash between the gears when the seedling planting tool 127 is at a position for picking a seedling from the seedling outlet 125 and a position for planting the seedling in the field. The seedling separation and seedling planting operations are performed accurately.

  The seedling pushing claw 37 of the seedling planting tool 127 is attached to the front end of the pushing rod 29 slidably supported by the planting tool case 35 so as to be close to the back surface of the seedling picking claw 36, and the operation of the pushing rod 29. Therefore, the seedling catching claw 36 protrudes toward the tip and the seedling catching claw 36 moves backward toward the root. By the operation mechanism of the seedling pushing claw 37 accommodated in the planting tool case 35, the seedling pushing claw 37 protrudes when the tip of the seedling picking claw 36 moves to the lower part of the seedling planting tool tip locus 19. Then, the seedling held by the seedling picking nail 36 is pushed out to the field.

The seedling planting mechanism 18 of the rice transplanter 1 of the present embodiment is configured as described above, and operates as follows during planting work.
When the planting drive shaft 30 is driven and rotated, the pair of seedling planting tools 127 attached to the rotary case 31 are mutually connected on the same track in which the tips of the seedling picking claws 36 draw the seedling planting tool tip locus 19. The robot moves in a constant posture while maintaining an interval of 1/2 cycle.

  When the seedling picking claw 36 of the seedling planting tool 127 passes through the seedling collecting port 125, one seedling of the seedling placing stand 17 is separated and taken out. At this time, the seedling pushing claw 37 is in a retracted state. When the seedling planting tool 127 moves down and the tip of the seedling harvesting claw 36 moves to the lower part of the seedling planting tool tip locus 19, the seedling pushing claw 37 protrudes, and the soil portion of the seedling held by the seedling harvesting claw 36 Is pushed downward, the seedling is pushed out from the seedling picking nail 36 and planted in the field. Thereafter, the seedling planting tool 127 is moved upward through a rear trajectory than when it is moved downward, and the seedling push-out claw 37 is retracted.

FIG. 18 shows a plan sectional view (schematic diagram) of the planting transmission case 121 of the rice transplanter of FIG.
In the transmission case 170, a partial strip clutch 64 for connecting and disconnecting power to each seedling planting tool 127 is provided. The partial strip clutch 64 includes a driving claw 64a and a driven claw 64b, and is transmitted when the driving claw 64a and the driven claw 64b mesh with each other.

  The planting drive shaft 30 that drives the seedling planting tool 127 is provided with a driven sprocket 180, and a transmission chain is provided between the driven sprocket 180 and a driving sprocket 179 provided integrally with the driven claw 64 b of the partial strip clutch 64. 60 is wrapped around. The drive claw 64 a rotates integrally with the drive shaft 171 by the partial clutch key 173 and does not move in the direction of the drive shaft 171. The driven claw 64b receives a pressing force toward the drive claw 64a by the partial clutch spring 63, which is a compression spring, and has an operation cam surface on which the clutch pin 175 is inserted on the outer peripheral surface.

  A clutch pin spring 176, which is a compression spring that is pressed against the driven claw 64b so that the clutch pin 175 can be moved back and forth at the position facing the driven claw 64b, and the opposite side of the driven claw 64b against the clutch pin spring 176 A hook clutch cable 177 is provided for pulling to the left. Therefore, when the hook clutch cable 177 is pulled by operating the hook clutch operating lever 142, the clutch pin 175 is separated from the driven claw 64b, and the partial clutch 64 is brought into a transmission state by pressing the partial clutch spring 63. Conversely, when the partial clutch operation cable 177 is loosened, the clutch pin 175 contacts the outer peripheral surface of the driven claw 64b, and the driven claw 64b moves away from the driving claw 64a as the driven claw 64b rotates, and the driving claw 64a And the transmission of the partial strip clutch 64 is cut off at a predetermined phase where the engagement of the driven claw 64b is disengaged.

  When the clutch pin 175 is brought into contact with the driving claw 64a or the driven claw 64b to be in the disconnected state, the driving claw 64a and the driven claw 64b are not engaged with each other, but the side ends of the claw are in contact with each other. In some cases, abnormal noise may occur.

  This occurs because the distance between the drive claw 64a and the driven claw 64b is minimized because the drive shaft 171 rotates slowly or does not rotate when the partial clutch 64 is disengaged during low speed movement or stop. . On the other hand, if the moving speed is equal to or higher than the predetermined speed, the rotational speed of the drive shaft 171 is also higher than a certain level. it can.

  When planting in the state of low-speed movement, the driving reaction force at the time of rotation of the rotary case 31 (reaction force generated when the gear in the rotary case 31 is an inequal speed (unequal circle) gear), seedling Due to the reaction force of the operation of the push rod 29 of the planting tool 127, the rotary case 31 is reversed, and at this time, the driven claw 64b is reversed to rub against the drive claw 64a and generate an abnormal noise.

  The reverse rotation of the rotary case 31 is transmitted because the driven claw 64 b is connected to the drive sprocket 179 for transmitting from the drive shaft 171 to the planting drive shaft 30.

  FIG. 19 is a simplified side view showing the relationship between some gears in the transmission case, and shows the positional relationship between the braking cam 47 and the braking arm 48 when the partial clutch 64 is disengaged. Yes.

  The positions of the braking cam 47 and the braking arm 48 at the stop position of the seedling planting tool 127 when the partial strip clutch 64 is disconnected are determined by the combination of the eccentric counter gear 41 and the eccentric planetary gear 42. That is, the shapes of the eccentric gears 41 and 42 are designed so that the planting unit does not change when the planting operation is resumed, and the positions of the eccentric gears 41 and 42 at the stop position of the seedling planting tool 127. Is also decided. This is due to the following reason.

  If the stop position of the rotary case 31 is indefinite when the planting clutch or the partial strip clutch 64 is disengaged, the seedling picking claws 36 and the seedling pushing claws 37 may stop while entering the soil. In some cases, mud accumulates, making it impossible to remove seedlings. Further, when the partial strip clutch 64 is disengaged, the seedling picking claws 36 and the seedling extruding claws 37 move forward while in the soil, so that not only these claws but also the rotary case 31 is loaded. End up.

Therefore, in order to prevent these, the rotation of the rotary case 31 is stopped at a fixed position when the supply of the driving force is stopped by the meshing of the gears.
As shown in FIG. 19A, if there is a gap P between the braking cam 47 and the braking arm 48 when the partial clutch 64 is disengaged, the reaction occurs when the braking cam 47 is detached from the braking arm 48. Thus, the rotary case 31 may be reversed to generate abnormal noise. Accordingly, as shown in FIG. 19B, when the partial strip clutch 64 is disengaged, the portion of the braking cam 47 on the brake arm 48 side when the partial strip clutch 64 is disengaged is expanded to change the shape of the brake cam 47. By eliminating the gap between the braking cam 47 and the braking arm 48 and increasing the contact and load range, the driving reaction force can be suppressed and the reverse rotation of the rotary case 31 can be prevented. Therefore, it is possible to suppress the occurrence of the abnormal noise.

  At the time of the operation of the seedling planting tool 127, the rotary case 31 tries to move in the reverse direction by the reaction force of the drive to the rotation of the rotary case 31 and the reaction force of the operation of the push rod 29 of the planting device of the seedling planting tool 127. The power to do is added. On the other hand, the gear train in the rotary case 31 is not assembled so as to rotate in the reverse rotation direction. Therefore, when the rotary case 31 tries to reversely rotate, it alone receives a large load. The braking cam 47 and the braking arm 48 cancel the force to rotate in the reverse direction by contacting each other.

  Further, as shown in FIG. 19A, even when there is a gap P between the braking cam 47 and the braking arm 48 when the partial strip clutch 64 is disengaged, noise is generated by adopting the following configuration. Can be prevented.

  FIG. 20 shows another example of FIG. FIG. 20A shows a plan sectional view (schematic diagram) showing a part of the planting transmission case 121, FIG. 20B shows a side view (schematic diagram) of the brake disc 69, and FIG. C) shows a side view (schematic diagram) of the brake shoe 66.

  The brake shoe 66 has a plate shape having a hole in the center, and is fixed to the planting transmission case 121 by a fixing pin 67. The planting drive shaft 30 is disposed so as to pass through a hole in the center of the brake shoe 66. On the other hand, the two brake disks 69 sandwiching the brake shoe 66 are fixed to the planting drive shaft 30 and rotate integrally with the planting drive shaft 30.

  The side view shown in FIG. 20B is a side view of the side of the brake disc 69 facing the brake shoe 66. The brake shoe 66 has a structure shown in FIG. A brake disc 69 is disposed on both sides of the brake shoe 66 so as to face each other.

  The brake disc 69 is formed with a friction portion 70 having a large frictional force on a part of the surface facing the brake shoe 66. In FIG. 20 (B), the friction part 70 is formed in two opposing areas among the areas equally divided into four along the circumferential direction. Also, on both surfaces of the brake shoe 66, as shown in FIG. 20C, friction portions 70 are formed in two opposing regions among regions equally divided into four along the circumferential direction.

  Corresponding to the brake shoe 66 fixed to the planting transmission case 121, the brake discs 69 arranged on both surfaces rotate integrally with the planting drive shaft 30, so that the frictional parts 70 during rotation of the brake disc 69 are in contact with each other. The brake disc 69 is braked at the timing of facing, and the planting drive shaft 30 is periodically braked.

  By providing the brake disk 69, the brake disks 69 come into contact with each other at a position where the driving reaction force and the reaction force of the push rod 29 act most, and the driven claw 64b is prevented from rotating in the reverse direction. is there. Therefore, since the reverse rotation of the rotary case 31 can be prevented, the generation of the abnormal noise can be suppressed.

Further, the rotation of the rotary case 31 can be braked by continuing to apply the clutch pin 175 to the driven claw 64b. Accordingly, in this case as well, the reverse rotation of the rotary case 31 can be prevented, so that the generation of the abnormal noise can be suppressed.
Further, the braking action can be strengthened by increasing the contact resistance by making the tip of the clutch pin 175 tapered.

  Further, a germicidal lamp (not shown) such as an ultraviolet lamp or a blue LED is attached to the upper part of the preliminary seedling mount 25 via a stay (not shown), and the loaded seedling is irradiated with ultraviolet rays or the like. good. Sterilization and insect removal are carried out with a special drug, which increases the cost of the drug and leads to contamination of the field and surroundings if the supply amount is incorrect. By sterilizing and killing insects with light such as ultraviolet rays, the environmental burden is reduced without the drug being scattered in the field. Further, since no medicine is required, the operation cost is reduced.

  Since the plurality of spare seedling platforms 25 can be switched between the overlapping state and the deployed state as described above, the uppermost and lowermost preliminary seedling platforms 25a and 25c have a large amount of movement. However, since the middle stage seedling stage 25b has little movement, it is preferable to install a germicidal lamp on the middle stage seedling stage 25b.

  The middle stage seedling mounting table 25b is preferable because it does not require a long wire harness because the amount of movement is small. In addition, since the seedling can be reliably exposed to ultraviolet rays or the like during loading and unloading operations in the expanded state, the sterilization and insect repellent effects can be performed efficiently.

  When placing the seedlings, the preliminary seedling stage 25 is set in the deployed form, and the seedlings are moved from the rear to the front. When removing the seedlings, the preliminary seedling stage 25 is set in the deployed form, and the seedlings are moved from the front to the rear. Let Therefore, the seedling is irradiated by passing through the middle stage. In this case, when other seedlings are moved, if the seedlings are placed on the intermediate preliminary seedling stage 25b and irradiated with ultraviolet rays, the sterilization time becomes longer, and the sterilization and insect repellent effects are enhanced.

  On the other hand, when the sterilization lamp is provided on each of the spare seedling platforms 25a, 25b, and 25c, all the seedlings loaded on the preliminary seedling platform 25 can be sterilized even in the overlapping state. Therefore, even during loading operation (deployed state) or when switching to the overlapped state for planting operation, it is possible to continue irradiating with ultraviolet rays or the like, so that sterilization and insect removal can be performed for a long time.

  In addition, when a support post is set up from the left and right walls of the seedling stand 17 and an ultraviolet lamp is attached to the left and right support posts, an ultraviolet light or a blue LED is also provided above the seedling support base 17, so that a planting operation is in progress. Since seedlings can be irradiated with light such as ultraviolet rays, the sterilization and insect repellent rate is improved.

  INDUSTRIAL APPLICABILITY The present invention is applicable to a riding seedling transplanter equipped with a fertilizer application device and a seedling planting unit.

DESCRIPTION OF SYMBOLS 1 Rice transplanter 2 Traveling vehicle body 3 Seedling planting device 4 Power transmission mechanism 5 Leveling device 10 Main frame 11 Engine 12 Wheel 12a Front wheel 12b Rear wheel 13 Seedling planting part 14 Engine cover 15 Hydraulic continuously variable transmission 16 Belt type power transmission Mechanism 17 Seedling stand 18 Seedling planting mechanism 19 Seedling plant tip locus 20 Floor step 21 Rear step 22 Pilot seat 23 Front cover 24 Handle 25 Preliminary seedling stand 26 Fertilizer 27 Hopper 28 Lift link device 29 Extrusion rod 30 Planting Attached drive shaft 31 Rotary case 32, 33, 43 Bearing 34 Planting rotation shaft 35 Planting tool case 36 Seedling claw 37 Seedling push-out claw 38 Boss portion 39 Cotter pin 40 Eccentric sun gear 41 Eccentric counter gear 42 Eccentric planetary gear 44 Counter gear shaft 46 Lifting cylinder 47 Brake cam 48 Brake arm 49 Brake spring 50 Stroke sensor 51, 52 Pulley 53 Belt 54 Electric motor for blower 55 Telescopic wire 56 Power transmission harness 58 Blower 59 Air chamber 60 Transmission chain 63 Clutch pressing spring 64 Clutch 66 Brake shoe 67 Fixing pin 69 Brake disk 70 Friction part 71 Accelerator lever 72 Engine electronic governor 73 Cutting angle sensor 75 Fertilization switch 77 Fertilization clutch on / off motor 78 Accumulator 79 Air compressor 80 Water temperature sensor 81 Feeding part 82 Fertilization hose 84 Groove body 96 Rotating plate 100 Control device 120 Seedling receiving frame 121 Planting Attached transmission case 125 Seedling opening 127 Seedling planting tool 129 Link base frame 138 Float 139 Link mechanism 140 Switching drive device 141 Electric motor 142 畦Latch operation lever 143 Float sensor 145 Planting clutch case 146 Planting transmission shaft 148 Lifting link sensor 149 Support shaft 150 Center rotor 151 Side rotor 152 Connection transmission mechanism 161 Lifting hydraulic valve 170 Transmission case 171 Drive shaft 173 Partial clutch key 175 Clutch Pin 176 Clutch pin spring 177 畦 Clutch cable 179 Drive sprocket 180 Driven sprocket

Claims (5)

A traveling vehicle body (2) having a traveling device (12a, 12b), a ground work device (3) mounted on the traveling vehicle body (2), and the ground work device (3) with respect to the traveling vehicle body (2). A lift link (28) that moves up and down, a lift actuator (46) that operates the lift link device (28), and a float (not shown) that is rotatably attached to the ground work device (3) and smoothes the unevenness of the field scene ( 138), a float rotation detection member (143) for detecting the vertical rotation amount of the float (138), and a lift actuator (46) according to the rotation amount detected by the float rotation detection member (143). And a control device (100) that adjusts the work height of the ground work device (3).
An operation amount detection member (50) for detecting the operation amount of the lift actuator (46) is provided,
The control device (100) operates the lifting / lowering actuator (46) that is operated when the work height of the ground work device (3) is changed from the rotation amount of the float (138) detected by the float rotation detection member (143). The amount is calculated, the lifting actuator (46) is operated so as to correspond to the calculated operation amount, and the calculated operation amount is compared with the actual operation amount detected by the operation amount detection member (50). A work vehicle having an operation amount adjustment function for operating the elevating actuator (46) until the operation amount corresponds to the calculated operation amount when the operation amounts are different. The lifting link device (28) is provided with a working height detection member (148) for detecting a working height from the operation amount of the lifting link device (28).
The control device (100)
The predetermined amount of time detected by the working amount detection member (148) and the amount of operation of the lifting / lowering link device (28) corresponding to the amount of movement of the lifting / lowering actuator (46) for a predetermined time detected by the operating amount detection member (50). Compared with the actual operation amount of the lifting / lowering link device (28), when the actual operation amount of the lifting / lowering link device (28) is small, the operation speed adjusting function for increasing the operation control speed of the lifting / lowering actuator (46). A work vehicle comprising: The lift link device (28) includes a work height detection member (148) for detecting the work height from the operation amount of the lift link device (28), and a pressure adjusting device (78) for reducing the reaction during the lift by air pressure. And
An air pressure adjusting device (79) for adjusting the air pressure of the pressure adjusting device (78) is provided,
The control device (100)
The predetermined amount of time detected by the working amount detection member (148) and the amount of operation of the lifting / lowering link device (28) corresponding to the amount of movement of the lifting / lowering actuator (46) for a predetermined time detected by the operating amount detection member (50). When the actual amount of operation of the lifting / lowering link device (28) is small, the air pressure of the pressure adjusting device (78) is increased by the air pressure adjusting device (79). While letting
When the number of upward and downward actuations detected by the work height detection member (148) is greater than or equal to a predetermined value within a certain time, the elevator link (28) is actuated. 3. The work vehicle according to claim 1, wherein the work vehicle has an air pressure adjusting function for reducing the air pressure of the pressure adjusting device by using the air pressure adjusting device without comparing the amounts.   When the float rotation detection member (143) detects a predetermined or more angle change in the upward and downward directions for a predetermined number of times within a predetermined time, the control device (100) may detect the float rotation detection member (143). The work vehicle according to any one of claims 1 to 3, further comprising an output time delay function for extending an output time interval from the output. The elevating actuator (46) is a cylinder that operates the elevating link device (28) by extending and contracting,
In the control device (100), even if the operation of the elevating actuator (46) is detected by the operation amount detecting member (50), the operation of the elevating link device (28) is not detected by the work height detecting member (148). When the expansion / contraction operation of the elevating actuator (46) detected from the operation amount detection member (50) is equal to or more than a predetermined number of times within a predetermined time, the output from the float rotation detection member (143) to the control device (100) The work vehicle according to claim 2, further comprising an output signal stop function for stopping signal transmission for a predetermined time.

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