JP2020089298A - Electrically-driven rice transplanter - Google Patents

Electrically-driven rice transplanter Download PDF

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JP2020089298A
JP2020089298A JP2018228018A JP2018228018A JP2020089298A JP 2020089298 A JP2020089298 A JP 2020089298A JP 2018228018 A JP2018228018 A JP 2018228018A JP 2018228018 A JP2018228018 A JP 2018228018A JP 2020089298 A JP2020089298 A JP 2020089298A
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motor
wheels
vehicle body
rice transplanter
traveling vehicle
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小野　弘喜
Hiroyoshi Ono
弘喜 小野
裕真 笹倉
Hiromasa Sasakura
裕真 笹倉
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Fertilizing (AREA)
  • Transplanting Machines (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

To enable long-time seedling transplanting work to be executed in a stable manner with excellent weight balance of a travelling vehicle body even in a farm field under poor conditions in an electrically-driven rice transplanter using an electric motor as a power source.SOLUTION: The electrically-driven rice transplanter is loaded with a fertilizer applicator 12 in the rear part of a travelling vehicle body 1 supported by front wheels 2 and rear wheels 3, and is mounted with a rice transplanting device 13 in the rear part of the travelling vehicle body 1. A front motor FM for driving the front wheels 2 and a rear motor RM for driving the rear wheels 3 are provided to the bottom of the travelling vehicle body 1 at a lateral intermediate position between the right and left front wheels 2,2 and at a lateral intermediate position between the right and left rear wheels 3,3 respectively. The front motor FM is driven by a front battery 6 provided on the travelling vehicle body 1 above a front wheel axle 4 while the rear motor RM is driven by a main battery 11 loaded on the travelling vehicle body 1 at a lower part of a driver's seat 10 provided at the substantially longitudinal center of the travelling vehicle body 1.SELECTED DRAWING: Figure 1

Description

本発明は、動力源として電動モータを使用した電動田植機に関する。 The present invention relates to an electric rice transplanter using an electric motor as a power source.

電動田植機が特許文献１に記載されている。 An electric rice transplanter is described in Patent Document 1.

この電動田植機は、一個のバッテリーと一個の電動モータを走行車体に搭載して、電動モータの動力で走行装置や田植装置の全てを駆動している。 In this electric rice transplanter, one battery and one electric motor are mounted on a traveling vehicle body, and all of the traveling device and the rice transplanter are driven by the power of the electric motor.

特開２０１０−１７２２０７号公報JP, 2010-172207, A

前記従来の電動田植機は、一個の電動モータの駆動力で走行装置の走行駆動輪や田植装置の移植機構を駆動しているために高出力で大型の重い電動モータが搭載されるが、軟らかい圃場で一部の車輪が沈み込んで走行車体が傾くと重量バランスが崩れて田植装置が大きく傾いて苗の植付深さや植付姿勢が不安定になる。 Since the conventional electric rice transplanter drives the traveling drive wheels of the traveling device and the transplanting mechanism of the rice transplanter with the driving force of one electric motor, a large heavy electric motor with high output is mounted, but it is soft. When some wheels sink in the field and the traveling vehicle leans, the weight balance is disturbed and the rice planting device tilts greatly, making the planting depth and posture of the seedlings unstable.

本発明は、電動モータを動力源とする電動田植機で、走行車体の重量バランスが良く、条件の悪い圃場でも安定して長時間の苗移植作業が行えるようにすることを目的とする。 It is an object of the present invention to provide an electric rice transplanter using an electric motor as a power source, in which the weight balance of a traveling vehicle body is good and stable seedling transplanting work can be performed for a long time even in a poor field.

上記従来の課題は、次の技術手段により解決される。 The above conventional problems are solved by the following technical means.

請求項１の発明は、前輪２，２と後輪３，３で支持した走行車体１の後部に施肥装置１２を搭載し、走行車体１の後部に田植装置１３を装着した電動田植機において、前輪２，２を駆動する前モータＦＭを左右前輪２，２の左右中間位置、後輪３，３を駆動する後モータＲＭを左右後輪３，３の左右中間位置で走行車体１の底部に設け、前輪車軸４上方の走行車体１上に設けた前バッテリー６で前モータＦＭを駆動し、走行車体１の前後略中央に設ける操縦席１０の下部で走行車体１に搭載するメインバッテリー１１で後モータＲＭを駆動することを特徴とする電動田植機とする。 The invention of claim 1 is an electric rice transplanter in which a fertilizer application device 12 is mounted on a rear portion of a traveling vehicle body 1 supported by front wheels 2 and 2 and rear wheels 3 and 3, and a rice transplanting device 13 is attached to a rear portion of the traveling vehicle body 1. The front motor FM that drives the front wheels 2 and 2 is located at the left-right intermediate position between the left and right front wheels 2 and 2, and the rear motor RM that drives the rear wheels 3 and 3 is located at the left-right intermediate position between the left and right rear wheels 3 and 3 at the bottom of the traveling vehicle body 1. The front battery 6 provided on the traveling vehicle body 1 above the front wheel axle 4 drives the front motor FM, and the main battery 11 mounted on the traveling vehicle body 1 is installed below the cockpit 10 provided in the approximate front and rear center of the traveling vehicle body 1. The electric rice transplanter is characterized by driving the rear motor RM.

請求項２の発明は、メインバッテリー１１から施肥装置１２のブロアモータ２４と田植装置１３の植付クラッチモータ２３を駆動する電力を供給することを特徴とする請求項１に記載の電動田植機とする。 The invention of claim 2 supplies the electric power for driving the blower motor 24 of the fertilizer application device 12 and the planting clutch motor 23 of the rice transplant device 13 from the main battery 11 to the electric rice transplanter according to claim 1. .

請求項３の発明は、前輪２，２の回転を検出する前回転センサＦＳと後輪３，３の回転を検出する後回転センサＲＳを設け、前輪２と後輪３の回転差が所定以内では前モータＦＭを発電機として発電した電力を前バッテリー６かメインバッテリー１１の何れかに充電し、前輪２と後輪３の回転差が所定以上となると前モータＦＭを駆動して前輪２，２を回転して後輪３，３との四輪で駆動走行することを特徴とする請求項１或いは請求項２に記載の電動田植機とする。 According to the invention of claim 3, a front rotation sensor FS for detecting rotation of the front wheels 2, 2 and a rear rotation sensor RS for detecting rotation of the rear wheels 3, 3 are provided, and a rotation difference between the front wheel 2 and the rear wheel 3 is within a predetermined range. Then, electric power generated by the front motor FM as a generator is charged into either the front battery 6 or the main battery 11, and when the rotation difference between the front wheels 2 and the rear wheels 3 becomes a predetermined value or more, the front motor FM is driven to drive the front wheels 2. The electric rice transplanter according to claim 1 or 2, wherein the electric rice transplanter is driven by four wheels including the rear wheels 3 and 3 by rotating the second wheel.

請求項１の発明で、前輪２と後輪３で支持した走行車体１には前後略中央に設ける操縦席１０の下部に重いメインバッテリー１１が搭載され、また重い前モータＦＭが左右前輪２，２の左右中間で、重い後モータＲＭが左右後輪３，３の左右中間で走行車体１に搭載されるので、走行車体１が受ける重量物の重量配分が前後で均等化して軟らかい湿田を走行しても走行車体１が傾いて不安定になることなく、苗の植付姿勢を傾けることなく植付深さを均等に出来る。 According to the invention of claim 1, a heavy main battery 11 is mounted on a lower portion of a cockpit 10 provided at a substantially front and rear center of a traveling vehicle body 1 supported by a front wheel 2 and a rear wheel 3, and a heavy front motor FM has left and right front wheels 2, 2. Since the heavy rear motor RM is mounted on the traveling vehicle body 1 in the left-right intermediate portion of 2 and in the left-right intermediate portion of the left and right rear wheels 3, 3, the weight distribution received by the traveling vehicle body 1 is equalized in the front-rear direction and travels in a soft wetland. Even if the traveling vehicle body 1 does not tilt and become unstable, the planting depth of seedlings can be made uniform without tilting.

請求項２の発明で、請求項１の効果に加えて、最も重く容量の大きいメインバッテリー１１で施肥装置１２のブロアモータ２４と田植装置１３の植付クラッチモータ２３を駆動することで電力供給を安定させて長時間駆動が可能になる。 According to the invention of claim 2, in addition to the effect of claim 1, stable power supply is achieved by driving the blower motor 24 of the fertilizer applicator 12 and the planting clutch motor 23 of the rice transplanter 13 with the main battery 11 having the heaviest and largest capacity. It enables driving for a long time.

請求項３の発明で、請求項１或いは請求項２の効果に加えて、圃場が安定して前輪２，２と後輪３，３が回り易くて回転差が少ない場合には後モータＲＭで後輪３，３のみを駆動して消費電力が少なく、前モータＦＭで発電した電力を前バッテリー６かメインバッテリー１１の何れかに充電してその電力で走行可能時間を延ばすことが出来、圃場が軟らかくて前輪２，２と後輪３，３が回り難くて回転差が大きく走行方向が不安定になる場合には前モータＦＭで前輪２，２も駆動して後輪３，３との四輪駆動で走行方向を安定させることが出来、またこのような圃場条件に合わせた駆動切換が自動で行える。 In the invention of claim 3, in addition to the effect of claim 1 or claim 2, when the field is stable and the front wheels 2, 2 and the rear wheels 3, 3 are easily rotated and the rotation difference is small, the rear motor RM is used. Only the rear wheels 3 and 3 are driven to consume less power, and the electric power generated by the front motor FM can be charged to either the front battery 6 or the main battery 11 to extend the travelable time with the electric power. When the front wheels 2 and 2 are hard to rotate and the rear wheels 3 and 3 are difficult to rotate and the rotation direction is large and the traveling direction becomes unstable, the front motors FM also drive the front wheels 2 and 2 and the rear wheels 3 and 3. The four-wheel drive makes it possible to stabilize the traveling direction, and drive switching can be automatically performed according to such field conditions.

電動田植機の側面図である。It is a side view of an electric rice transplanter. 前輪と後輪の動力伝動図である。It is a power transmission diagram of a front wheel and a rear wheel. 電動モータの制御ブロック図である。It is a control block diagram of an electric motor.

以下、本発明の電動田植機の実施形態を図示する実施例で説明する。 Hereinafter, an embodiment of an electric rice transplanter of the present invention will be described with reference to illustrated examples.

図１に示す如く、前輪２と後輪３で支持した走行車体１には、フロントケース８内に前バッテリー６とバッテリーマネジメント７を搭載し、前輪２，２と後輪３，３の略中央に設ける操縦席１０の下部にメインバッテリー１１を搭載し、操縦席１０の後部に施肥装置１２を搭載し、走行車体１の後部にリフトアーム１４を介して田植装置１３を装着し、田植装置１３の前にロータ１５をロータクラッチモータ２０で駆動可能に装着している。なお、施肥装置１２とロータ１５は後モータＲＭの回転動力で駆動するようにすると走行速度と同期して回転させることが出来る。 As shown in FIG. 1, a traveling vehicle body 1 supported by front wheels 2 and rear wheels 3 is equipped with a front battery 6 and a battery management 7 in a front case 8, and the front wheels 2, 2 and rear wheels 3, 3 are substantially centered. The main battery 11 is installed in the lower part of the pilot seat 10 provided in the vehicle, the fertilizer application device 12 is installed in the rear part of the pilot seat 10, and the rice planting device 13 is attached to the rear part of the traveling vehicle body 1 via the lift arm 14. Before this, the rotor 15 is mounted so that it can be driven by the rotor clutch motor 20. If the fertilizer application device 12 and the rotor 15 are driven by the rotational power of the rear motor RM, they can be rotated in synchronization with the traveling speed.

施肥装置１２の送風ブロアはブロアモータ２４で駆動し、リフトアーム１４の昇降は植付部リフトシリンダ２５で行い、田植装置１３の植付爪は植付クラッチモータ２３で駆動する。 The blower blower of the fertilizer application device 12 is driven by the blower motor 24, the lift arm 14 is moved up and down by the planting part lift cylinder 25, and the planting claws of the rice planting device 13 are driven by the planting clutch motor 23.

走行車体１の下部には前輪２の車軸４近くに前バッテリー６から電力を供給する前モータＦＭを装着し、後輪３の車軸５の近くにメインバッテリー１１から電力を供給する後モータＲＭを装着している。 A front motor FM that supplies electric power from a front battery 6 is mounted near the axle 4 of the front wheels 2 at the lower part of the traveling vehicle body 1, and a rear motor RM that supplies electric power from the main battery 11 near the axle 5 of the rear wheels 3 is installed. I am wearing it.

図２は前輪２と後輪３への動力伝動機構を示し、前モータＦＭの動力が前デフ装置１６と前輪減速装置１７を介して前輪７に伝動する。また、後モータＲＭの動力が後デフ装置１８と後輪減速装置１９を介して後輪３に伝動する。前輪２，２の回転が前回転センサＦＳで検出され、後輪３，３の回転が後回転センサＲＳで検出される。 FIG. 2 shows a power transmission mechanism for the front wheels 2 and the rear wheels 3. The power of the front motor FM is transmitted to the front wheels 7 via the front differential device 16 and the front wheel speed reducer 17. The power of the rear motor RM is transmitted to the rear wheels 3 via the rear differential device 18 and the rear wheel speed reducer 19. The rotations of the front wheels 2 and 2 are detected by the front rotation sensor FS, and the rotations of the rear wheels 3 and 3 are detected by the rear rotation sensor RS.

前輪２と後輪３の旋回制御は、左クラッチモータ２１と右クラッチモータ２２で行われる。 The turning control of the front wheels 2 and the rear wheels 3 is performed by the left clutch motor 21 and the right clutch motor 22.

図３は、各モータの制御ブロック図で、モータ制御装置３３にバッテリーマネジメント７で制御される前バッテリー６とメインバッテリー１１が接続され、モータ制御装置３３からモータ駆動ユニット３４に制御信号が出力されて各モータが制御される。 FIG. 3 is a control block diagram of each motor. The front battery 6 and the main battery 11 controlled by the battery management 7 are connected to the motor control device 33, and a control signal is output from the motor control device 33 to the motor drive unit 34. Each motor is controlled.

バッテリーマネジメント７には充電用コンセント３５が繋がっている。 A charging outlet 35 is connected to the battery management 7.

モータ制御装置３３の入力側には、前後進操作部２６、ブレーキ操作センサ２７、植付クラッチ操作部２８、ロータ操作部２９、植付部昇降操作部３０、２駆・４駆オート切換３１、前回転センサＦＳ、後回転センサＲＳ、ロータ軸回転センサ１５Ｓ、フロート迎い角センサ３２Ｓ、植付部高さ位置センサ１３Ｓが繋がっている。
モータ駆動ユニット３４の出力側には、前モータＦＭ、後モータＲＭ、ロータクラッチモータ２０、左クラッチモータ２１、右クラッチモータ２２、植付クラッチモータ２３、ブロアモータ２４、植付リフトシリンダ２５が繋がっている。 On the input side of the motor control device 33, a forward/backward operation unit 26, a brake operation sensor 27, a planting clutch operating unit 28, a rotor operating unit 29, a planting unit lifting/lowering operating unit 2, a 2WD/4WD automatic switching unit 31, The front rotation sensor FS, the rear rotation sensor RS, the rotor shaft rotation sensor 15S, the float interception angle sensor 32S, and the planting part height position sensor 13S are connected.
A front motor FM, a rear motor RM, a rotor clutch motor 20, a left clutch motor 21, a right clutch motor 22, a planted clutch motor 23, a blower motor 24, and a planted lift cylinder 25 are connected to the output side of the motor drive unit 34. There is.

自動制御は、前回転センサＦＳと後回転センサＲＳが検出する前輪２，２と後輪３，３の回転差を比較し、回転差が一定以下であれば、前モータＦＭを駆動せず発電機として前輪２，２から前モータＦＭを駆動して、発生する電力を前バッテリー６或いはメインバッテリー１１に充電する。また、前輪２，２と後輪３，３の回転差が一定以上になると、前バッテリー６で前モータＦＭを駆動して前輪２，２を回転し、後輪３，３と共に四輪で駆動走行する。 The automatic control compares the rotation difference between the front wheels 2 and 2 and the rear wheels 3 and 3 detected by the front rotation sensor FS and the rear rotation sensor RS. If the rotation difference is less than a certain value, the front motor FM is not driven to generate electricity. As a machine, the front motor FM is driven from the front wheels 2 and 2 to charge the front battery 6 or the main battery 11 with the generated electric power. When the rotation difference between the front wheels 2 and 2 and the rear wheels 3 and 3 becomes a certain value or more, the front battery 6 drives the front motor FM to rotate the front wheels 2 and 2, and the four wheels drive together with the rear wheels 3 and 3. To run.

なお、前モータＦＭのモータ容量は後モータＲＭよりも小さくすることで、発電機とした場合に駆動抵抗が小さくなるようにしている。 The motor capacity of the front motor FM is set smaller than that of the rear motor RM so that the drive resistance of the generator is reduced.

また、この電動田植機を自律走行の自動移植作業機とした場合には、地図データとして圃場周囲位置を記憶させて、その圃場周囲内を自動で往復して植付作業を行わせ、苗供給で停止する位置を圃場周囲の近くとすることで、作業者が苗の補給を行い易くなる。 In addition, when this electric rice transplanter is used as an automatic transplanting machine that operates autonomously, the position around the field is stored as map data, and planting work is performed by automatically reciprocating inside the field and supplying seedlings. By setting the position to stop at around the field, it becomes easier for the worker to supply seedlings.

ＦＭ 前モータ
ＲＭ 後モータ
ＦＳ 前回転センサ
ＲＳ 後回転センサ
１ 走行車体
２ 前輪
３ 後輪
６ 前バッテリー
１１ メインバッテリー
１０ 操縦席
１２ 施肥装置
１３ 田植装置
２３ 植付クラッチモータ
２４ ブロアモータ
FM front motor RM rear motor FS front rotation sensor RS rear rotation sensor 1 traveling vehicle 2 front wheel 3 rear wheel 6 front battery 11 main battery 10 pilot's seat 12 fertilizer application 13 rice transplanter 23 planting clutch motor 24 blower motor

Claims (3)

前輪（２，２）と後輪（３，３）で支持した走行車体（１）の後部に施肥装置（１２）を搭載し、前記走行車体（１）の後部に田植装置（１３）を装着した電動田植機において、
前記前輪（２，２）を駆動する前モータ（ＦＭ）を左右前輪（２，２）の左右中間位置、前記後輪（３）を駆動する後モータ（ＲＭ）を左右後輪（３，３）の左右中間位置で前記走行車体（１）の底部に設け、前輪車軸（４）上方の前記走行車体（１）上に設けた前バッテリー（６）で前記前モータ（ＦＭ）を駆動し、前記走行車体（１）の前後略中央に設ける操縦席（１０）の下部で前記走行車体（１）に搭載するメインバッテリー（１１）で前記後モータ（ＲＭ）を駆動することを特徴とする電動田植機。 The fertilizer application device (12) is mounted on the rear part of the traveling vehicle body (1) supported by the front wheels (2, 2) and the rear wheels (3, 3), and the rice transplanting device (13) is attached on the rear portion of the traveling vehicle body (1). In the electric rice transplanter
A front motor (FM) that drives the front wheels (2, 2) is a middle position between the left and right front wheels (2, 2), and a rear motor (RM) that drives the rear wheels (3) is a left and right rear wheels (3, 3). ) Is provided in the bottom of the traveling vehicle body (1) at an intermediate position, and a front battery (6) provided on the traveling vehicle body (1) above the front wheel axle (4) drives the front motor (FM), An electric motor characterized in that the rear motor (RM) is driven by a main battery (11) mounted on the traveling vehicle body (1) below a cockpit (10) provided approximately in the front-rear center of the traveling vehicle body (1). Rice transplanter. 前記メインバッテリー（１１）から施肥装置（１２）のブロアモータ（２４）と前記田植装置（１３）の植付クラッチモータ（２３）を駆動する電力を供給することを特徴とする請求項１に記載の電動田植機。 The electric power for driving the blower motor (24) of the fertilizer application device (12) and the planting clutch motor (23) of the rice planting device (13) is supplied from the main battery (11). Electric rice transplanter. 前記前輪（２，２）の回転を検出する前回転センサ（ＦＳ）と前記後輪（３，３）の回転を検出する後回転センサ（ＲＳ）を設け、前記前輪（２）と前記後輪（３）の回転差が所定以内では前記前モータ（ＦＭ）を発電機として発電した電力を前記前バッテリー（６）か前記メインバッテリー（１１）の何れかに充電し、前記前輪（２）と前記後輪（３）の回転差が所定以上となると前記前モータ（ＦＭ）を駆動して前記前輪（２，２）を回転して前記後輪（３，３）との四輪で駆動走行することを特徴とする請求項１又は請求項２に記載の電動田植機。
A front rotation sensor (FS) for detecting rotation of the front wheels (2, 2) and a rear rotation sensor (RS) for detecting rotation of the rear wheels (3, 3) are provided, and the front wheels (2) and the rear wheels are provided. When the rotation difference of (3) is within a predetermined range, the front battery (6) or the main battery (11) is charged with electric power generated by using the front motor (FM) as a generator, and the front wheels (2) and When the rotation difference of the rear wheels (3) becomes a predetermined value or more, the front motor (FM) is driven to rotate the front wheels (2, 2) to drive by four wheels including the rear wheels (3, 3). The electric rice transplanter according to claim 1 or 2, wherein
JP2018228018A 2018-12-05 2018-12-05 Electrically-driven rice transplanter Pending JP2020089298A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102421052B1 (en) * 2021-12-06 2022-07-14 충남대학교산학협력단 An electrically powered transplant platform

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102421052B1 (en) * 2021-12-06 2022-07-14 충남대학교산학협력단 An electrically powered transplant platform
WO2023106597A1 (en) * 2021-12-06 2023-06-15 충남대학교산학협력단 Platform structure for electrically driven rice transplanter

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