JP4161912B2 - Seedling transplanter - Google Patents

Description

  The present invention relates to a seedling transplanting machine, and more particularly to a seedling transplanting machine in which a traveling apparatus is driven by a driving prime mover and a seedling planting unit is driven by a planting prime mover.

  An electric powered vehicle having a traveling motor that drives a traveling wheel and a PTO motor that drives a working machine driving PTO shaft is known (Patent Document 1).

In addition, an inter-strain shifting unit that changes the operation period of the seedling planting tool by changing the operation cycle of the seedling planting tool with respect to the traveling speed of the machine body, It is well known that a non-constant speed transmission unit that operates a seedling planting tool at a non-uniform speed is provided in series on the transmission path from the prime mover to the seedling planting tool (Patent Document 2).
JP 2002-356116 A JP 2000-31514 A

  The technology of Patent Document 1 is provided separately from a traveling motor that drives a traveling wheel and a PTO motor that drives a PTO shaft for driving a work machine. This is a configuration for replenishing a shortage of torque of the traveling motor. Therefore, the rotational speed of the PTO motor fluctuates slightly at the time of merging of the power, and if this technique is used as it is for a seedling transplanter, the seedling planting accuracy is reduced.

  Moreover, since the technique of patent document 2 is a form which drives both a driving | running | working apparatus and a seedling planting part with a single motor | power_engine, the power transmission path | route to a seedling planting part becomes long, and a seedling transplanter becomes large-sized and cost. There is a problem of becoming high.

  Therefore, the present invention is intended to embody a seedling transplanting machine that eliminates such problems and simplifies the transmission mechanism of the seedling planting section and performs highly accurate planting work.

  In order to solve the above problems, the present invention has taken the following technical means.

  The invention of claim 1 is provided such that the seedling transplanter is provided with a driving prime mover for driving the traveling device and a planting prime mover for driving the seedling planting unit, and the traveling prime mover is configured to rotate at a constant speed, A seedling transplanting machine is provided, which is provided with seedling planting part rotation control means for controlling the planting prime mover to rotate at a non-uniform speed and at a rotational speed proportional to the rotational speed of the traveling prime mover.

  According to the said structure, motive power is transmitted from the driving | running | working motor | power_engine and a driving | running | working apparatus is driven, motive power is transmitted from the planting | powering motor | power_engine, and a seedling planting part is driven. Further, the traveling prime mover rotates at a constant speed, and the planting prime mover controlled by the seedling planting unit rotation control means rotates at an irregular speed at a rotational speed proportional to the rotation of the traveling prime mover. The attachment part is driven, and the planting device of the seedling planting device moves along the predetermined planting locus while moving at an inconstant speed, taking out the seedling from the seedling outlet of the seedling mounting stand and planting it in the field.

  The invention according to claim 1 can simplify the power transmission mechanism of the seedling planting section to stably operate the seedling planting section, and can further reduce the traveling speed by separately driving the traveling device with the driving motor for traveling. Stable and highly accurate seedling planting work can be performed.

Example 1

  Embodiments of the present invention shown in the drawings will be described below.

  FIG. 1 is an overall side view of a rice transplanter equipped with a traveling vehicle according to the present invention, and FIG. 2 is a plan view partially omitted. In this rice transplanter 1, a seedling planting part 4 is provided behind a traveling vehicle body 2 via a lifting link device 3 so as to be lifted and lowered. Further, a main body portion of the fertilizer application device 5 is provided on the rear upper side of the traveling vehicle 2. In addition, on the left and right sides of the front portion of the traveling vehicle 2, there are provided two preliminary seedling frames 6, each of left and right.

  The traveling vehicle 2 is a four-wheel drive vehicle including a pair of left and right front wheels 7 and 7 and rear wheels 8 and 8 which are traveling propulsion bodies, and both left and right side surfaces of a mission case 10 disposed at the front of the fuselage. Front wheel axle cases 11 and 11 are extended laterally, and front wheels 7 and 7 are rotatably supported by front wheel final cases 12 and 12 provided at the front end portions thereof so as to be capable of turning. A front end portion of a pair of left and right main frames 13 and 13 is fixed to the rear portion of the mission case 10 and is fixed to a front end portion of a rear frame 14 extending from the rear end portion of the main frames 13 and 13 to the left and right sides. The rear wheels 8 and 8 are rotatably supported by the provided rear wheel final cases 15 and 15.

  A traveling motor 20 and a battery 26 are mounted above the front and rear intermediate portions of the main frames 13, 13. The traveling motor 20 is covered with a seat cover 21, and a seat 22 is installed above the seat cover 21. The airframe is provided with a fuel cell (not shown). The fuel cell generates electricity from hydrogen absorbed fuel and hydrogen taken out from the reformer and oxygen sent from the compressor, and is stored in the battery 26. This is a configuration.

  An operation frame 23 incorporating various operation mechanisms is disposed in front of the seat 22, and a steering handle 24 for operating the front wheels 7 and 7 as steering wheels is provided above the operation frame 23. Around the seat cover 21 and the operation frame 23, a step 25 is provided for a person to move or work.

  Next, the power transmission mechanism of the traveling vehicle 2 will be described. The rotational power of the output shaft 27 of the traveling motor 20 is transmitted to the transmission input shaft 30 of the transmission case 10 via the belt-type transmission 28 and a belt transmission 29 with a main clutch function by turning on and off the tension pulley. Is done. The power transmitted to the mission input shaft 30 is shifted by a subtransmission (not shown) having shift positions of “road running speed”, “normal planting speed”, “ultra-low speed”, and “neutral”, and a forward / reverse switching device (Not shown) is transmitted to the differential (not shown), and a part of the power is transmitted from the differential (not shown) to the left and right front wheels 7, and from the differential (not shown). Part of the power is taken out from the rear surface of the transmission case 10 and transmitted to the rear wheels 8 and 8 through the rear wheel transmission shafts 31 and 31 and the rear wheel final cases 15 and 15.

  Next, the seedling planting part 4 is demonstrated based on FIG.1 and FIG.3.

  The seedling planting unit 4 is, for example, four-row planting, a seedling stage 32 for feeding seedlings one by one to a predetermined seedling outlet, and four sets of seedlings for planting seedlings supplied to the seedling outlet in the field , Devices 33, a planting frame 34 for supporting the seedling placing table 32 and the seedling planting devices 33, a central float 35 for leveling the field surface prior to seedling planting, left and right floats 36, 36 And.

  The planting frame 34 is configured as follows.

  A planting central case 37 is arranged so as to be located in the lower central part of the seedling table 32, and a planting motor 38 is provided on the upper part of the planting central case 37 and a transmission shaft 39 is pivoted to plant the plant. The motor 38 is configured to drive the transmission shaft 39. A planting drive shaft 41 is mounted on the lower end of the planting central case 37 so as to extend to the left and right sides, and planting is driven by left and right support pipes 40, 40 attached to the lower end of the planting central case 37. The shaft 39 is covered, and both ends of the left and right support pipes 40 and 40 are supported by left and right side frames 42 and 42.

  Then, seedling planting devices 33,... Are provided on both sides of the left and right side frames 42, 42 of the left / right support pipes 40, 40, respectively. It is comprised so that motive power may be transmitted to the seedling planting apparatus 33, ... via the chain transmission device 43 and the planting drive shaft 41. The seedling planting device 33,... Includes a rotating case 33a that rotates integrally with the planting drive shaft 41, and a pair of planting tools 33b and 33b that are attached to the sides of the rotating case 33a.

  A seedling stand transmission case 44 provided above the planting central case 37 is supported by the planting frame 34 so as to be movable in the left-right direction, and is laterally shifted from a transmission shaft 39 pivoted on the upper end of the planting central case 37. Power is transmitted to the lead cam shaft 46 through the device 45, and the seed cam mount 46 is configured to be able to reciprocate horizontally while shifting to a third speed, for example, by the lead cam shaft 46.

  As described above, the seedling planting section 4 is driven by transmitting power from the planting drive shaft 39 driven by the planting motor 38 to the seed cam planting device 30 and the lead cam shaft 46 for driving the seedling mount 32. Compared with the conventional device that takes out the working machine power from the traveling transmission path and transmits it to the seedling planting unit 4, the transmission configuration of the seedling planting unit 4 is simplified and light and inexpensive. The seedling planting part 4 can be embodied.

  On the input side of the control unit 47, there are provided a shift lever sensor 48 for detecting a shift state of a sub-transmission (not shown) of the traveling transmission device via an input interface, and a stock adjustment dial 49 for setting a shift of the lateral feed transmission 45. Further, the traveling motor 20 and the planting motor 38 are connected to the output side of the control unit 47 via an output interface.

  Then, when the detection information of the shift lever sensor 48 and the shift setting information of the inter-strain adjustment dial 49 are input, a predetermined planting tool rotation mode calculation system is activated and calculated based on the traveling speed and the inter-strain setting information. An unequal speed rotation mode in which the auxiliary motor 38 is at an unequal speed and is proportional to the rotation speed of the traveling motor 20 is determined. Then, the transmission shaft 39 rotates at a non-uniform speed according to this non-uniform rotation mode, and the planting tools 33b, 33b of the seedling planting device 33,... Move along a predetermined planting locus while moving at a non-uniform speed. Then, seedlings are taken out from the seedling outlet of the seedling mount 33 and are planted in the field. In addition, if it is set as the structure which changes arbitrarily so that the unequal speed ratio of the planting motor 38 may become large, so that it is large between stocks based on the setting information of the stock adjustment dial 49, more appropriate planting operation according to between stocks Can be planted with high accuracy on the trajectory. 5 is a graph showing the non-uniform speed rotation of the transmission shaft 39 for the planting tool 33b of the seedling planting device 33,.

  Therefore, it is not necessary to provide an eccentric gear for moving the planting tool at a non-uniform speed in the power transmission path of the transmission device of the seedling planting unit 4 as in the conventional device, and from the traveling transmission path to the seedling planting unit 4 There is no need to provide power, the structure can be simplified, and an accurate non-uniform rotation of the planting tool 33b can be realized to improve planting accuracy.

  Next, the shifting operation configuration of the belt-type transmission 28 will be described with reference to FIGS.

  In the belt-type transmission 28, a transmission belt 53 is wound around a pulley 50 on the driving side and a pulley 52 on the driven side that are configured as split pulleys, and transmission is performed by changing the effective diameters of both pulleys 50 and 52. The ratio is changed. The shift lever 54 is provided on the lower left side of the steering handle and is configured to be turnable in the left-right direction and the front-rear direction. When the shift lever 54 is turned to the left and right, the forward / reverse switching arm 55 is moved. The forward / reverse switching device (not shown) in the travel transmission path is switched to the forward side, and is switched to the reverse side when operated to rotate to the left and right other side. When the shift lever 54 is operated in the front-rear direction, the shift operation rod 58 of the belt-type transmission 28 is moved and adjusted in the front-rear direction from the interlocking rod 56 via the electric assist mechanism A, and the belt-type via the transmission means 58a, 58a. The speed change operation of the transmission 28 is performed.

  Next, the electric assist mechanism A will be described. A sensor mounting body 60 is pivotally supported on a support shaft 59 provided in the machine body. The sensor mounting body 60 is connected to a lower portion of a connecting rod 56 on the speed change lever 54 side, and the sensor mounting body 60 is spaced by a predetermined distance. The front detection switch 62 and the rear detection switch 63 are attached with a gap. A plurality of continuous arc-shaped irregularities 60a,... Are formed on the rotating side of the sensor mounting body 60, and the irregularities 60a,. When the roller 66 is press-engaged and the roller 66 is fitted to each of the projections and recesses 60a,..., The rotation of the sensor mounting body 60 can be locked and fixed, and a sense of stepped speed change is obtained. I am doing it.

  The support shaft 59 is provided with a cam body 67, a sector gear 68 and a speed change operation arm 69 so as to rotate integrally. The cam body 67 is provided with a cam portion 67a so that the speed change lever 54 is in a neutral position N. The cam portion 67a is positioned between the front detection switch 62 and the rear detection switch 63 of the sensor mounting body 60, and a shift operation rod 58 for shifting the belt-type transmission 28 is provided on the shift operation arm 69. It is connected. Further, a small-diameter gear 73 that rotates integrally with a large-diameter driven gear 72 that meshes with a drive gear 71 of the electric motor 70 is meshed with the fan-shaped gear 68, and the drive gear 71 of the electric motor 70 is rotated in the forward and reverse directions. 68 is configured to swing the speed change operation arm 69 in the forward and reverse directions. Accordingly, the shift operation arm 69 is swung by driving the electric motor 70, and the shift operation rod 58 is pushed and pulled, whereby the belt-type transmission 28 is shifted.

  According to the above configuration, when the shift lever 54 is in the neutral position N and the electric motor 70 is not operated, the cam portion 67a is located between the front and rear detection switches 62 and 63, and the front and rear detection switches 62 and 63 are provided. 63 is not ON. When the speed change lever 54 is operated from the neutral position N toward the front side of the forward range F, the detection portion of the rear detection switch 63 rides on the cam portion 67a and the rear detection switch 63 is turned on. Then, the electric gear 70 rotates forward and the sector gear 68 rotates to a position where the detection switch 63 does not turn on, and the speed change arm 69 swings to shift the belt type transmission 28 from the neutral position to the speed increasing side. Operate.

  Therefore, as the operator operates the shift lever 54 to the front side to the maximum speed in the forward shift range F, the electric motor 70 also continues to rotate forward, shifting the belt-type transmission 28 to the speed increasing side to reach the maximum forward speed. Conversely, when the operator operates the shift lever 54 from the maximum speed position of the forward shift range F toward the rear side, the detection portion of the front detection switch 62 rides on the cam portion 67a of the cam body 67, and the detection switch 62 before Turns on. Then, since the electric motor 70 rotates in the reverse direction and the sector gear 68 rotates to a position where the front detection switch 62 does not turn ON, the speed change operation arm 69 swings to shift the belt type transmission 28 to the forward deceleration position side. . Therefore, as the operator operates the speed change lever 54 from the maximum speed position in the forward range F to the neutral position N, the electric motor 70 continues to reverse and shifts the belt-type transmission 28 to the neutral position N to the deceleration side. To do.

  When the operator operates the shift lever 54 in the left-right direction from the forward range F to the reverse range R at the neutral position N, the forward / reverse switching device (not shown) switches from forward to reverse. Next, when the vehicle is operated to the reverse speed increase side (rear side) of the reverse travel region R, the detection unit of the front detection switch 62 rides on the cam portion 67a and the detection switch 62 before turning on. Then, the electric motor 70 rotates in the reverse direction and the sector gear 68 rotates to a position where the front detection switch 62 does not turn on, and the speed change arm 69 swings to shift the belt-type transmission 28 from the neutral position N to the higher speed side. Operate. Therefore, as the operator operates the speed change lever 54 to the rearward side to the maximum speed in the reverse range R, the electric motor 70 also continues to reverse and shifts the belt-type transmission 28 to the maximum speed to increase the reverse speed to the maximum reverse speed. Become.

  Conversely, when the speed change lever 54 is operated from the maximum speed (rear side position) in the reverse range R toward the front side, the detection portion of the rear detection switch 63 rides on the cam portion 67a and the detection switch 63 is turned on. Then, the electric motor 70 rotates in the forward direction and the sector gear 68 rotates to a position where the rear detection switch 63 does not turn on, and the speed change operation arm 69 swings to shift the belt-type transmission 28 to the reverse speed reduction side. Therefore, as the operator operates the shift lever 54 from the maximum speed (rearmost position) in the reverse range R toward the neutral position N, the electric motor 70 continues to rotate forward to decelerate the belt-type transmission 28 to the neutral position. To do.

  When the belt-type transmission 28 is shifted, the front / rear detection switches 62 and 63 are turned on to operate on the speed increasing side or the speed reducing side. Control may be performed such that the motor 70 is rotated at a reduced speed and returned to a predetermined normal high-speed rotation speed after a predetermined time has elapsed.

  By controlling in this way, the shift can be started slowly at the beginning of the shift, the start of travel can be smoothed, the travel feeling can be improved, and the safety can be improved. At the same time, at the beginning of shifting, the tension pulley of the belt transmission 29 may be operated slowly so that the main clutch is gently connected to start slowly and smoothly.

  Next, the traveling control by the eyelid crossing arm 74 will be described with reference to FIGS. 1 and 9 to 11.

  The lower end of the heel overarm 74 is pivotally supported by the left and right axis at the front lower part of the car body of the riding rice transplanter, and the heel overarm 74 is changed from the stowed posture rotated upward and backward to the pushed down posture rotated downward in the front side. It is configured so that it can be locked by locking means (not shown) in a state in which the overarm 74 is pivoted forward and downward. The heel-crossing arm 74 is linked to left and right front wheels 7 and 7 that are operated by the steering handle 24 via a steering interlocking means (not shown), and a pitman arm (not shown) for steering. When it is rotated, the pitman arm (not shown) is configured to be interlocked to the straight-ahead steering state.

  Further, when the eaves crossing arm 74 is pivotally connected to a main clutch device for turning on / off the belt type transmission device 28 via traveling interlocking means (not shown), and the eaves crossing arm 74 is rotated downward in the front direction, The clutch device is configured to enter. Further, a heel-crossing switch 75 (shown in FIG. 1) is provided in the machined portion near the shaft support portion of the heel-crossing arm 74, and a speed setting dial 76 is provided inside the upper end of the heel-crossing arm 74.

  A pre-sensing switch that detects an operation to the front side of the speed change operation arm 69 for operating the auxiliary transmission device in the travel transmission path on the input side of the control unit 47 via an input interface. 62, a rear sensing switch 63 for detecting the rearward operation of the speed change operation arm 69, and a speed change arm angle sensor 77 for detecting the operation angle of the speed change arm 69 are connected to each other. An electric motor 70 for operating the speed change operation arm 69 is connected to the output side via an output interface.

  Next, the control content of the control unit 47 will be described.

  When this control is started, it is determined whether or not the heel over switch 75 is turned on (step S1). If the heel over switch 75 is turned on, the set value of the speed setting dial 76 is then set. And the detection value of the shift operation arm angle sensor 77 are compared (step S2). If the detected value angle of the speed change operation arm 69 is large, the electric motor 77 is reversely rotated to shift to the low speed side (step S3). If the set value angle of the speed setting dial 76 is large, the electric motor 77 is electrically driven. When the motor 77 rotates in the forward direction and shifts to the speed increasing side (step S4), and the set value of the speed setting dial 76 and the detected value of the shift operation arm angle sensor 77 are within a predetermined value range ( In step S5), the electric motor 70 is controlled to stop so that the belt-type transmission 28 travels on the machine body in a predetermined low speed shifting state, and travels over the heel while operating the heel-crossing arm 74.

  With the above configuration, the speed setting dial 76 is positioned below the upper surface of the arm 74 at the time of operation of the heel over arm 74, so that the operator erroneously operates the speed setting dial 76 while operating the heel over arm 74. Therefore, it is possible to safely travel over the saddle at a set predetermined low speed.

  Moreover, you may comprise a heel overarm as shown in FIG.12 and FIG.13. That is, the left and right sides of the front part of the traveling vehicle 2 are provided with left and right two-stage spare seedling frames 6,... The directional shaft 78a is supported in the same manner as in the forward embodiment, and the preliminary seedling placement frame 78 is configured to also serve as the heel overarm 74. With this configuration, it is possible to reduce the cost while reducing the number of parts, and to implement a seedling transplanter with a clean design.

  Next, another embodiment of the center mascot 79 will be described with reference to FIG. A center mascot 79 is erected in the central part on the front side of the aircraft, and the driver of the riding rice transplanter travels straight ahead while gazing at the center mascot 79. A display panel 80 is provided above the center mascot 79, and a traveling display unit 80a, a PTO display unit 80b, a seedling / fertilizer display unit 80c, and the like are provided on the display panel 80.

  The traveling display unit 80a displays the forward / reverse switching state and the shift state, the PTO display unit 80b displays the on / off state of the PTO shaft and the number of rotations, and the seedling / fertilizer display unit 80c displays seedlings and The remaining state of the fertilizer is displayed. Thus, the operator can grasp the various operating states of the rice transplanter at the same time while paying attention to the center mascot 79 so as to make the aircraft travel straight ahead, so that the planting work can be performed efficiently.

  As shown in FIG. 15, the center mascot 79 is provided with a rear display panel 81 and a front display panel 82. The rear display unit 81 is configured with a traveling display unit 81a, a PTO display unit 81b, and a seedling / fertilizer display unit 81c as in the above embodiment, and the front display panel 82 is provided with only a seedling / fertilizer display unit 82c, The seedling / fertilizer display portion 82c may be provided with a flashing lamp 83 to notify the auxiliary worker waiting on the bank of the decrease in seedlings and fertilizer.

  Next, another embodiment of the belt type transmission 28 will be described with reference to FIG.

  The rotational power of the output shaft 27 of the traveling motor 20 is transmitted to the transmission input shaft 30 of the transmission case 10 via a belt-type transmission 28 and a belt transmission 29 with a main clutch function. A transmission belt 87 is wound around a drive pulley 84 that rotates integrally with the output shaft 27 and a driven pulley 86 that is rotatably fitted to the relay shaft 85, and tension is applied to the transmission belt 87 by a tension pulley 88. The driven pulley 86 is composed of a fixed split pulley 86a and a movable split pulley 86b, and the movable split pulley 86b is moved and adjusted by a speed change operation rod 89 provided on the relay shaft 85 so as to be movable in the axial direction. The effective diameter of the driven pulley 86 is changed to a larger or smaller value to change the transmission ratio.

  Further, a second drive pulley 90 is provided on the side of the driven pulley 86 of the relay shaft 85 so as to rotate integrally with the driven pulley 86, and the second driven pulley 91 is rotated integrally with the mission input shaft 30 of the mission case 10. The second transmission belt 92 is wound around the second drive pulley 90 and the second driven pulley 91, and tension is applied to the second transmission belt 92 by the tension pulley 93.

  The second drive pulley 90 is composed of a second fixed split pulley 90a and a second movable split pulley 90b, and the second movable split pulley 90 is fitted and mounted on the side of the movable split pulley 86b on the relay shaft 85 so as to be movable. A spring 94 is interposed between the split pulley 86b and the second movable split pulley 90b.

  Accordingly, when the movable split pulley 86 b is moved and adjusted in the axial direction by the speed change operation rod 89 and the effective diameter of the driven pulley 86 is adjusted to be larger or smaller, the effective diameter of the second movable split pulley 90 b is also driven by the tension of the second transmission belt 92. The rotational power that has been adjusted to the opposite side of the pulley 86 and that has been shifted is transmitted to the mission input shaft 30. During transmission, the effective diameter of the second drive pulley 90 changes while being finely adjusted by being pressed by the spring 94. When a transmission load is applied to the second transmission belt 92, the spring 94 is compressed and the second drive pulley is compressed. The power can be transmitted while being finely adjusted so that the effective diameter of 90 is reduced and decelerating to reduce overload.

  Without providing the spring 94, the movable split pulleys 86b and 90b of the driven pulley 86 and the second drive pulley 90 are both moved and adjusted in the axial direction to obtain a large gear ratio, and only one of them is moved and adjusted. However, the other can be fixed and can be switched to a state where the speed can be finely adjusted with a small gear ratio, and the speed can be switched to a gear characteristic that is convenient for the operator.

Overall side view. The top view of the principal part which abbreviate | omitted one part. The rear view of the principal part. Control block diagram. The graph which shows the non-uniform speed rotation of the transmission shaft for planting tool drive. The cutting top view of the principal part. The perspective view of the principal part. The front view of the principal part. Overall plan view. Control block diagram. flowchart. The side view of the principal part. The top view of the principal part. The side view of the principal part. The side view of the principal part. The side view of the principal part, a top view, a cutting | disconnection top view.

Explanation of symbols

2 Traveling vehicle 4 Seedling planting part 7 Front wheel (traveling device)
8 Rear wheels (travel device)
20 Driving motor (traveling motor)
38 Planting prime mover (planting motor)
33 Seedling planting device 33a Rotating case 33b Planting tool 47 Seedling planting part rotation control means (control part)

Claims (1)

  The seedling transplanter is provided with a driving prime mover that drives the traveling device and a planting prime mover that drives the seedling planting unit, and the traveling prime mover is configured to rotate at a constant speed, so that the planting prime mover is unequal. A seedling transplanting machine provided with seedling planting part rotation control means for controlling to rotate at a rotational speed that is high in speed and proportional to the rotational speed of the driving motor.

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