JP5215031B2 - Agricultural machine - Google Patents

Description

  The present invention relates to a farm work machine equipped with a mechanism for attaching a work device to a traveling machine body so as to be movable up and down and supplying agricultural powder particles.

In order to supply the agricultural granular material, a feeding mechanism is provided as a supply mechanism, and the feeding mechanism is driven and rotated by an electric motor to supply the agricultural granular material. And the quantity proportional to the travel speed of a traveling machine body was paid out as supply_amount | feed_rate of agricultural granular material (patent document 1).
Japanese Patent Laid-Open No. 05-29281 (line 9 to line 23 in the left column on page 3, FIGS. 2 and 4)

  In the conventional structure shown in Patent Document 1, the rotational speed of the axle of the traveling machine body is detected as the travel distance of the traveling machine body. However, when the wheels are slipping and spinning idle, the traveling body is not moving, but the number of rotations is counted as moving, and an appropriate amount corresponding to the planting area Compared to the above, there is a possibility that a large amount of agricultural powder will be supplied.

  An object of the present invention is to provide an agricultural machine capable of supplying an appropriate amount of agricultural granular material even if slip occurs on a wheel.

〔Constitution〕
According to a first aspect of the present invention, there is provided a driving wheel rotational speed detecting means for detecting a rotational speed of a rear wheel for driving and moving the traveling machine body, and a vertically swinging support on the traveling machine body in a state of a rearwardly lowered posture. A rotating body mounted on a swing arm that is positioned between a front wheel and a rear wheel and rolls on the field as the traveling machine moves, and a rotational speed for detecting the rotational speed of the freewheeling body. A vehicle movement amount detection means configured to detect a movement amount of the traveling machine body, the aircraft movement amount detection means attached to the traveling machine body, and based on a detection result of the drive wheel rotation number detection means; The slip ratio of the rear wheel is calculated based on the rotation amount of the rear wheel and the airframe movement amount based on the detection result of the airframe movement amount detection means, and based on the rotation amount of the rear wheel and the slip ratio, Adjust the supply amount of the supply mechanism Supply amount adjusting means is provided, and the means for displaying the travel distance of the traveling machine body based on the detection result of the airframe movement amount detecting means is provided in the driving control unit. Street.

[Action]
First, the slip ratio of the rear wheels is calculated in order to introduce the airframe movement amount detection means for detecting the movement amount of the traveling machine body together with the drive wheel rotation speed detection means, and to optimize the supply amount.
In other words, the amount of rotation is calculated by multiplying the number of rotations of the rear wheel , which is a detection value of the drive wheel rotation number detection means, by the operating time, and the amount of rotation is multiplied by the wheel diameter of the rear wheel to obtain the appearance of the rear wheel . Calculate the amount of movement above. By subtracting the travel amount of the traveling body as a detection result of the body movement amount detection means from the apparent amount of movement, a movement amount corresponding to the slip rotation amount of the rear wheel is calculated. By dividing the movement amount of the apparent rear wheel slip rotation amount, the slip ratio of the rear wheel can be calculated.
The extra amount corresponding to the slip ratio is supplied, and it is possible to adjust (reduce) the supply amount by that amount.
In addition, the rolling element that rolls on the field with the movement of the traveling machine does not rotate when the rear wheel is slipping. Therefore, the slip rotation amount can be calculated by subtracting the rotation amount of the rear wheel from the rotation amount of the idler, and the slip ratio can be easily calculated.
In addition, there was an hour meter as a display for clearly indicating the maintenance time of the traveling aircraft. Since the hour meter was calculated from the engine speed, it was a numerical value that did not match the actual travel distance. Then, performing maintenance such as oil change based on the numerical value displayed by the hour meter may be inadequate as a maintenance time for equipment related to traveling.
Therefore, in the present invention, the travel distance is displayed by utilizing the detection value of the airframe movement amount detection means.

〔effect〕
By adding a simple structure that only adds airframe movement detection means, it is possible to directly grasp the slip amount of the rear wheel , adjust the supply amount of agricultural powder, and adjust the amount of agricultural powder to an appropriate amount. The body can be supplied.
In addition, since the airframe movement amount detection means is attached to the traveling airframe, the following effects are obtained. For example, when it is attached to an elevating link or the like, the amount of movement of the body cannot be detected when the work device is moved up.
On the other hand, in the case of the present invention, since the airframe movement amount detection means is attached to the traveling airframe, the case where the work device is moved up is the same as the case where the work device is moved up without being raised. The amount of airframe movement can be detected.
Therefore, the detection accuracy of the slip ratio can be improved, and the supply of agricultural powder can be made more appropriate.
Moreover, it was possible to more appropriately supply the agricultural powder by simply making a simple improvement by introducing an idler attached to the swing arm.
In addition, displaying the travel distance provides a guide for maintenance work such as oil change.

〔Constitution〕
According to a second aspect of the present invention, there is provided a driving wheel rotational speed detecting means for detecting a rotational speed of a rear wheel for driving and moving the traveling machine body, and a vertically swinging support supported on the traveling machine body in a rear lowered posture. A rotating body mounted on a swing arm that is positioned between a front wheel and a rear wheel and rolls on the field as the traveling machine moves, and a rotational speed for detecting the rotational speed of the freewheeling body. A vehicle movement amount detection means configured to detect a movement amount of the traveling machine body, the aircraft movement amount detection means attached to the traveling machine body, and based on a detection result of the drive wheel rotation number detection means; The slip ratio of the rear wheel is calculated based on the rotation amount of the rear wheel and the airframe movement amount based on the detection result of the airframe movement amount detection means, and based on the rotation amount of the rear wheel and the slip ratio, Adjust the supply amount of the supply mechanism A supply amount adjusting means is provided, and the means for displaying the existing planting area using the detection result of the airframe movement amount detecting means is provided in the driving control unit, and its operation and effects are as follows. is there.

[Function and effect]
First, the slip ratio of the rear wheels is calculated in order to introduce the airframe movement amount detection means for detecting the movement amount of the traveling machine body together with the drive wheel rotation speed detection means, and to optimize the supply amount.
In other words, the amount of rotation is calculated by multiplying the number of rotations of the rear wheel , which is a detection value of the drive wheel rotation number detection means, by the operating time, and the amount of rotation is multiplied by the wheel diameter of the rear wheel to obtain the appearance of the rear wheel . Calculate the amount of movement above. By subtracting the travel amount of the traveling body as a detection result of the body movement amount detection means from the apparent amount of movement, a movement amount corresponding to the slip rotation amount of the rear wheel is calculated. By dividing the movement amount of the apparent rear wheel slip rotation amount, the slip ratio of the rear wheel can be calculated.
The extra amount corresponding to the slip ratio is supplied, and it is possible to adjust (reduce) the supply amount by that amount.
Therefore, by adding a simple structure that only adds airframe movement detection means, it is possible to directly grasp the slip amount of the rear wheel , adjust the supply amount of agricultural powder, and use the appropriate amount for agriculture. A powder and granular material can be supplied.
In addition, since the airframe movement amount detection means is attached to the traveling airframe, the following effects are obtained. For example, when it is attached to an elevating link or the like, the amount of movement of the body cannot be detected when the work device is moved up.
On the other hand, in the case of the present invention, since the airframe movement amount detection means is attached to the traveling airframe, the case where the work device is moved up is the same as the case where the work device is moved up without being raised. The amount of airframe movement can be detected.
Therefore, the detection accuracy of the slip ratio can be improved, and the supply of agricultural powder can be made more appropriate.
In addition, the rolling element that rolls on the field with the movement of the traveling machine does not rotate when the rear wheel is slipping. Therefore, the slip rotation amount can be calculated by subtracting the rotation amount of the rear wheel from the rotation amount of the idler, and the slip ratio can be easily calculated.
Thus, it was possible to more appropriately supply the agricultural powder and granule by simply making a simple improvement by introducing the rolling element attached to the swing arm.
In addition, since the existing planting area can be displayed, maintenance of equipment related to planting work and the like can be performed at an appropriate time.

  The whole side surface of the rice transplanter with a fertilizer applicator comprised by the 8-row planting specification is shown by FIG. In this rice transplanter with a fertilizer application, a seedling planting device 4 of an eight-row planting specification is hydraulically mounted at the rear of a traveling machine body 3 that has a front wheel 1 that can be steered and a rear wheel 2 that cannot be steered and that travels by four-wheel drive. It has a basic structure equipped with a fertilizer application device 7 as a mechanism that is connected to the rear end portion of the lifting / lowering link mechanism 6 of the parallel quadruple link structure driven by the cylinder 5 and supplies the agricultural granular material to the rear portion of the machine body. doing. The seedling planting device 4 and the fertilizer application device 7 constitute a working device.

  An engine 8 is mounted on the front portion of the traveling machine body 3, and its output is transmitted to a hydrostatic continuously variable transmission (HST) 9 which is a main transmission capable of switching between forward and backward travel, and the transmission output is transmitted to the mission. After being input to the case 10 and further gear-shifted, it is transmitted to the front wheel 1 and the rear wheel 2.

  The seedling planting device 4 is detachably coupled to and supported by the rear end portion of the lift link mechanism 6, and has a horizontally long cylindrical planting frame 11 and a feed case 12 that receives working power taken out from the mission case 10. , A seedling stage 13 on which mat-like seedlings are placed and reciprocally moved laterally with a fixed stroke; eight sets of rotary planting mechanisms 14 for cutting out and planting seedlings one by one from the lower end of the seedling stage 13; There are provided five leveling floats 15 for leveling the planned planting locations, and the planting mechanism 14 has two rear left and right sides of four planting cases 16 connected in parallel in a rearward cantilever manner to the planting frame 11. It is installed in pairs.

  The fertilizer application device 7 is mounted on the traveling machine body 3 between the driving seat 17 provided at the rear part of the machine body and the seedling planting apparatus 4, and a fertilizer hopper 21 for storing powdered fertilizer, Four sets of feeding mechanisms 22 that feed out the fertilizer in the fertilizer hopper 21, and a blower 25 that wind-feeds the fed fertilizer to the grooving device 24 provided in each leveling float 15 of the seedling planting device 4 through the supply hose 23. An electric motor 26 for driving the air, a blower duct 27 for distributing and supplying the conveying air from the blower 25 to the feeding mechanism 22, and the like.

  As shown in FIG. 1, the four sets of feeding mechanisms 22 are configured such that each of the four feeding cases 30 connected to the lower end of the fertilizer hopper 21 is equipped with two feeding rolls (not shown). In addition, two supply hoses 23 are connected to each feeding mechanism 22 so that eight manure feeds can be fed.

  Next, the drive structure of the feeding mechanism 22 will be described. A common feed operation shaft 41 is horizontally installed across the four sets of feed mechanisms 22 arranged in parallel, and a drive gear 42 provided on the feed operation shaft 41 and a driven gear 44 provided on the feed roll shaft 43 are provided. In addition to being interlocked with each other, the feeding operation shaft 41 itself is linked to a travel drive shaft 45 that is led backward from the mission case 10 and provided along the lower portion of the traveling machine body 3 via a branch mechanism 46.

  The branch mechanism 46 is provided on the travel drive shaft 45, and an operation rod 48 extends upward from the branch mechanism 46 toward the feeding operation shaft 41. The operation arm 47 mounted on the feeding operation shaft 41 and the upper end of the operation rod 48 are interlocked and connected, and the operation arm 47 reciprocally swings along with the crank movement of the operation rod 48. 41, and the feeding operation shaft 41 is pulsatically rotated in a predetermined direction so that the feeding roll shaft 43 geared to the feeding operation shaft 41 is rotated in a predetermined feeding rotation direction (in this example, counterclockwise). ) Is driven to rotate.

  Next, the feeding amount adjustment structure in the fertilizer application device 7 will be described. As shown in FIG. 2, drive wheel rotation speed detection means 31 and airframe movement amount detection means 32 are provided for the rear wheel 2. The drive wheel rotation speed detection means 31 detects the rotation speed of the rear axle (not shown) housed in the rear axle case 33 with a proximity sensor (not shown), and based on the number of detected pulses from the proximity sensor. And configured to measure the rotational speed of the rear wheel 2.

  The airframe movement amount detection means 32 will be described. As shown in FIG. 1, the machine body movement amount detection means 32 includes a swing arm 32A that is swingably attached to the traveling machine body 3, and a field that moves along with the movement of the traveling machine body 3 at the tip of the swing arm 32A. An idler 32B that rolls on the surface and a rotational speed detection sensor 32C that detects the rotational speed of the idler 32B are provided.

You may add the following changes with respect to the said structure.
(1) An urging means may be applied to the swing arm 32A to improve followability to the farm surface.
(2) A cylinder may be installed between the swing arm 32A and the traveling machine body 3, and the swing arm 32A may be configured to be moved up and down by the cylinder. In addition, a configuration may be adopted in which a manual switch is provided and the swing arm 32A is arbitrarily moved up and down by an operation on the manual switch.
(3) The swing arm 32A may be detachable.

  As shown in FIG. 2, detection information from the drive wheel rotation number detection means 31 and the airframe movement amount detection means 32 is input to the control means 34, and the control means 34 calculates the slip ratio of the rear wheel 2. Based on this slip ratio, the feed amount of the fertilizer application device 7 is adjusted by the powder feed adjustment controller 35.

As a specific adjustment structure, although not shown, a long hole is formed in the operation arm 47 along the longitudinal direction of the operation arm 47, and an engagement pin that engages with the long hole is formed on the operation rod 48. A structure is provided in which the connecting portion between the operating arm 47 and the operating rod 48 is changed by projecting. An actuator for changing the position of the engagement pin along the long hole is provided, and the actuator is driven by the powder feed adjustment controller 35 to automatically change the link portion between the engagement pin and the long hole. As a result, the position of the engagement pin is adjusted so that the feeding amount decreases as the slip ratio increases.
The control configuration as described above is referred to as supply amount adjusting means for adjusting the supply amount of the supplying mechanism.

  Next, the travel distance display structure will be described. As shown in FIG. 1, the driving control unit A includes means for displaying the travel distance of the traveling machine body 3 based on the detection result of the machine body movement amount detection means 32. In the driving control section A, the travel distance is displayed on the control panel 28 in front of the driver seat 17. The travel distance is displayed by the operation panel display controller 29 controlled by the control device 34.

By displaying the distance traveled, it becomes a guideline for maintenance work such as oil change.
In addition, the planting area of the existing seedlings may be displayed on the operation panel 28 using the detection result of the body movement amount detection means 32. If it does so, the exchange time of the planting nail | claw considered to be the most consumable goods in a rice transplanter can be made more appropriate.

  The raising / lowering operation | movement with respect to the seedling planting apparatus 4 at the time of turning, and the on / off control of the planting clutch 20 are demonstrated. As shown in FIG. 2, a turning angle sensor 36 that detects whether or not the traveling machine body 3 is turning is provided. The turning angle sensor 36 is configured to detect a turning operation of a pitman arm (not shown) of the turning operation system.

  When the traveling machine body 3 is in the reverse drive state, backup control for raising the seedling planting device 4 is performed. In order to control this backup control, a backup switch 39 is provided. The backup switch 39 is provided in the lever guide portion of the main transmission lever 38. When the main transmission lever 38 is operated to the reverse side, the backup switch 39 is turned on (on) and the main transmission lever 38 is operated to the forward side. Then, the backup switch 39 is turned off.

The control means 34 controls the raising / lowering operation of the seedling planting device 4 and the operation of an electric clutch motor 42 as a driving means for turning on and off the planting clutch 40 based on an on / off signal from the backup switch 39. .
A first timer 37A for controlling the raising / lowering operation of the seedling planting device 4 and the like and a second timer 37B for controlling the on / off of the planting clutch 40 are provided and linked to the control means 34.

The raising / lowering operation | movement of the seedling planting apparatus 4 in a turning state is controlled using a sensor etc. which were described above. The operation state of the rice transplanter in the turning state is as follows, as shown in FIG.
(1) The rice transplanter performing the planting operation moves forward (L1) to the position (a) where the tip of the traveling machine body 3 reaches the ridge and stops. In that case, the planting clutch 40 is simultaneously turned off and the planting operation is stopped. Thus, when planting is stopped at the position where the tip of the traveling machine body 3 reaches the cocoon, the width (W) from the cocoon to the planting end position corresponds to the planting width of the 8-plant rice transplanter in particular. Become. Accordingly, when planting around the headland in the final stage of the planting process, it is possible to perform the planting without stepping on the existing planted seedling and without making a planting residue.
(2) When the planting operation is stopped, the rice transplanter once moves backward (L2). In that case, the backup switch 39 is turned on, and the seedling planting device 4 is raised.

(3) The rice transplanter moves forward again after stopping reverse (L3). When the main transmission lever 38 is operated to the forward operation position, the rice transplanter starts moving forward and the backup switch 39 is turned off.
(4) The driver starts the turning operation at the position (b) advanced by a certain amount. Then, the turning angle sensor 36 captures the turning operation. Since the turning angle sensor 36 detects the turning operation and the backup switch 39 is turned off, the first timer 37A and the second timer 37B start the operation.

(5) The rice transplanter continues the turning operation (L4), and when the first timer 37A counts that X seconds have elapsed, it starts the lowering operation of the seedling planting device 4 at the turning middle position (c).
(6) While the rice transplanter has almost finished turning and is running straight ahead (L5), when the second timer 37B counts that Y seconds have elapsed, the planting clutch 40 is engaged and operated at position (d). .
(7) In addition, after the above-mentioned rice transplanter starts the turning operation, when the reverse operation is performed again or when the turn-back operation is performed, the seedling planting device 4 in the first and second timers 37A and 37B is used. The lowering operation and the engagement operation of the planting clutch 40 are not performed automatically. In this case, the operation is switched to an artificial operation by the driver.
(8) Since the speed of the traveling vehicle body 3 is detected by the drive wheel rotational speed detection means 31 and the airframe movement amount detection means 32, the Y seconds described above may be corrected by this speed.

[Another embodiment]
(1) As a mechanism for supplying agricultural powder particles, the present invention may be applied to a chemical spraying device (not shown) and a seed sowing device (not shown). The medicine spraying device or the direct seeding device is connected to the travel drive shaft 45 to take out the power, and the amount of the medicine sprayed is controlled by the drug spraying adjustment controller 33 or the direct seeding adjustment controller (not shown) in consideration of the slip rate described above. You may comprise so that it may adjust.

Whole side view of rice transplanter Control configuration diagram The figure which shows the control structure with respect to the seedling planting apparatus at the time of turning

1 front wheel 2 rear wheel 3 traveling machine body 4 seedling planting device (working device)
22 Feeding mechanism (supplying mechanism)
31 Drive wheel rotational speed detection means 32 Airframe movement amount detection means 32A Swing arm 32B Free rotating body 32C Revolution speed sensor A Driving control section

Claims (2)

A farming machine equipped with a mechanism for attaching a working device to a traveling machine body so as to be movable up and down and supplying agricultural powder particles,
Driving wheel rotational speed detection means for detecting the rotational speed of a rear wheel for driving and moving the traveling machine body, and a front wheel attached to a swinging arm that is supported on the traveling machine body so as to be swingable up and down in a rearward lowered position; It is composed of an idler that is positioned between the rear wheels and rolls on the field as the traveling aircraft moves, and a rotational speed detection sensor that detects the rotational speed of the idler, and the movement of the traveling aircraft Airframe movement amount detection means for detecting the amount, the airframe movement amount detection means is attached to the traveling machine body, and the rotation amount of the rear wheel and the airframe movement amount detection based on the detection result of the drive wheel rotation speed detection means. A supply amount for calculating the slip rate of the rear wheel based on the airframe movement amount based on the detection result of the means, and adjusting the supply amount of the mechanism to be supplied based on the rotation amount of the rear wheel and the slip rate Adjustment means are provided,
A farm work machine provided with means for displaying a travel distance of the traveling machine body based on a detection result of the machine body movement amount detection means in a driving control unit. A farming machine equipped with a mechanism for attaching a working device to a traveling machine body so as to be movable up and down and supplying agricultural powder particles,
Driving wheel rotational speed detection means for detecting the rotational speed of a rear wheel for driving and moving the traveling machine body, and a front wheel attached to a swinging arm that is supported on the traveling machine body so as to be swingable up and down in a rearward lowered position; It is composed of an idler that is positioned between the rear wheels and rolls on the field as the traveling aircraft moves, and a rotational speed detection sensor that detects the rotational speed of the idler, and the movement of the traveling aircraft Airframe movement amount detection means for detecting the amount, the airframe movement amount detection means is attached to the traveling machine body, and the rotation amount of the rear wheel and the airframe movement amount detection based on the detection result of the drive wheel rotation speed detection means. A supply amount for calculating the slip rate of the rear wheel based on the airframe movement amount based on the detection result of the means, and adjusting the supply amount of the mechanism to be supplied based on the rotation amount of the rear wheel and the slip rate Adjustment means are provided,
A farm work machine provided with a means for displaying an existing planting area using a detection result of the airframe movement amount detection means in a driving control unit.

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