JP5418214B2 - Passenger rice transplanter - Google Patents

Description

  The present invention relates to a riding rice transplanter provided with a leveling rotor.

  In Patent Document 1, a leveling rotor for leveling a field scene just before planting is provided on the front side of the seedling planting unit. There is disclosed a rotor up-and-down adjusting means configured such that the leveling rotor can be adjusted up to 15 mm higher than the standard position and 15 mm lower than the standard position by operating the vertical position adjusting lever.

JP 2007-330199 A

  In leveling work under unfavorable conditions such as in deep fields, there is a problem that when the leveling rotor reaches a deep part, it sinks and sinks, so that accurate leveling work cannot be performed, causing problems such as rotor breakage.

An object of the present invention is to control the leveling rotor, particularly the center rotor at the center, in accordance with changes in the vehicle speed, thereby preventing the rotor from entering the ground and performing leveling work accurately. In addition, prevent planting and clashing with cocoons.

In order to solve the above problems, the present invention has taken the following technical means.
That is, the present invention as defined in claim 1 includes a front center rotor (27b) and a rear side rotor (27a) for leveling the field scene just before planting on the front side of the seedling planting part (4). The leveling rotor (27) is configured such that the leveling rotor (27) can be moved up and down in response to changes in the vehicle speed, and the rear side rotor (27a) is increased as the vehicle speed increases more than a predetermined level. only the center rotor before position without increasing displacement associated configured to increase the displacement, the tail of the fuselage by the rear distance sensor (105) detects that it has reached the proper distance from the ridges, whether or reverse informing It is set as the riding rice transplanter characterized by the control means which makes it stop, and lowers | hangs a seedling planting part (4) automatically after that, and puts a planting clutch into it .

  If the vehicle speed (planting work speed) is changed to a speed higher than a predetermined standard speed during the planting work, the center rotor positioned in front of the side rotor is repositioned to the ascending side. Therefore, the rotor does not sink in the deep field, and the leveling work can be performed smoothly and accurately.

According to the second aspect of the present invention , the leveling rotor (27) is provided so that the rotor rotation speed can be controlled according to the water depth of the field, and based on the detection result of the water depth sensor (92) for detecting the water depth, 2. The passenger rice transplanter according to claim 1 , wherein the rotor rotational speed is controlled to the low speed side when the water depth is deep, and the high speed side is controlled when the water depth is shallow .

According to the present invention of claim 3 , the leveling rotor (27) is configured to increase the ground height relative to the field scene when the water depth of the field is deep , based on the detection result of the water depth sensor (92) for detecting the water depth. water depth ground height is configured to automatically control such that the low-Ku made when shallow, intermittently provided intermittently switching on and off function to Nyusetsu driving the rear wheel inner side (11), the inside of the turn in the intermittent turning on and off function The adjuster (210) for setting the driving speed or driving time of the rear wheel (11) can be switched to a state in which the left and right rear wheels (11) are always driven, and the power of the engine (20) can be controlled. A planting transmission shaft (26) that is transmitted to the seedling planting section (4) and a rotation sensor (94) that detects an inconstant speed rotation of the planting transmission shaft (26) are provided. By the rotation sensor (94) In conjunction with detection of non-uniform rotation of the planting transmission shaft (26) The claim 1 or claim 2 wherein the riding rice transplanter, characterized in that you have a configuration for lowering the rotational speed of the engine (20).

According to the present invention, the seedling planting part (4) is provided with a seedling stage (51) for placing a seedling and moving left and right, and the seedling receiving seedling is placed on the lower end side of the seedling stage (51). A receiving surface (96a) and a receiving surface (96b) continuously connected to the seedling mounting surface of the seedling mounting table (51) are provided, and the receiving surface (96b) is formed into a curved surface, and the seedling receiving surface (96a) The riding rice transplanter according to any one of claims 1 to 3, wherein an angle formed by the mounting surface (96b) is an obtuse angle.

According to the first aspect of the present invention, the center rotor positioned forward with respect to the left and right side rotors moves up and down according to the change in the vehicle speed and rises as the vehicle speed increases. However, the rotor can be prevented from entering the ground, and the leveling work can be performed accurately and smoothly. Furthermore, when the rear distance sensor detects that the rear tail of the aircraft has reached an appropriate distance from the heel, it notifies or stops the reverse, and then automatically lowers the seedling planting part and engages the planting clutch. Since the control means is provided, it is possible to prevent planting and crashing into the cocoon.

  According to the second aspect of the present invention, the rotor rotational speed can be controlled in accordance with the water depth of the field while having the effect of the first aspect. By leveling while rotating slowly, water splash can be prevented. In addition, when the water depth is shallow, normal grading work can be performed satisfactorily by controlling to the high speed side and returning to the standard speed.

According to the present invention described in claim 3, yet one that Kanade the invention the effect of claim 1 or claim 2, the height of the rotor, when the field of deep water is controlled to water increased resistance When the water depth is shallow, it can be returned to a lower standard height to perform normal and appropriate leveling work. In addition, the left and right rear wheels can be switched to a state in which the left and right rear wheels are always driven by the operation of the adjuster for setting the drive rotation speed or drive time of the rear wheels inside the turn in the intermittent on / off function. Furthermore, since the rotational speed of the engine is lowered in conjunction with detection of the inconstant speed rotation of the planting transmission shaft, seedling planting disturbance due to pulsation can be prevented.

According to this invention of Claim 4, while having the invention effect of any one of Claims 1-3, while comprising a mounting surface in a curved surface, a seedling receiving surface and a receiving surface Since the angle formed between the seedling surface and the receiving surface is pushed out by the curved surface of the receiving surface, the seedlings are not left at the angle between the seedling receiving surface and the receiving surface. To do.

Side view of riding rice transplanter Same as above FIG. 3 (a) is a clutch operating mechanism diagram (plan view) of a rear wheel interlocked with the steering operation of the riding type rice transplanter of FIG. 1, and FIG. 3 (b) is a side view of FIG. 3 (a). Enlarged side view around the mission case in Fig. 3 (b) FIG. 3A shows a hydraulic continuously variable transmission. Control block circuit diagram Explanatory drawing showing the turning control pattern Flow chart of turning control Plan view of intermittent side clutch control adjustment dial part of operation panel of rice transplanter Plan view of the planting adjustment dial on the rice transplanter operation panel Hydraulic circuit diagram for clutch operation of rear wheel linked to steering operation of rice transplanter 1 is an enlarged side view of the main part of the seedling planting part of FIG. The main part rear view of the same seedling planting part The main part top view of the same seedling planting part Side view showing the front plate of the seedling stand Rear view of the main part showing the fence structure of the seedling stand

Embodiments of the present invention will be described below with reference to the drawings.
FIGS. 1 and 2 are a side view and a plan view of a riding type rice transplanter equipped with a fertilizer application device as a granular material feeding device which is an embodiment using the present invention. In this riding type rice transplanter 1, a seedling planting part 4 is mounted on the rear side of the traveling vehicle body 2 through a lifting link device 3 so as to be movable up and down. ing.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and a pair of left and right rear wheels 11 and 11 as drive wheels, and a transmission case 12 is disposed at the front of the fuselage. Front wheel final cases 13 and 13 are provided on the left and right sides of the case 12, and left and right front wheel axles (front wheel axles) projecting outward from respective front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 13 and 13. ) 14 (FIG. 4) are attached to the left and right front wheels 10, 10, respectively. Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and the rear wheel gear case 18 is supported by a rear wheel rolling shaft 17 provided horizontally in the front and rear at the left and right center of the rear end of the main frame 15. , 18 are supported in a freely rolling manner, and the rear wheels 11, 11 are attached to a rear wheel axle 11a protruding outward from the rear wheel gear cases 18, 18. A rear wheel rolling sensor 22 for detecting the left and right inclination of the rear wheel is installed on the rear wheel rolling shaft frame 17a of the rear wheel rolling shaft 17.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission 21 and a hydraulic continuously variable transmission 23. Rotational power transmitted to the transmission case 12 determined by the transmission lever 16 or the like is shifted by a transmission in the case 12 and then separated into traveling power and external power to be extracted. A part of the traveling power is transmitted to the front wheel final cases 13 and 13 to drive the front wheels 10 and 10, and the rest is transmitted to the rear wheel gear cases 18 and 18 to drive the rear wheels 11 and 11. Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear part of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26, and also the fertilizer application device 5 by the fertilization transmission mechanism 28. Is transmitted to.

  The planting transmission shaft 26 is provided with a rotation sensor 94 (FIG. 12). When the rotation sensor 94 detects an unequal speed rotation of the planting transmission shaft, the planting transmission shaft 26 is configured to be interlocked so as to reduce the engine rotation of the planting transmission shaft 26. By lowering the engine speed until the rotation stops, disturbance of seedling planting due to pulsation can be prevented.

  The upper part of the engine 20 is covered with an engine cover 30, and a driver's seat 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the driver's seat 31, and a steering handle 34 for steering the front wheels 10 and 10 is provided above the front cover 32. The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The rear part on the floor step 35 is a rear step 36 that also serves as a rear wheel fender. A front / rear tilt sensor 29 for detecting a tilt in the front / rear direction of the vehicle body is installed on the front side of the vehicle body 2.

  Further, on both the left and right sides of the front part of the traveling vehicle body 2, the spare seedling platforms 38, 38 on which the replenishment seedlings are placed can be pivoted to a position projecting laterally from the machine body and a position housed inside. Is provided. The elevating link device 3 has a parallel link configuration, and includes one upper link 40 and a pair of left and right lower links 41, 41. These links 40, 41, 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected on the rear end of the main frame 15, and a vertical link 43 is connected to the tip side thereof. ing. And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44. The seedling planting unit 4 is configured to control the seedling planting unit by controlling the rolling angle of the planting unit based on a signal from the left / right tilt sensor 47 while driving the rolling motor 63. Yes. An elevating hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and a tip of a swing arm (not shown) integrally formed with the upper link 40, and the cylinder 46 is expanded and contracted by hydraulic pressure. The upper link 40 pivots up and down, and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting section 4 has an eight-row planting structure, a seedling planting transmission case 50 that also serves as a frame, a mat seedling, and a left and right reciprocating motion to supply seedlings to the seedling outlets 51a of each row one by one. When all the seedlings for one horizontal row are supplied to the seedling outlet 51a, ..., the seedling feed belt 51b, ..., the seedling stage 51 for transferring the seedling downward by the seedling feeding belt 51, ..., seedlings supplied to the seedling outlet 51a, ... are planted in the field. A seedling planting device 52 to be attached,..., A pair of left and right drawing markers 54 for drawing the aircraft path in the next stroke to the topsoil surface, and the like. Note that the left and right markers 54, 54 can be switched between a drawing operation state and a drawing non-operation state by a marker motor 85 (FIG. 6).

  In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and middle floats 57 and side floats 56 are provided on the left and right sides thereof. When the aircraft is advanced with these floats (center float 55, side float 56, middle float 57) in contact with the mud surface of the field, the floats 55 to 57 slide while leveling the mud surface. A seedling is planted by the seedling planting device 52. Each float (center float 55, side float 56, middle float 57) is pivotally attached so that the front end side moves up and down according to the unevenness of the field topsoil surface, and the front part of the center float 55 is planted. Is detected by an angle-of-attack control sensor (not shown), and seedling planting is performed via a hydraulic valve 161 and a check valve 162 (FIGS. 6 and 11) that control the lifting hydraulic cylinder 46 according to the detection result. By raising and lowering the part 4, the planting depth of the seedling is always kept constant.

  The fertilizer applicator 5 feeds the granular fertilizer stored in the fertilizer hopper 60 by a predetermined amount by the feeding portions 61,... And floats the fertilizer with fertilizer hoses 62,... (Center float 55, side float 56, middle float 57 ) Guide to fertilizer guides (not shown) attached to the left and right sides of the fertilizer, and drop it into the fertilizer structure formed near the side of the seedlings by the grooved body (not shown) provided on the front side of the fertilizer guide It has become.

  A leveling rotor 27 (27a, 27b), which is an example of a leveling device, is attached to the seedling planting unit 4. In addition, the seedling mount 51 is configured to slide in the left-right direction using a support roller 65a of a rectangular support frame 65 having a full width in the left-right direction and the vertical direction that supports the entire seedling planting unit 4 as a rail.

  The leveling rotor 27 is supported by the following support structure. That is, a beam member 66 whose upper ends are rotatably supported by both side members 65 b of the support frame body 65 of the seedling mounting platform 51, a support arm 67 fixed to both ends of the beam member 66, and a support arm 67. A rotor support frame 68 that is movably attached is provided, and a drive shaft 70 (70a, 70b) of the leveling rotor 27 (side rotor 27a and center rotor 27b) is attached to the lower end of the rotor support frame 68. Further, the lower end portion of the rotor support frame 68 is connected to a connecting member 71 rotatably attached to the seedling planting transmission case 50.

  The rotor 27b in front of the center float 55 is arranged in front of the rotors 27a in front of the side float 56 and the middle float 57 due to the arrangement position with the floats (center float 55, side float 56, middle float 57). ing. Therefore, the power to the drive shaft 70a of the rotor 27a is transmitted from the gear in the gear case 18 of the rear wheel 11 through the universal joint 72 and the like, and the drive shaft 70a of the rotors 27a and 27a on both sides is transmitted to the drive shaft 70b of the rotor 27b. , 70a, power is transmitted from the inner end of the vehicle body via the chain in the chain case 73. A reinforcing member 74 is provided between the left and right chain cases 73.

The rotor 27b is suspended by a pair of link members 76 and 77 whose upper ends are supported by the beam member 66 via a spring 78.
A bent piece 82 is fixed to the lower end portion of the rotor vertical position adjusting lever 81, and the bent piece 82 is rotatably supported by the support frame 65. When the lever 81 is rotated in the left-right direction of the machine body, a bend is made near the protrusion 66a fixedly supported by the beam member 66 rotatably supported by the side members 65b of the support frame 65. The piece 82 rotates up and down. Since the bent piece 82 is locked below the protrusion 66a, the protrusion 66a rotates upward about the beam member 66 by the lever 81 rotating in the right direction of the machine body. By the rotation of the projecting portion 66a, the end of the first link member 76 opposite to the connecting portion with the beam member 66 is also rotated upward about the beam member 66. By rotating the first link member 76 upward, the rotor 27b can be lifted upward via the second link member 77 and the spring 78. When the rotor 27b is moved upward, the rotor 27a is also simultaneously moved upward via the drive shaft 70b and the drive shaft 70a. The rotors 27a and 27b may be configured to be moved up and down by a rotor lifting / lowering motor 75.

Since the rotor vertical position adjusting lever 81 is provided at substantially the center of the vehicle body 2, it is easy to balance left and right when the rotors 27a and 27b are moved up and down.
Further, when the seedling planting section 4 is lowered to the field, the cable 45 for returning the seedling planting section 4 to the horizontal position is connected to the pulling spring section including the link members 76 and 77 of the center rotor 27b and the spring 78 and the hydraulic piston 46. It is structured to be linked with.

  Thus, by providing the cable 45 in addition to the swing mechanism by the spring 78 of the center rotor 27b, the center rotor 27b can be returned to the horizontal position every time the seedling planting part 4 is lowered from the raised position. The holding position of 27b can be stabilized.

  The center rotor 27b moves up and down with the drive shafts 70a and 70a of the side rotors 27a and 27a as pivot points, and an interlocking wire 79 (FIG. 12) is connected to the front portion of the rotor 27b. The front side can be lifted. The wire 79 is connected to the speed change lever 16 (FIGS. 2 and 12), and is interlocked so that the center rotor 27b rises when the speed change lever 16 is shifted from the standard speed (standard work speed) to the high speed side. Yes. Accordingly, since the center rotor is lifted as the vehicle speed is increased by the speed change lever, it is possible to prevent subsidence in a deep agricultural field. The vehicle speed in the above-described embodiment is a configuration that allows the speed to be continuously shifted. However, the vehicle speed can be switched between two levels of high and low, and when the speed is switched to the high speed side, the center rotor is configured to rise to a predetermined position. There may be.

  The leveling rotor 27 can be controlled so that the rotation speed is slowly rotated when the water depth of the field is deep so that the water does not jump off, and when the water depth is shallow, the rotation speed is returned to the standard speed to perform normal leveling work. That is, the water depth (shallow depth) of the field is detected by the water depth sensor 92 (FIGS. 6 and 12), and the rotational speed of the rotor operates the rotor speed change motor 93 (FIG. 6) based on the detection result of the water depth sensor 92. Adjust automatically.

  Further, the height of the leveling rotor 27 is increased by suppressing the water resistance when the water depth of the farm is deep, and is detected by the water depth sensor 92 so that it becomes standard when the water depth is shallow. The height of the rotor is automatically adjusted.

  The rotational power of the engine 20 is transmitted to the hydraulic continuously variable transmission 23 via a belt transmission 21 and the like, and the output from the hydraulic continuously variable transmission 23 is transmitted to the transmission case 12 via a belt (not shown). It is transmitted to an input shaft (not shown).

The seedling planting unit 4 is mounted on the main frame 15 of the traveling vehicle body 2 so as to be movable up and down by the lifting link device 3. The configuration for raising and lowering and the configuration of the seedling planting unit 4 will be described.
First, the upper end of a piston of a general hydraulic cylinder 46 (FIG. 1) whose base is rotatably provided on the traveling vehicle body 2 is connected to the lifting link device 3, and a hydraulic pump 49 (FIG. 4) provided on the traveling vehicle body 2. , FIG. 5), the hydraulic oil is supplied to and discharged from the hydraulic cylinder 46, the piston of the hydraulic cylinder 46 is extended and retracted, and the seedling planting portion 4 connected to the lifting link device 3 is moved up and down. Has been.

  As shown in FIG. 3, left and right rods 180 for interlocking the clutch that actuate the side clutch operating arms 86 </ b> I of the transmission shaft of the left and right rear wheels 11 are provided on the left and right sides of the transmission case 12. And the side clutch operation arm 86I are connected via left and right pull cylinders 217.

The left and right side clutch operating arms 86I are provided with the left and right pull cylinders 217 (pulling the cylinder 217 during turning and disengaging the side clutch of the transmission shaft of the rear wheel 11 inside the turning). 4, 5, and 11).
Using the above configuration, after the handle 34 is rotated by a certain angle, one control (A) continues to disengage or engage the side clutch, and the other engages / disengages the side clutch at regular intervals. The control can be switched to control (B). Control (A) is for standard use and control (B) is for wet paddy field. When the handle 34 is operated, a torque generator (power steering) 37 (also shown in FIG. 11) activates the pull cylinder 217 inside the turning to disengage (or enter) the side clutch. The side clutch operation arm 86I, the left and right rods 180 for clutch interlock, the pull cylinder 217, the side clutch control electromagnetic valve 221 and the like are referred to as a steering mechanism.

  In the embodiment described above, an example in which the side clutch (not shown) of the rear wheel 11 inside the turn is turned off by operating the steering handle 34 at a predetermined angle or more is shown. It may be provided on the panel 33 (FIG. 2) so that the side clutch can be manually turned off. Alternatively, the side clutch may be manually disengaged with the side clutch pedal.

  Next, the control structure which raises the seedling planting part 4 automatically at the time of reverse drive is demonstrated. First, there is provided a backlift switch 191 (FIG. 6) that is turned on when a contact piece provided at the base of the lever 90 comes into contact when the forward / reverse lever 90 is operated to a reverse speed. The electromagnetic solenoid that operates the electromagnetic hydraulic valve (elevating valve) 161 (FIGS. 6 and 11) is controlled by the seedling planting device raising means in FIG. 6), and the seedling planting unit 4 is raised to the maximum position by the hydraulic cylinder 46 It is configured to let you.

  As described above, when the forward / reverse lever 90 is operated to the reverse speed, the seedling planting part 4 is automatically raised to the maximum position. Since the seedling planting part 4 is automatically raised to the maximum position when the plant is moved backward toward the cocoon, the seedling planting part 4 can be prevented from colliding with the cocoon and being damaged, and the workability is good. .

  Next, the control structure which raises the seedling planting part 4 automatically at the time of turning is demonstrated. When the automatic lift changeover switch 192 (FIGS. 6 and 10) is turned on when the steering handle 34 is rotated to the left or right by 200 degrees, the seedling planting part raising means of the raising / lowering control means provided in the control device 163 is used. The electromagnetic solenoid that operates the electromagnetic hydraulic valve 161 is controlled to raise the seedling planting portion 4 to the maximum position by the hydraulic cylinder 46.

  In this way, when the steering handle 34 is rotated to the left or right as much as possible in order to turn the body at the heel, the seedling planting part 4 automatically rises to the maximum position, so that the seedling planting is performed when the body is turning. The operation of raising the unit 4 is not required, and the machine can be turned efficiently and the workability is good.

  The operation panel 33 is provided with an automatic lift changeover switch 192 (FIGS. 6 and 10) for switching between a state in which the seedling planting unit 4 is automatically raised and a state in which it is not raised. When automatic, the seedling planting unit 4 automatically controls when the back lift switch 191 is turned on or the automatic lift changeover switch 192 is turned on and the steering handle 34 is rotated 200 degrees to the left or right as described above. It is automatically raised by the 163 seedling planting device raising means. If the automatic lift changeover switch 192 is turned off, the seedling planting part 4 is not automatically raised even if the steering wheel 34 is rotated 200 degrees to the left or right even if the backlift switch 191 is turned on.

  In this way, with one automatic lift changeover switch 192, even if the backlift switch 191 is turned on and the automatic lift changeover switch 192 is off, seedling planting is possible even if the steering handle 34 is rotated 200 degrees to the left or right. Since part 4 can be in a state where it is not automatically raised, it becomes a simpler configuration than a configuration in which switches for turning on and off each of the backlift and autolift are separately provided, and both states can be switched with one switch, Operation error is reduced and workability is good.

  If the automatic lift changeover switch 192 is turned off and the steering handle 34 is rotated 200 degrees to the left or right even if the backlift switch 191 is turned on, the seedling planting part 4 is not automatically raised. When the aircraft is moved backward to a barn etc., even if the forward / reverse lever 90 is operated at a reverse speed, the seedling planting part 4 does not automatically rise. It is possible to avoid a situation where the seedling planting part 4 is hit against the upper part of the entrance or other members in the storage room. In addition, when planting around a vine in a deformed field such as a fan shape or a gourd, a planting operation is performed while turning the steering handle 34 along a curved heel. At this time, an automatic lift changeover switch 192 is used. Is in the automatic position, if the steering handle 34 is rotated to the left or right by 200 degrees or more, the seedling planting part 4 is automatically raised and the planting operation cannot be performed, but the automatic lift changeover switch 192 is turned off. Then, even if the steering handle 34 is rotated to the left or right by 200 degrees or more, the seedling planting part 4 does not rise, so that the planting operation can be performed, and the seedling planting operation can be appropriately performed even in the modified farm field.

  Further, in the riding type rice transplanter 1 configured as described above, the control device 163 of the present embodiment is based on detection of the number of rotations of the drive shaft (transmission shaft) (not shown) of the rear wheel 11 inside the turn. Rotation interlocking control that automatically performs various operations such as seedling planting can be performed. This control mode is sometimes referred to as an automatic planting start mode. In particular, when the rear wheel 11 inside the turn is steered by a predetermined angle or more, the turn interlock control can be performed.

  It is possible to set a control mode (automatic planting start mode) in which the planting start position of the seedling after turning is automatically set based on the number of rotations of the rear wheel. Detected by an angle (cutting angle) sensor 193, and measured the distance traveled from the start of turning detected by the turning angle sensor 193 based on the detection value of the rotational speed sensor 205 of the wheel (the transmission shaft of the rear wheel 11 inside the turning). When the travel distance reaches a predetermined value, it is an automatic planting start mode in which seedling planting is automatically started without operating the seedling planting lever 19 (FIG. 2).

  This turning control method is shown in FIG.

すなわち、ステアリングハンドル３４を切り、旋回内側の後輪１１のサイドクラッチが切れた状態で、左右ドライブシャフトの回転数を検出し、旋回時の内側の後輪１１の伝動軸回転数が設定値Ｎ１を超えると苗植付部４を下降させる。その後、後輪１１の伝動軸回転数が設定値Ｎ２と苗植付け具１２６の作動が「切り」状態に入って（＝苗植付装置５２が上げ状態に移って）からステアリングハンドル３４の切り操作開始までの後輪１１の伝動軸の回転数ｎの合計値以上になると植付「入り」にする機構である。

That is, when the steering wheel 34 is turned off and the side clutch of the rear wheel 11 inside the turn is disengaged, the rotational speed of the left and right drive shafts is detected, and the transmission shaft speed of the inner rear wheel 11 during the turn is the set value N1. If it exceeds, seedling planting part 4 will be lowered. Thereafter, the steering wheel 34 is turned off after the transmission shaft rotational speed of the rear wheel 11 is set to the set value N2 and the operation of the seedling planting tool 126 enters the “cut” state (= the seedling planting device 52 moves up). This is a mechanism for making the planting “enter” when the rotational speed n of the transmission shaft of the rear wheel 11 until the start becomes equal to or greater than the total value.

FIG. 8 shows the flow of the turning interlock control.
First, the rotational speeds of the transmission shafts of the left and right rear wheels 11, 11 are detected by the transmission shaft rotational speed sensor 205, and the set value N1 (drive shaft of the rear wheels 11 inside the turn from the start of turning to 90 ° turn of the body ( (Transmission shaft) rotation signal setting value), N2 (the drive shaft rotation signal setting value from turning 90 ° of the machine body to the "engaging" planting clutch), θ1 ((setting angle of steering wheel cut during straight operation), lower limit (left rotation) Angle))) and θ2 ((handle turning setting angle during straight running operation) upper limit value (angle determined to turn right)).

  Next, in order to cope with differences in the field conditions such as the hardness and water depth of the field, the depth of the field (the field depth), etc., settings for adjusting the set values of the rotational speeds N1 and N2 and the handle cutting angles θ1 and θ2 The correction value n0 is set with the dials 206a to 208b (FIG. 6).

  Whether the seedling planting tool 126 of the seedling planting unit 4 is in a seedling planting state or not is operated by a finger lever 166 (the driving operation of the seedling planting unit 4 is turned on and the seedling planting unit 4 is moved up and down) When the planting “on” is switched to “planting” and the planting “126” is switched to “off”, the seedling planting tool 126 enters the “on” state and the planting is planted. The rotational speed n of the transmission shaft of the rear wheel 11 until the operation of the tool 126 becomes “cut” is detected by the transmission shaft rotational speed sensor 205 inside the turning, and the value (n) is stored. Next, when the turning angle (steering angle) θ of the steering handle 34 is detected by a handle turning angle sensor (potentiometer) 193 (FIG. 6) provided on the shaft of the steering handle 34, when the vehicle is not traveling straight (θ1 <θ <θ2) Detects whether the vehicle is turning in the left or right direction.

  When the left turn is in progress, the rotational speed of the transmission shaft of the left rear wheel 11 is detected, and when the rotational speed n1 is n1 ≧ N1 + n0, the aircraft has turned 90 degrees or more from the start of turning, so the seedling planting section 4 The hydraulic cylinder 46 is operated by the seedling planting part lowering means of the lifting control means to lower it to the grounding position. The headland is leveled as the seedling planting part 4 descends. Further, after turning the aircraft 90 degrees, the steering wheel 34 is advanced while loosening the turning degree, and when the rotational speed n2 of the left and right drive shafts of the left rear wheel 11 becomes n2 ≧ N2 + n + n0, the seedling planting tool 126 is operated. Start planting seedlings.

  In the riding type rice transplanter 1 of this embodiment, the control device 163 automatically drives the rear wheel 11 inside the turn according to the rotation speed of the rear wheel 11 outside the turn only when the automatic planting start mode is set. The intermittent on / off control function (B1) for transmitting the side clutch intermittently (corresponding to the control (B), referred to as intermittent side clutch control) can be operated.

  By performing the intermittent side clutch control in this way, there is little impact due to braking, and a braking cycle corresponding to the turning angle of the rear wheel 11 can be obtained without being affected by engine rotation or vehicle speed. In the intermittent side clutch control for turning on / off the clutch of the rear wheel 11 on the inside of the turn, the slower the vehicle speed, the shorter the cycle for turning the clutch on / off, and the faster, the longer the cycle for turning the clutch on / off. Thus, it is possible to perform braking without causing the operator to feel uncomfortable when turning.

  For example, at a vehicle speed of 0 m / s, the operating cycle (including on / off) of the side clutch (not shown: performed by the clutch operating arm 86I) of the transmission shaft of the rear wheel 11 inside the turn is 0.5 seconds, the vehicle speed is 0 The side clutch operating cycle (including on / off) is 1.0 second at 0.5 m / s, and the side clutch operating cycle (including on / off) is 1.5 seconds at a vehicle speed of 1.0 m / s. The side clutch operating cycle of the transmission shaft of the rear wheel 11 inside the turn is changed in a linear function according to the vehicle speed.

  When traveling at high speed, the impact is particularly great when the clutch of the transmission shaft of the rear wheel 11 is turned on or off. Therefore, as described above, in order to reduce the impact caused by the intermittent side clutch control, the ON / OFF cycle of the intermittent side clutch control (performed by the clutch operation arm 86I or the like) is made longer as the vehicle travels at a higher speed.

  Like the 8-row riding rice transplanter 1 of this embodiment, a large traveling vehicle needs to make a relatively large turn when turning. However, if the side clutch of the transmission shaft of the rear wheel 11 inside the turn is kept off during turning, the turn becomes too small. However, if the transmission shaft of the rear wheel 11 inside the turn is intermittently clutched as in the present embodiment, the operator can perform braking without feeling uncomfortable at the turn, and at an appropriate turning radius desired by the operator. A relatively large turn suitable for the 8-row planted rice transplanter 1 is possible.

  The connection of the side clutch of the transmission shaft of the rear wheel 11 on the inside of the turn is the number of revolutions set by an intermittent side clutch control (also called pumping clutch control) adjustment dial 210 provided on the operation panel 33 as shown in FIG. This is done until the rotational speed of the rear wheel 11 inside the turn reaches the (rotation angle).

  The intermittent side clutch control adjustment dial 210 adjusts between 11 degrees and 27 degrees in the rear wheel rotation angle (= the rotation angle of the transmission shaft of the rear wheel 11). It should be noted that the intermittent side clutch control adjustment dial 210 is operated not from the rotation angle of the rear wheel 11 (the transmission shaft of the rear wheel 11) but from the operation time of a clutch (not shown) for operating the transmission shaft of the rear wheel 11, for example, 210 ms. The configuration is such that the time can be set up to 510 ms, and the side clutch (not shown) of the transmission shaft of the rear wheel 11 inside the turn is connected for the time set by the intermittent side clutch control adjustment dial 210. Also good. Further, the adjustment dial 210 is provided with a region 210a (FIG. 9) for always driving the left and right rear wheels 11, 11.

  In addition, when driving at high speeds such as on the road, if intermittent side clutch control is selected, it is easy to make a large turn, so rather the handling is uncomfortable. Therefore, during high speed driving such as on the road, the intermittent side clutch No control is necessary. Therefore, when the traveling vehicle is traveling at a constant vehicle speed, for example, 1.0 m / s or more, intermittent side clutch control is not performed.

  Further, the control flow setting value N1 (drive shaft (transmission shaft) rotation signal setting value of the rear wheel 11 inside the turn from the start of turning until the turn of the body 90 °), N2 (planting from the turn of the body 90 ° shown in FIG. 8) The lower the drive shaft rotation signal set value until the clutch is “entered”, the lowering of the seedling planting device 52 at the time of seedling planting occurs, for example, when the rear wheel 11 on the inside of the turn is deeply submerged in a deep field or the like. This is effective when you want to perform

  When the rear wheel 11 is deeply submerged in the field, the lifting link sensor 48 can detect the lifting / lowering degree of the upper link 40 and the lower link 41, thereby detecting the lifting / lowering degree of the seedling planting unit 4.

Further, in the automatic planting control mode shown in FIG. 8, the steering wheel 34 operating angle θ1 (the lower limit value of the steering wheel cut angle during straight running operation), θ2 (the steering wheel cut setting angle during straight driving operation) upper limit The raising timing of the seedling planting part 4 according to the value) can be arbitrarily changed by the setting dials 206a and 206b of the θ1 and θ2.
With the above configuration, the operator can arbitrarily set the rising timing of the seedling planting unit 4 during turning control, so that the work can be performed according to his / her own pace.

In this way, even a riding type working machine for multi-row planting such as 8-row planting can be turned in the field without fear of planting seedlings in a state of partially overlapping the previous planting strip.
In the case of a right turn, the same control is performed as in the case of a left turn.

  In this way, the method of detecting the rotational speed of the transmission shaft (drive shaft) of the rear wheel 11 with the side clutch disengaged is more susceptible to slipping and the like than the method of detecting the rotational speed of the rear wheel 11 to which power is transmitted. There are features that are difficult to receive. Further, since the rotational speed of the drive shaft that rotates faster than the rear wheel 11 is detected, the measurement accuracy can be easily increased. As a result, there is an effect that the planting start of the seedlings for each planting strip is almost constant (the headland width is constant).

Note that the start button (switch) 184 for turning control that performs various series of turning control operations shown in FIG. 8 may be used as a button for setting the start position for seedling planting.
The automatic planting start mode is set by a planting start adjustment dial 212 (FIGS. 6 and 10). The travel distance from the start of turning to the start of planting seedlings is set as the planting start adjustment dial 212 shown in FIG. Turn to set.

  Although the travel distance can be appropriately selected according to the rotation angle of the planting start adjustment dial 212, a dial turning angle region outside the travel distance adjustment range of the dial 212 (and enters an automatic planting start mode). An auto lift function that can select a control mode for automatically raising the seedling planting device 4 at the start of turning of the vehicle in the previous dial turning angle region) and automatically raising the seedling planting device 4 when the vehicle reverses The back lift function that can select the control mode is also used.

  Then, when the dialing operation of the planting start adjustment dial 212 reaches the position (shown in FIG. 10) where the indication unit of the planting start adjustment dial 212 is designated as “auto lift” at a position corresponding to the auto lift function. It is also possible to employ a control mode in which the intermittent side clutch control is started at the same time when the auto lift function is turned on and the auto lift control mode is started.

  In the rice transplanter provided with the turning control means as described above, when the vehicle speed at the time of turning is set to a speed higher than the standard value, the descending speed of the seedling planting unit 4 is set to be higher than the standard value. doing. That is, the control device 163 shown in FIG. 6 is provided with a descending speed control means for increasing the operating speed of the hydraulic cylinder 46 based on the speed detection result exceeding the standard value of the rear wheel transmission shaft rotational speed sensor 205. By descending quickly, the seedling planting part descends to a predetermined position with good timing. In the rice transplanter provided with the turning control means, the power transmission control to the seedling planting part before turning is performed so that the planting clutch is turned off at the end position of the planting seedling of the adjacent strip. The control is based on the detection result 108 (FIG. 1). That is, when the seedling planting unit 4 reaches the seedling planting end position of the adjacent strip, the seedling at the seedling end position is detected by the adjacent strip sensor 108. And based on this sensor detection result, it is set as the structure which operates the PTO clutch operation | movement solenoid 218 and carries out "disconnection" control of the planting clutch.

  Also, in rice transplanters equipped with turning control means, when turning headland, after turning, when the planting is started back to the last minute, the rear distance sensor 105 (FIG. 1) is the appropriate distance from the rear of the aircraft to the heel. Is configured to be notified by a buzzer, etc., or to be back-stopped, and thereafter, the seedling planting part is automatically lowered and the planting clutch is engaged to start planting work. Means can be provided, thereby preventing planting and clashing on the cocoon.

  Furthermore, the riding type rice transplanter 1 of this embodiment includes left and right brake pedals 111 and 111 (FIGS. 3 and 4) as operating tools that can operate the left and right side clutches or side brakes (not shown) individually. Although it is provided, control for selecting the intermittent side clutch control (B1) is not performed by the control device 163 even when the left and right brake pedals 111 are connected.

  A brake pedal connection sensor 114 for detecting that the left and right brake pedals 111 and 111 are connected (or not connected) is provided in the vicinity of the brake pedals 111 and 111, and the intermittent side is determined by the detection value from the brake pedal connection sensor 114. The controller 163 selects whether or not the clutch control (B1) is activated.

  As shown in FIG. 3, the left and right brake pedals 111, 111 are held by a holding plate 113 at the upper end of the front end and supported by a connecting plate 115 for connecting the left and right brake pedals 111, 111 at the lower side of the front end. The lower surface of the connecting plate 115 is connected to the base portions 111a and 111a of the left and right brake pedals 111 and 111, and the tips of the brake pedal base portions 111a and 111a are connected to the first rod 119 via the arms 116 and 117. Yes. When the brake pedal 111 is depressed in the direction of arrow P, the arm 116 rotates in the direction of arrow A with the connecting shaft 118 of the brake pedal base 111a and the arm 116 as a fulcrum, and the first rod 119 moves upward along with the arm 117 (in the direction of arrow B). )

  On the other hand, when the brake pedal 111 is returned to the direction opposite to the arrow P direction, the arm 116 rotates in the direction opposite to the arrow A direction, and the first rod 119 moves downward together with the arm 117 (the direction opposite to the arrow B direction). ) By operating the brake pedal 111 in this way, the first rod 119 moves in the vertical direction.

  One of the left and right first rods 119 is connected to one of the right and left relay arms 134, and the relay arm 134 is further connected to the counter shaft 133. From the other left and right relay arms 134 connected to the counter shaft 133, the counter rod 137, the counter arm 139 and the like are connected to one of the left and right rods 180 for clutch engagement. Also, the other left and right first rods 119 are connected from the counter arm 139 to the other right and left rods 180 for clutch interlocking without passing through the relay arm 134, the counter shaft 133, the counter rod 137, and the like.

  These left and right rods 180 are respectively connected to the pull cylinder 217 and the side clutch operation arm 86I. When the first rod 119 moves up and down, the left and right rods 180 move in the front-rear direction, and the left and right side clutch operation arms 86I move to the left and right rods. It rotates in conjunction with the movement of 180.

  When the brake pedal 111 is depressed in the arrow P direction, the first rod 119 moves upward (arrow B direction) as described above, the left and right rods 180 are pulled forward (arrow C direction), and the side clutch operation arm 86I is moved to the arrow. By rotating in the U direction, the side clutch of the transmission shaft of the rear wheel 11 inside the turn is disengaged.

  On the other hand, the left and right side clutch operation arms 86I are provided with side clutch control electromagnetic valves 221 for controlling the left and right pull cylinders 217, and the side clutch control electromagnetic valves 221 are operated by output signals from the control device 163. Thus, the continuous on / off control function (A1) or the intermittent side clutch control (B1) is performed.

  If the operator operates one or both brake pedals 111 while the left and right brake pedals 111 are connected, braking is performed. However, when the left and right brake pedals 111 and 111 are connected, it is a time when traveling on the road, etc., and the traveling speed is high and the vehicle may travel on a slope. The side clutch control (B1) is not operated.

  Therefore, by adopting this configuration, it is possible to prevent the continuous on / off control function (A1) or the intermittent side clutch control (B1) from operating regardless of the operator's intention, thereby improving safety.

  Further, sensors (potentiometers) 112 and 112 (FIG. 3) for detecting the movement of the left and right brake pedals 111 and 111 are provided, respectively, and at the time of manual turning manually set by the intermittent side clutch control (pumping clutch) adjustment dial 210. The operation pattern of the operator may be stored in the control device 163.

  This is to store the operation pattern of the potentiometers 112 and 112 at the time of turning. After detecting that the turning has been started by the steering angle sensor 193, the turning by the steering angle sensor 193 has been completed. Until the detection, the detected values of the potentiometers 112 and 112 inside the turning corresponding to the accumulated rotational speed detection value of the transmission shaft rotational speed sensor 205 inside the turning inputted to the control device 163 are automatically stored. .

  Then, according to the pattern stored in the control device 163 at the time of manual turning, in the next process, the intermittent side clutch (B1) (the driving of the rear wheel 11 inside the turning is intermittently turned on / off) is controlled. It is good also as a structure.

  15 and 16 show a configuration example of the seedling mount. The front plate 96 provided on the lower end side of the seedling placing table 51 includes a seedling receiving surface 96a for receiving a ground mat seedling and a placing table receiving surface 96b parallel to the seedling placing surface of the seedling placing table 51. The pedestal receiving surface 96b has a gently curved surface shape 96R (FIG. 15) so that the angle formed by the 96a and the pedestal receiving surface 96b becomes an obtuse angle so that the seedling can be easily pushed forward. In the conventional right-angled shape, the end part of the lower seedling may remain in the corner, and there was a problem of lacking the stock. However, because of the structure that pushes forward at the joint between the lower seedling and the upper seedling, There are no seedlings on the side.

  Further, as shown in FIG. 16, the shape of the fence part 97 at the lower part of the seedling stage is configured to have a taper part 97T. Thereby, the load at the time of moving a seedling sideways decreases, and the durability of a seedling mounting stand improves.

4 Seedling planting part 27 Leveling rotor 16 Shift lever 79 Interlocking wire

Claims (4)

A leveling rotor (27) composed of a front center rotor (27b) and a rear side rotor (27a) for leveling the field scene just before planting is installed on the front side of the seedling planting part (4), The leveling rotor (27) is configured to be movable up and down according to changes in the vehicle speed, and the rear side rotor (27a) is not displaced upward as the vehicle speed increases more than a predetermined speed, and only the front center rotor is not displaced. If the rear distance sensor (105) detects that the rear of the aircraft has reached an appropriate distance from the heel, it will notify or stop the reverse movement and then automatically plant the seedlings. A riding rice transplanter characterized in that a control means for lowering the part (4) and engaging the planting clutch is provided .   The leveling rotor (27) is provided so that the rotor rotational speed can be controlled according to the water depth of the field. Based on the detection result of the water depth sensor (92) for detecting the water depth, the rotor rotational speed is reduced to the low speed side when the water depth is deep. The riding rice transplanter according to claim 1, wherein the rice transplanter is interlocked to control to a high speed side when the water depth is shallow. The leveling rotor (27) increases the ground height relative to the agricultural scene based on the detection result of the water depth sensor (92) that detects the water depth when the water depth of the agricultural field is deep, and decreases when the water depth is shallow. arranged to automatically control such that Ku made to intermittently provided intermittently switching on and off function to Nyusetsu, rotation of the rear wheel located on the inside in the intermittent switching on and off function (11) to drive the rear wheel inside (11) The adjusting tool (210) for setting the number or driving time can be switched to a state in which the left and right rear wheels (11) are always driven, and the power of the engine (20) is transmitted to the seedling planting part (4). A planting transmission shaft (26) and a rotation sensor (94) for detecting the inconstant speed rotation of the planting transmission shaft (26), and the rotation sensor (94) prevents the planting transmission shaft (26) from The engine (20) rotates in conjunction with the detection of constant speed rotation. Claim 1 or claim 2 riding rice transplanter according to, characterized in that you have a configuration for lowering the. The seedling planting part (4) is provided with a seedling mounting base (51) for moving the seedling on the left and right sides. A seedling receiving surface (96a) for receiving the seedling is provided on the lower end side of the seedling mounting base (51). A receiving surface (96b) continuously connected to the seedling mounting surface of the base (51) is provided, and the receiving surface (96b) is formed into a curved surface, and the seedling receiving surface (96a) and the mounting surface (96b) The riding rice transplanter according to any one of claims 1 to 3, wherein an angle between the two is an obtuse angle.

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