JPH07102024B2 - Rice transplanter planting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial field of application" The present invention rotatably supports a rotary case of a planted case, and connects a claw case to a sun gear provided at the center of rotation of the rotary case via a planetary gear. Let
The present invention relates to a planting device for a rice transplanter in which a planting claw provided in a claw case is swung by a rotary motion of a rotary case to perform seedling planting work.

"Prior Art" Conventionally, as disclosed in Japanese Patent Laid-Open No. 61-5712, an eccentric gear is used for a sun gear and a planetary gear provided in a rotary case, and a planetary gear that revolves around the sun gear by the rotation of the rotary case is unequal. It was rotated at high speed, and the planting claw was swinging.

[Problems to be Solved by the Invention] In the above-mentioned conventional technique, the swing angle of the planting claw with respect to the rotation of the rotary case is set to be constant by the eccentric amount of the sun gear or the planetary gear, and the swing angle of the planting claw is changed by replacing the gear. Since it is not possible to simplify the gear combination structure and the operation of changing the planting claw swing angle, the phase adjustment of the sun gear can be done by screwing in and out of the bolts, and multi-row planting can be performed. There was a problem that it was necessary to synchronize the seedling removal time (planting time) from the seedling mounting table for a plurality of planting claws for planting, which made the adjustment during assembly troublesome.

"Means for Solving the Problem" Therefore, according to the present invention, the rotary case is rotatably attached to the planting case, the pawl case is rotatably attached to the rotary case, and the planting pawl is provided on the pawl case. Attach the sun gear to be placed at the center of rotation of the case to the planting case, connect the sun gear to the pawl case via the idle gear and planetary gear, and rotate the pawl case by rotating the rotary case to place the planting pawl on the planting track. In the planting device of the rice transplanter to be moved, the sun gear rotation motor for rotating the sun gear to change the mounting angle of the claw case with respect to the rotary case is provided in the planting case, and a sensor for detecting the rotation angle of the rotary case, Based on the detection result of the sensor, the motor is driven to change the claw case to a predetermined swing angle. It is characterized in that a trawler is provided.

[Operation] Therefore, since the motor is automatically controlled by the rotation angle detection of the rotary case to swing the planting claw, it is not necessary to form the sun gear, the idle gear, and the planetary gear by the eccentric gear, and the claw case It is possible to easily simplify the gear structure that drives the swiveling of the plant, and the swinging angle of the planting claw with respect to the rotation of the rotary case can be easily changed to change the locus of the planting claw to take out the seedlings or to plant the seedlings. It is possible to easily adjust various operations such as adjusting the amount of seedlings and the depth of planting seedlings by changing the posture, and interrupting seedlings due to idle rotation of the planting nails (stopping work on the ridges). It is possible to easily synchronize the seedling removal time from the seedling mounting table for multiple planting nails for row planting, eliminating the need for the conventional manual adjustment of the sun gear phase, and leaving the seedlings on the reciprocating start side and terminal side of the seedling mounting table. In which the defect may easily eliminated.

[Examples] Examples of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a cross-sectional explanatory view of a rotary case part, FIG. 2 is a side view of a rice transplanter for riding, and FIG. 3 is a plan view of the same, in which (1) is a traveling vehicle on which an operator rides, and an engine. The rear end of the vehicle body frame (3) carrying (2) is connected to the mission case (4), and the front wheels (6) for traveling the paddy field are provided on both sides of the front part of the mission case (4) via the front axle case (5). ), And transmission cases (7) that are axle cases on both sides of the rear of the mission case (4).
And the rear wheels (8) for traveling paddy fields are supported at the rear end of the transmission case (7). Then, a spare seedling mount (10) is attached to the outside of both sides of the hood (9) covering the engine (2), and a vehicle body cover (1) forming a step (11) is formed.
2) covers the transmission case (7) etc., a driver's seat (13) is attached to the upper part of the vehicle body cover (12), and a steering wheel (9) is provided in front of the driver's seat (13) at the rear of the bonnet (9). 14) is provided.

Further, in the figure, (15) is a planting part having a multiple row planting table (16) and a plurality of planting claws (17) ... (16) is supported on the planting case (20) via the guide rail (18) and the guide rail (19) so as to be slidable in the left and right directions, and rotates at a constant speed in one direction as shown in FIG. The rotary case (21) to be supported is supported by the planted case (20), the claw cases (22a) and (22b) are arranged at symmetrical positions with respect to the rotation axis of the case (21), and the claw case ( 22) Attach the planting claw (17) to the tip. Further, a support frame (24) is provided on the front side of the planting case (20) via a rotation fulcrum shaft (23), and a three-point link mechanism (27) including a top link (25) and a lower link (26) is provided. A supporting frame (24) is connected to the rear side of the traveling vehicle (1) via the linking mechanism (27), and a lifting cylinder (28) for lifting and lowering the planting part (15) is provided. ) (8) is driven to move at a substantially constant speed, and at the same time, the seedlings for one plant are taken out from the seedling table (16) that slides back and forth from side to side by the planting claws (17), and rice planting work is performed continuously. Is configured to do.

Further, in the figure, (29) is a traveling shift lever, (30) is a planting lift lever, (31) is a planting sensitivity adjustment lever, (32) is a traveling clutch pedal, (33) and (33) are left and right brake pedals,
(34) ... are floats for leveling the field, which support the floats (34) below the planting case (20) via a planting depth adjustment link (35) and the like.

Further, as shown in FIG. 5 to FIG. 6, the nail case (22a) (for the seedling taking-out port (37) of the seedling taking-out plate (36) in the guide rail (18) provided at the lower end of the seedling placing table (16). The two planting claws (17) (17) provided on the rotary case (21) are alternately moved via the 22b) so that one rotation of the rotary case (21) causes two planting claws (17) ( According to 17), two seedlings are planted.

As shown in FIG. 1, a planted pawl drive shaft (38), which is an output shaft, is rotatably supported at the rear end of the planted case (20), and a rotary case (21) is provided at both ends of the drive shaft (38). ) (21) is fixed and supported symmetrically. In addition, the rotary case (21)
Each pair of positive sun gears (39a) (39b) with the same number of teeth, positive idle gears (40a) (40b) and positive planetary gears (41
a) (41b), the sun gears (39a) (39b) are doubly fitted onto the planting pawl drive shaft (38), and the idle gear (40a) is provided via the intermediate shafts (42a) (42b). ) (40b)
, And the planetary gears (41a) (41b) are pivotally supported by the claw case shafts (44a) (44b) fixed to the claw cases (22a) (22b) with bolts (43), and the two central sun gears (39a) are supported. ) (39a) symmetrical idle gear (40a)
The two planetary gears 41a and 41b are constantly engaged in a row via the (40b).

Further, first and second motors (45a), which are sun gear rotation control elements that rotate the sun gears (39a) (39b) forward and backward.
(45b) is fixed to the planting case (20), and input gears (46a) (46b) integrally fixed to the planting case (20) side of the sun gears (39a) (39b) are connected to the motor (45a). ) (45
b) Output gear (47a) (47b) to transmission gear (48a) (48
b) to connect the motors (45a) (45
The claw cases (22a) and (22b) are rotated about the claw case shafts (44a) and (44b) by appropriately driving the b) forward and reverse.

The claw case shafts (44a) (44b) are rotatably inserted into the cam shaft (49), and one end of the cam shaft (49) is inserted through a position adjusting plate (50) and a bolt (51). And a rotary rod (21) rotatably and fixedly supported by the rotary case (21), and the other end of the cam shaft (49) is connected to the push-out claw (17a) for forced planting in the claw cases (22a) and (22b). 52),
It is connected via the push arm (53) and the push-out cam (54), and when the planting claw (17) plunges into the rice field, the push rod (52) is advanced to push out the seedlings sandwiched by the planting claw (17). It is configured to be extruded into the soil by the claw (17a).

By the way, a rotary case rotation angle sensor (55) for detecting each rotation angle of the rotary case (21) for each rotation.
And a rotary case rotation zero degree sensor (56) for detecting a reference zero degree for detecting one rotation of the rotary case (21) in the planting case (20). 38) The angle sensor (55) is installed in the vicinity of the peripheral surface of the input sprocket (57) for transmitting the driving force to the rotary sprocket (21), and the rotation angle changes during one rotation of the rotary case (21). While detecting the state,
Rotation transmission member (58) for fixing the input sprocket (57)
The zero degree sensor (56) is installed near the peripheral surface of the rotary case (21) to detect the reference zero degree of the rotary case (21) based on the rotation of the transmission member (58). When the rotary case (21) is rotated, the claw cases (22a) and (22b) are changed to a preset swinging angle in accordance with each angle change during one rotation of the rotary case (21). 45a)
(45b) is driven in the forward and reverse directions, and the claw case shaft (44a)
The rotation of the nail case shafts (44a) and (44b) is slower than the rotation of the rotary case (21) before and after the seedling planting position of the planting claw (17), and the seedling planting position of the rotary case (21). Rotate the rotary case (21) in the front and
The rotation of (a) and (44b) is accelerated so that the locus (l) of the motion planting by the planting claw (17) draws a vertically long closed loop ellipse. That is, the nail case shafts (44a) and (44b) are configured so that the posture of the planting claw (17) is upward before and after the seedling take-out position, while the posture of the planting claw (17) is downward before and after the seedling planting position. It was done.

FIG. 7 shows a control circuit for the motors (45a) (45b). It is desirable to select the pawl cases (22a) (22b) according to each angle change of the rotary case (21) during one rotation. The control circuit (60) includes a swing angle forming circuit (59) that is set to change the swing angle, and the angle sensor (5)
5) and the zero degree sensor (56) are connected to the control circuit (60) through the rotation angle detection circuit (61), and the first and second motors (45a) (45b) are connected to the first and second drive circuits. (62)
(63) is connected to the control circuit (60) to form the claw cases (22a) (22b) according to the rotation angle of the rotary case (21) based on the detection of the sensors (55) (56). The motors (45a) and (45b) are driven and controlled so as to change to a predetermined swinging angle set in advance at (59).

As is clear from the above, the rotary case (21) is rotatably attached to the planted case (20), and the rotary case (2
The claw case (22a) (22b) is rotatably attached to 1), the claw cases (22a) and (22b) are provided with the planting claws (17) and (17), and are arranged at the rotation center of the rotary case (21). Attach the sun gears (39a) (39b) to the planted case (20), and insert the sun gears (39a) (39b) through the idle gears (40a) (40b) and planetary gears (41a) (41b) to the claw case (22).
a) (22b) are connected, and the nail case (22a) (22b) is rotated by the rotation of the rotary case (21) so that the planting nail (1
In the planting device of the rice transplanter that moves 7) to the planting locus, the sun gears (39a) (39b) are rotated to change the mounting angle of the claw cases (22a) (22b) with respect to the rotary case (21). The first and second motors (45a) (45b) which are sun gear rotation motors are provided in the planting case (20), and the sun gears (39a) (39b) by the motors (45a) (45b) are provided.
The locus of the planting claws (17) (17) is changed by rotation control, and the detection results of the sensors (55) (56) and the sensors (55) (56) that detect the rotation angle of the rotary case (21) are displayed. A control circuit (60) which is a controller for driving the motors (45a) (45b) to change the claw cases (22a) (22b) to a predetermined swing angle is provided.

This embodiment is configured as described above, and the planting pawl drive shaft (3
8) Rotate the rotary case (21) in one direction continuously in the front-rear direction of the machine, and rotate the rotary case (21) at both ends at the same time to move the claw cases (22a) (22b) to the drive shaft (3).
8) It rotates around, and the positive sun gear (39a) (39
When b) is stationary and the rotary case (21) rotates, the claw cases (22a) and (22b) maintain a fixed posture and do not perform a swinging motion as when the case (21) is stopped. That is, when the rotary case (21) makes one rotation, the planetary gears (41a) (41b) also make one rotation with respect to the case (21), so that the claw cases (22a) (22b) can be maintained in a fixed posture. By rotating the sun gears (39a) (39b) forward or backward from the stationary state, the planetary gears (41a) (41b) rotate faster or slower to change the attitude of the pawl cases (22a) (22b) upward or downward. It is a thing.

Then, the control circuit (60) operates and each motor (45a)
When (45b) is driven and controlled based on the detection of each sensor (55) (56), the pawl cases (22a) (22b) swing up and down according to each rotation angle of the rotary case (21). When the swinging motion of the claw cases (22a) and (22b) is set in the forming circuit (59) in the timing state as shown in FIG. 8, as shown in FIG. 4 and FIG. When the vertical direction of the case (21) is held horizontally and horizontally, and the reference zero degree (0 °) is set, when the rotary case (21) rotates approximately 90 ° in the direction of the arrow in Fig. 5 from this state, the upper end And the claw case (22a) (22b) reaching the lower end position
The swing angle is + α and −α shown by the solid line and broken line waveforms in the figure (the + and − symbols shown in the arrow in FIG.
a) In the upward and downward swings of (22b), the solid waveform represents the claw case (22a) and the broken waveform represents the claw case (22b). )
As described above, the motors (45a) (45b) are respectively driven to rotate normally or reversely, and the sun gears (39a) (39b) rotate. As a result, one of the planetary gears (41a) rotates faster than usual, and the other planetary gear (41a) rotates.
The rotation of b) becomes slower than usual, and as shown by the phantom line in FIG. 5, the posture of one claw case (22a) is changed upward so that the angle is + α, and the other claw case (22b) is changed.
Changes the posture downward so that the angle becomes -α and maximizes the swinging angle of the planting claws (17) (17).
Then, when the rotary case (21) further rotates, the swinging angle is successively reduced, and when the case (21) rotates 180 °, the swinging angle is returned to the standard posture at the 0 ° position and the swinging angle becomes 0 °.
When the case (21) exceeds 180 ° and rotates more than 180 °, the swinging angle is gradually increased again, and when rotating 270 °, the swinging angle is maximized as in 90 ° rotation. One-rotation middle case (22a) of the rotary case (21)
The seedlings are taken out when (22b) is in the angle + α upward posture, while the seedlings are planted when the nail cases (22a) and (22b) are in the angle -α downward posture.

FIG. 9 shows waveforms (a), (b) and (c) for swinging the claw case (22) during one rotation of the rotary case (21).
(D) (e) is initially set in the forming circuit (59), the maximum swing angle is increased in the order of a <b <c <d <e, and the rotary angle position of the rotary case (21) is set. The maximum swinging angular positions of the claw cases (22a) and (22b) are different from each other, and the swinging motion of any mode can be easily performed by the drive control of the motors (45a) (45b) based on these. Further, as shown in the waveform (g), the maximum swing amount in the upward and downward directions can be made different, and the downward operation time in one rotation can be set to be long.

The sensors (55) and (56) are configured to detect the rotation angle of the rotary case (21) by detecting the rotation of the planting pawl drive shaft (38). Any rotary shaft having a ratio relationship may be used.

[Effects of the Invention] As is apparent from the above embodiments, according to the present invention, the plant case (20) is rotatably attached to the rotary case (21), and the claw cases (22a) (22b) are attached to the rotary case (21). Installed rotatably and planted claws (17) in claw cases (22a) (22b)
(17) is installed, and the sun gears (39a) (39b) to be placed at the rotation center of the rotary case (21) are attached to the planting case (20), and the sun gears (39a) (39b) are idle gears (40a) (40b). ) And the planetary gears (41a) (41b) to connect the claw cases (22a) (22b), and the rotary cases (21) rotate to rotate the claw cases (22a) (22b) and the planting claws (17). In the planting device of the rice transplanter for moving the plant on the locus of planting, the sun gears (39a) (39b) are rotated to rotate the claw case (22) with respect to the rotary case (21).
a) Sun gear rotation motors (45a) (45b) that change the mounting angle of (22b) are installed in the planting case (20), and
Sensor that detects the rotation angle of the rotary case (21) (5
5) (56) and the motors (45a) (45b) are driven based on the detection results of the sensors (55) (56) to drive the claw case (22
A controller (60) for changing a) and (22b) to a predetermined swing angle is provided, and the motors (45a) and (45b) are automatically controlled by detecting the rotation angle of the rotary case (21), and the planting claw is provided. Since the (17) is swung, it is not necessary to form the sun gears (39a) (39b), the idle gears (40a) (40b) and the planetary gears (41a) (41b) by an eccentric gear, and the claw case (22a ) (22b) can be easily simplified to drive the gear structure for swinging,
Also, the planting claw (17) against the rotation of the rotary case (21)
You can easily change the swing angle of the seedlings, and change the path of the planting claws (17) to change the seedling take-out posture or the seedling planting posture, and adjust the seedling removal amount and the seedling planting depth. ) It is possible to easily simplify each operation such as suspension of seedling removal due to idling (stopping work at the ridge),
It is possible to easily synchronize the seedling removal time from the seedling mounting table (16) of the multiple-planted nails (17) for multi-row planting, eliminating the need for the conventional sun gear (39a) (39b) phase manual adjustment. This makes it possible to easily eliminate problems such as leaving a whistle on the starting end side and the ending end side of the platform (16).

[Brief description of drawings]

FIG. 1 is a cross-sectional explanatory view of a rotary case portion, FIG. 2 is a side view of the whole, FIG. 3 is a plan view thereof, FIG. 4 is a partial side view of a planting portion, and FIG. FIG. 6 is an explanatory view showing a drive system of a main part, FIG. 7 is a control circuit diagram, FIG. 8 is a diagram showing a relationship between a rotation angle of a rotary case and a swinging angle of a claw case, and FIG. FIG. 13 is an explanatory diagram of another modified example. (17) …… Planted claw (20) …… Planted case (21) …… Rotary case (22a) (22b) …… Claw case (39a) (39b) …… Sun gear (40a) (40b) …… Idle gear (41a) (41b) …… Planetary gear (45a) (45b) …… Sun gear rotation control element (55) …… Angle sensor (56) …… Zero sensor (60) …… Control circuit (controller)

Claims (1)

[Claims] 1. A rotary case (21) in a planted case (20)
Rotatably attached, and the rotary case (21) rotatably attaches the claw case (22a) (22b) to the claw case (22a)
The sun gear (39) is provided with the planting claws (17) (17) on the (22b) and is arranged at the rotation center of the rotary case (21).
a) (39b) to the planting case (20)
a) (39b) via idle gears (40a) (40b) and planetary gears (41a) (41b) to claw cases (22a) (22b)
In the planting device of the rice transplanter, wherein the nail case (22a) (22b) is rotated by the rotation of the rotary case (21) to move the priced nail (17) on the locus for planting. ) (39b) rotate to rotate case (21)
A sun gear rotation motor (45a) (45b) for changing the mounting angle of the claw case (22a) (22b) with respect to the stud is provided in the planted case (20), and a sensor (55) for detecting the rotation angle of the rotary case (21). (56) and the sensor (55)
A rice transplanter characterized by being provided with a controller (60) for driving the motors (45a) (45b) to change the claw cases (22a) (22b) to a predetermined swing angle based on the detection result of (56). Machine planting device.