WO2014157441A1

WO2014157441A1 - Rice transplanter

Info

Publication number: WO2014157441A1
Application number: PCT/JP2014/058724
Authority: WO
Inventors: 竹山　智洋; 土井　邦夫
Original assignee: ヤンマー株式会社
Priority date: 2013-03-29
Filing date: 2014-03-27
Publication date: 2014-10-02
Also published as: KR20150127706A; CN105072885B; CN105072885A; KR101812768B1

Abstract

Provided is a rice transplanter which equalizes torque variation by applying a torque that cancels out torque variation occurring in a planting arm shaft and ameliorates phase shift, thereby optimizing the trajectory of planting claws to prevent planting errors. This rice transplanter transmits power via a nonuniform speed mechanism to the planting arm shaft that supports a rotary case, wherein a torque equalizing mechanism is provided which applies a torque to cancel out the torque variation occurring due to the nonuniform speed mechanism, and said torque equalizing mechanism is attached to the planting arm shaft.

Description

Rice transplanter

The present invention relates to a rice transplanter that transmits power to a planting arm through an inconstant speed mechanism.

With traditional rice transplanters, if the planting claw tip trajectory is set to be nearly vertical near the bottom dead center based on dense planting, the speed at which the planting claw escapes from the field is slow in the sparse planting state. Therefore, a phenomenon that the planted seedling is pushed forward tends to occur. On the contrary, based on sparse planting, if the locus of the tip of the planting claw is set to be almost vertical near the bottom dead center, the planting claw will be pushed back into the field in the dense planting state. Floating seedlings are likely to occur due to the spread of seedlings and mud.
For this reason, a non-constant speed mechanism is provided for sparse planting so that the planting claws escape and move more quickly from the field with reference to the dense planting state, and one of the rotary planting arm shafts that support the planting claws. There is a method of changing the angular velocity (rotational speed) during rotation.

Japanese Patent Application Laid-Open No. 07-163216 discloses a technique for providing a non-uniform speed transmission mechanism between a planting mission case and a planting arm shaft, and changing the angular velocity during one rotation to make the speed as follows. Is disclosed. That is, when a seedling is taken, a fast section is provided immediately after planting, and a slow section is provided before seedling and before planting, thereby realizing a good seedling harvesting operation and planting operation.

Since the inconstant speed transmission mechanism accelerates and decelerates the angular velocity during one rotation of the rotating shaft, torque fluctuation (load fluctuation) applied to the rotating shaft increases. Repeated twisting and untwisting of the rotating shaft causes backlash of gears constituting the driving system or backlash due to gaps generated between parts during manufacturing of the driving system and drive system rotation unevenness due to driving system twisting. As a result, the acceleration / deceleration phase shifts, leading to poor planting.
Therefore, the present invention provides a torque that cancels the torque fluctuation generated in the planting arm shaft, leveles the torque fluctuation, and improves the phase shift, thereby optimizing the locus of the planting claw and preventing poor planting. Provide rice transplanters.

A rice transplanter according to a first aspect of the present invention is a rice transplanter that transmits power to a planting arm shaft that supports a rotary case via an inconstant speed mechanism, and cancels torque fluctuations caused by the inconstant speed mechanism. While providing the torque leveling mechanism which provides a torque, the said torque leveling mechanism is attached to the said planting arm axis | shaft.

The torque leveling mechanism is provided on the downstream side of the power transmission path with respect to the unit clutch that connects and disconnects power transmission from the inconstant speed mechanism to the planting arm shaft.
Furthermore, the torque leveling mechanism is preferably provided for each planting unit provided with the planting arm shaft.

The torque leveling mechanism includes a crank mechanism or a cam mechanism, and includes an elastic body that periodically generates an elastic force by the crank mechanism or the cam mechanism.
It is preferable that the elastic force of the elastic body is adjustable and interlocks with connection / disconnection of a unit clutch that connects / disconnects power transmission from the inconstant speed mechanism to the planting arm shaft.

The elastic force of the elastic body is set to be small or zero depending on the number of planted strains.

The elastic force of the elastic body is adjusted according to the vehicle speed or the rotation speed of the planting arm shaft.

A rice transplanter according to a second aspect of the present invention is a rice transplanter that transmits power to a planting arm shaft that supports a rotary case via an inconstant speed mechanism, and cancels torque fluctuations caused by the inconstant speed mechanism. A torque leveling mechanism for applying torque is provided, and the torque leveling mechanism is provided on the downstream side of the power transmission path with respect to the unit clutch that connects and disconnects power transmission from the inconstant speed mechanism to the planting arm shaft. .

A rice transplanter according to a third aspect of the present invention is a rice transplanter that transmits power to a planting arm shaft that supports a rotary case via an inconstant speed mechanism, and cancels torque fluctuations caused by the inconstant speed mechanism. While providing the torque leveling mechanism which provides a torque, the torque leveling mechanism uses the elastic force of an elastic body.

In another embodiment of the torque leveling mechanism, the torque leveling mechanism is provided on a connecting plate that connects between the rotor arm shafts provided on the rotary case, and is provided at a symmetrical position across the planting arm shaft. Two pins projecting outward, and a square or triangular ring that covers the two pins from the outer peripheral side and has a length between the pins as one side, and applies the torque The elastic body to be attached is attached to a portion facing a side having a length between the pins in the ring as one side.

In another embodiment of the torque leveling mechanism, a torque leveling mechanism is provided that applies an impulse torque in a direction that cancels the maximum torque at the timing when the maximum torque is generated in the torque fluctuation generated by the non-uniform speed mechanism. In addition, the torque leveling mechanism includes a cam that sets a timing at which the maximum torque is generated, and a solenoid that operates at the timing by the cam and generates the impulse torque.

According to the present invention, the torque fluctuation generated by the inconstant speed mechanism is leveled and the phase shift is improved, so that the locus of the planting claw can be optimized and planting failure can be prevented.

It is a side view of a rice transplanter. It is a skeleton figure of a planting drive part. It is a side view of a torque leveling mechanism. It is explanatory drawing of the torque provided by a torque leveling mechanism. It is explanatory drawing of the torque provided by a torque leveling mechanism. It is a figure which shows the torque fluctuation which arises in the planting arm axis | shaft driven by an inconstant speed mechanism, the leveling torque provided by a torque leveling mechanism, and these synthetic torques. It is a skeleton figure which shows embodiment which provided the torque leveling mechanism in another position. It is a skeleton figure of a planting drive part. It is a side view of a torque leveling mechanism. It is explanatory drawing of the torque provided by a torque leveling mechanism. It is explanatory drawing of the torque provided by a torque leveling mechanism. It is a figure which shows the torque fluctuation which arises in the planting arm axis | shaft driven by an inconstant speed mechanism, the leveling torque provided by a torque leveling mechanism, and these synthetic torques. It is a figure which shows embodiment which provided the elastic force adjustment mechanism in the torque leveling mechanism. It is a skeleton figure of a planting drive part. It is the figure which showed adjustment of the elastic force of a torque leveling mechanism. It is explanatory drawing of the torque provided by a torque leveling mechanism. It is a figure which shows the torque fluctuation which arises in the planting arm axis | shaft driven by an inconstant speed mechanism, the leveling torque provided by a torque leveling mechanism, and these synthetic torques. It is a figure which shows another embodiment of a torque leveling mechanism. It is a figure which shows another embodiment of a torque leveling mechanism. It is a figure which shows the torque leveling mechanism using a magnet. It is a skeleton figure which shows embodiment which provided the torque leveling mechanism in the planting horizontal axis. It is a figure which shows embodiment which provided the torque leveling mechanism in the planting horizontal axis. It is a figure which shows embodiment which provided the torque leveling mechanism in the planting horizontal axis. It is a figure which shows another embodiment of a torque leveling mechanism. It is a figure which shows another embodiment of a torque leveling mechanism.

The rice transplanter 1 will be described with reference to the accompanying drawings.
The rice transplanter 1 performs the planting work by the planting unit 5 while traveling by driving the front wheels 3 and the rear wheels 4 with the power of the engine 2. The power from the engine 2 is transmitted to the front wheel 3 and the rear wheel 4 through the transmission case 6, and to the planting unit 5 through the transmission case 6 and the stock change device 9, respectively.
The planting unit 5 includes a planting center case 10, a planting bevel case 11, a rotary case 12, a planting arm 13, a seedling table 14, and a plurality of floats 15.

FIG. 2 is a transmission system diagram regarding the planting drive of the planting unit 5. Although FIG. 2 shows one planting unit, the other planting units are similarly configured.
The planting horizontal shaft 20 branched from the planting center case 10 is transmitted to the planting vertical axis 22 in the planting bevel case 11 via the

bevel gears

21a and 21b. And it is transmitted to the unit clutch 24 from the planting longitudinal axis 22 via the inconstant

speed bevel gears

23a and 23b.
When the unit clutch 24 is connected or disconnected, power is transmitted to the planting arm shaft 25. On the other hand, when the unit clutch 24 is in a disconnected state, power is not transmitted to the planting arm shaft 25.

The planting arm shaft 25 extends into the rotary case 12 provided on the left and right of the planting bevel case 11 and is fixed to the rotary case 12. By rotating the rotary case 12, the sun gear 30 fixed to the planting bevel case 11 is transmitted to the planetary gear 32 via the intermediate gear 31. And it is transmitted to the planting arm 13 fixed to the planetary gear 32 via the rotor arm shaft 33, and the planting claw 34 is rotated together with the rotary case 12, so that the seedling can be taken from the seedling stage 14 and planted. .

[Inconstant speed mechanism]
An inconstant speed mechanism included in the inter-plant change device 9 for transmitting power to the planting unit 5 and an inconstant speed mechanism including the inconstant

speed bevel gears

23a and 23b in the planting bevel case 11 of the planting unit 5. Thus, the planting arm shaft 25 rotates at an unequal speed.
That is, when the planting claw 34 takes the seedling from the seedling stage 14 and when the planting claw 34 is quickly pulled out from the field after planting the seedling and the seedling remaining on the planting claw 34 is shaken off, the rotary case 12 rotates. The rotational speed of the rotary case 12 is decreased before the seedling is planted in the field and when the planting claw 34 is inserted into the seedling stage 14 while the driving speed is increased.
In this way, power is transmitted to the planting arm shaft 25 through the inconstant speed mechanism, and is rotationally driven with periodic acceleration / deceleration. Thereby, the torque fluctuation resulting from the inconstant speed motion generate | occur | produces in the planting arm axis | shaft 25. Specifically, since acceleration / deceleration is performed with reference to the time of seedling and planting of each planting claw 34, torque fluctuations caused by non-constant speed motion are two times during one rotation of the rotary case 12. Periodic fluctuations with a peak of times.
In addition, depending on the number of stocks set by the stock change apparatus 9 at the time of dense planting or the like, the power may be transmitted at a constant speed, and the power is not always transmitted at a non-uniform speed.

Furthermore, the magnitude of the torque variation changes according to the planting conditions. Specifically, the torque fluctuation increases if the vehicle speed is high, in other words, the planting rotation speed (rotation speed of the planting arm shaft 25) is high, and decreases if the vehicle speed is low.
In addition, the presence / absence of unequal speed and the unequal speed change according to the number of stocks (number of planted stocks) set by the stock change device 9, and the magnitude of torque fluctuation similarly changes as the planting speed changes. . In addition, depending on the number of stocks set by the stock change apparatus 9 at the time of dense planting or the like, the power may be transmitted at a constant speed, and the power is not always transmitted at a non-uniform speed.

In addition, the planting claw 34 scrapes off the seedling from the seedling mounting table 14 in a slanted posture in a side view, and then the planting claw is in a posture close to the vertical and heads to the field, and after having descended, it is necessary to turn upward. Therefore, the sun gear 30, the intermediate gear 31, and the planetary gear 32 in the rotary case 12 are non-circular and eccentric. In addition, for the same reason as the planting arm shaft 25, the rotor arm shaft 33 supporting the planting arm 13 is also rotated at an inconstant speed with respect to the rotary case 12 by an inconstant speed mechanism.

[Torque leveling mechanism]
As shown in FIGS. 2 and 3, a torque leveling mechanism 40 is provided in the planting bevel case 11. That is, the torque leveling mechanism 40 is provided in the planting bevel case 11 provided in each planting unit.
The torque leveling mechanism 40 is connected to the gear 41 fixed to the planting arm shaft 25, the double speed gear 42 meshing with the gear 41, the crank arm 43 provided on the root circle of the double speed gear 42, and the crank arm 43. The coil spring 44 is provided. The number of teeth of the double speed gear 42 is half that of the gear 41. The double speed gear 42 is supported by the driven shaft 45 so as to be relatively rotatable.

A boss 46a for fixing one end of the coil spring 44 is provided on the crank arm 43. One end of the coil spring 44 is fixed to a boss 46 a provided on the crank arm, and the other end is fixed to a boss 46 b provided on the planting bevel case 11. Further, the position of the boss 46b is determined so that a force always acts on the coil spring 44 in a contracting direction.

As the planting arm shaft 25 rotates, the gear 41 rotates, and the double speed gear 42 that meshes with the gear 41 rotates around the driven shaft 45. As the double speed gear 42 rotates, the crank arm 43 rotates at a position eccentric from the rotation center of the double speed gear 42, and the length of the coil spring 44 changes to generate an elastic force in the coil spring 44. Thus, torque is generated in conjunction with the rotation of the double speed gear 42. The elastic force generated in the coil spring 44 is transmitted from the double speed gear 42 to the gear 41 via the crank arm 43 and further applied as torque to the planting arm shaft 25.

The power transmission from the planting arm shaft 25 to the crank arm 43 is not limited as long as the rotational speed on the crank arm 43 side is twice the rotational speed of the planting arm shaft 25. Alternatively, a sprocket and a chain may be used.
Further, the mechanism for generating torque in conjunction with the rotation of the double speed gear 42 is not limited to the crank spring mechanism by the crank arm 43 and the coil spring 44, but a cam that rotates together with the double speed gear 42 and a plate that imparts elastic force to the cam. A cam / spring mechanism constituted by a spring can also be employed.

The torque applied by the torque leveling mechanism 40 will be described in detail with reference to FIGS.
In the figure, the planting arm shaft 25 rotates counterclockwise. As a result, the gear 41 rotates counterclockwise and the double speed gear 42 rotates clockwise.

As shown in FIG. 4, when the crank arm 43 is located on the upper side, that is, on the side where the contraction force by the coil spring 44 is opposite to the rotation direction of the double speed gear 42, the elastic force of the coil spring 44 is the rotation direction of the double speed gear 42. Torque in the opposite direction is generated. The torque generated in the double speed gear 42 via the crank arm 43 is transmitted to the planting arm shaft 25 via the gear 41 as it is. At this time, torque to the deceleration side is applied to the planting arm shaft 25.

As shown in FIG. 5, when the crank arm 43 is positioned on the lower side, that is, on the side where the contraction force by the coil spring 44 is in the same direction as the rotation direction of the double speed gear 42, the elastic force of the coil spring 44 is the rotation of the double speed gear 42. Torque is generated in the same direction as the direction. The torque generated in the double speed gear 42 via the crank arm 43 is transmitted to the planting arm shaft 25 via the gear 41 as it is. At this time, torque to the acceleration side is applied to the planting arm shaft 25.

Also, as the crank arm 43 rotates around the driven shaft 45, the elastic force generated in the crank arm 43 as the coil spring 44 expands and contracts is transmitted to the planting arm shaft 25 as a periodic torque. Specifically, the boss 46b, which is the fixed end of the coil spring 44, and the position and angle of the crank arm 43, that is, the position and angle of the crank arm 43 with respect to the driven shaft 45 vary so as to draw a curve close to a sine curve. Torque is generated.

As shown in FIG. 6, the torque cycle generated by the torque leveling mechanism 40 is matched with the cycle of torque variation generated in the planting arm shaft 25 by the non-uniform speed mechanism to cancel the torque variation generated by the non-uniform speed mechanism. In addition, torque is generated by the torque leveling mechanism 40 (so as to have an opposite phase in the drawing).
At this time, the double speed gear 42 to which the crank arm 43 is fixed rotates at twice the number of rotations of the planting arm shaft 25, so that the torque leveling mechanism 40 is rotated twice while the planting arm shaft 25 rotates once. A period of torque is generated. In other words, the torque leveling mechanism 40 can generate a torque that cancels out a periodic torque fluctuation having two peaks that occur during one rotation of the rotary case 12 via the inconstant speed mechanism, and equalizes the torque. it can.
In this way, by adjusting the cycle of the torque leveling mechanism 40 to the cycle of torque fluctuation by the inconstant speed mechanism, torque is synthesized to suppress torque fluctuation caused by the inconstant speed mechanism.

In the present embodiment, the equalized torque in the opposite phase is applied to the torque fluctuation caused by the inconstant speed mechanism. However, if the torque fluctuation is effectively suppressed, the torque fluctuation is completely reversed. It may not be the phase leveling torque. For example, it is possible to cancel the torque fluctuation by applying a leveling torque that is appropriately delayed by 30 ° or 45 ° with respect to the torque fluctuation. In this case, it can be set as appropriate by changing the timing of the torque generating mechanism (in this embodiment, the crank arm 43 and the coil spring 44) provided in the double speed gear 42.
Further, the reduction ratio of the double speed gear 42 is not limited to double, and may be triple, quadruple, or the like. For example, it can be set according to the timing of the torque generating mechanism provided in the double speed gear 42 as described above.

As described above, the torque leveling mechanism 40 applies a smooth torque having the same cycle (two cycles for one rotation of the rotary case 12) as the cycle of the torque variation generated by the inconstant speed mechanism, thereby leveling the torque variation. Thus, the phase shift of the planting arm shaft 25 can be improved. As a result, the planting arm shaft 25 can smoothly rotate at a non-uniform speed without twisting or rattling, stabilizing the locus of the planting claw 34 during high-speed rotation, and preventing poor planting.

The double speed gear 42 is supported on the driven shaft 45 so as to be relatively rotatable. Therefore, torque fluctuations generated by the torque leveling mechanism 40 can be directly applied to the planting arm shaft 25 without being transmitted to the driven shaft 45.

Since the torque leveling mechanism 40 is directly attached to the planting arm shaft 25 through a gear or chain mechanism in the planting bevel case 11, the torque leveling mechanism 40 is positioned close to the rotary case 12 that is the source of torque fluctuation. Can be put. As a result, torque fluctuations in opposite phases can be effectively applied, and the effect of leveling torque fluctuations can be increased.
Further, since the torque leveling mechanism 40 is disposed at a position separated from the planting arm shaft 25 by one gear (driven shaft 45) via a gear or a chain, a space in the planting bevel case 11 can be secured and mounted without difficulty. can do.

The torque leveling mechanism 40 is provided for each planting unit in which the planting arm shaft 25 is provided. In other words, since the leveling torque cancels out in each unit with the torque fluctuation generated by the acceleration / deceleration of the rotary case 12, the torque fluctuation does not go back to the upstream side of the transmission system. it can.

Since the torque leveling mechanism 40 is provided on the downstream side in the power transmission path of the unit clutch 24, the torque leveling mechanism 40 operates according to the connection of the unit clutch 24. That is, since the leveling torque does not act when the unit clutch 24 is disconnected, the leveling torque according to the number of operating stripes can be applied.

The torque leveling mechanism 40 may be provided downstream of the connecting / disconnecting operation of the unit clutch 24, that is, in a range where power is not transmitted when the unit clutch 24 is in a disconnected state in the power transmission path. For example, when provided at the position shown in FIG. 7, the gear 41 of the torque leveling mechanism 40 is fixed to the cam 24 a of the unit clutch 24.
Thus, by placing the torque leveling mechanism 40 downstream of the unit clutch 24, it is possible to link the connection / disconnection operation of the unit clutch 24 with the presence / absence of the operation of the torque leveling mechanism 40.

When the torque leveling mechanism 40 is disposed downstream of the unit clutch 24, the mounting position is not limited to the planting arm shaft 25, and may be provided at a position away from the planting arm shaft 25.

The torque leveling mechanism 50 shown in FIGS. 8 and 9 is provided in the planting bevel case 11. That is, the torque leveling mechanism 50 is provided in the planting bevel case 11 provided in each planting unit.
The torque leveling mechanism 50 includes a bevel gear 51 that meshes with a bevel gear 23 b that transmits power to the planting arm shaft 25, a crank shaft 52 to which the bevel gear 51 is fixed, and a coil spring 53 that is connected to the crank shaft 52. The number of teeth of the bevel gear 51 is the same as the number of teeth of the bevel gear 23a and half the number of teeth of the bevel gear 23b. That is, the crankshaft 52 is rotationally driven at a rotational speed twice that of the planting arm shaft 25.

A boss 54a for fixing one end of the coil spring 53 is provided on the crankshaft 52. One end of the coil spring 53 is fixed to a boss 54 a provided on the crankshaft 52, and the other end is fixed to a boss 54 b attached to the rear of the planting bevel case 11. Further, the position of the boss 54b is determined so that a force acts on the coil spring 53 in a direction in which the coil spring 53 always contracts.

When the unit clutch 24 is in the connected state, the rotation is transmitted from the bevel gear 23b to the bevel gear 51 as the planting arm shaft 25 rotates, and the crankshaft 52 rotates at a position eccentric from the rotation center as the bevel gear 51 rotates. In addition, an elastic force is generated in the coil spring 53 by changing the length of the coil spring 53. Thus, torque is generated in conjunction with the rotation of the crankshaft 52. The elastic force generated in the coil spring 53 is transmitted to the bevel gear 51 via the crankshaft 52 and further applied to the planting arm shaft 25 as torque.

The power transmission from the planting arm shaft 25 to the crankshaft 52 is not limited as long as the rotational speed on the crankshaft 52 side is twice the rotational speed of the planting arm shaft 25, and instead of the bevel gears 23b and 51. It is also possible to use a sprocket chain.
Further, the mechanism for generating torque is not limited to the crank spring mechanism including the crankshaft 52 and the coil spring 53, and is configured by a cam that is rotationally driven by the rotation of the bevel gear 51 and a plate spring or a coil spring that imparts an elastic force to the cam. A cam / spring mechanism can also be used.

The torque applied by the torque leveling mechanism 50 will be described in detail with reference to FIGS.
In the figure, the bevel gear 51 and the crankshaft 52 rotate clockwise.

As shown in FIG. 10, when the crankshaft 52 is located on the right side in the drawing, that is, on the side where the contraction force by the coil spring 53 is opposite to the rotation direction of the bevel gear 51, the elastic force of the coil spring 53 is the rotation direction of the bevel gear 51. Torque in the opposite direction is generated. The torque generated in the bevel gear 51 via the crankshaft 52 is transmitted to the planting arm shaft 25 via the bevel gear 23b. At this time, torque to the deceleration side is applied to the planting arm shaft 25.

As shown in FIG. 11, when the crankshaft 52 is located on the left side in the drawing, that is, on the side where the contraction force by the coil spring 53 is in the same direction as the rotation direction of the bevel gear 51, the elastic force of the coil spring 53 is the rotation direction of the bevel gear 51. Torque is generated in the same direction. The torque generated in the bevel gear 51 via the crankshaft 52 is transmitted to the planting arm shaft 25 via the bevel gear 23b. At this time, torque to the acceleration side is applied to the planting arm shaft 25.

Rotational motion of the crankshaft 52 causes the elastic force generated with the expansion and contraction of the coil spring 53 to be transmitted to the planting arm shaft 25 through the bevel gears 51 and 23b as a periodic torque. Specifically, torque that varies so as to draw a curve close to a sine curve is generated according to the position and angle of the boss 54b, which is the fixed end of the coil spring 53, and the crankshaft 52, that is, the rotational phase of the crankshaft 52.

As shown in FIG. 12, the direction of the torque fluctuation generated by the inconstant speed mechanism is canceled by matching the period of torque generated by the torque leveling mechanism 50 with the period of torque fluctuation generated in the planting arm shaft 25 by the inconstant speed mechanism. In addition, torque is generated by the torque leveling mechanism 50 (so as to have an opposite phase in the drawing).
At this time, since the bevel gear 51 to which the crankshaft 52 is fixed rotates at twice the number of rotations of the planting arm shaft 25, the torque leveling mechanism 50 has two cycles while the planting arm shaft 25 rotates once. Minute torque is generated. That is, the torque leveling mechanism 50 can generate a torque that cancels out a periodic torque fluctuation having two peaks that occur during one rotation of the rotary case 12 via the inconstant speed mechanism, and equalizes the torque. it can.
In this way, by matching the cycle of the torque leveling mechanism 50 with the cycle of torque fluctuation by the inconstant speed mechanism, torque is synthesized to suppress torque fluctuation caused by the inconstant speed mechanism.

In the present embodiment, the equalized torque in the opposite phase is applied to the torque fluctuation caused by the inconstant speed mechanism. However, if the torque fluctuation is effectively suppressed, the torque fluctuation is completely reversed. It may not be the phase leveling torque. For example, it is possible to cancel the torque fluctuation by applying a leveling torque that is appropriately delayed by 30 ° or 45 ° with respect to the torque fluctuation. In this case, it can be set as appropriate by changing the timing of the torque generating mechanism (in this embodiment, the crankshaft 52 and the coil spring 53) provided in the bevel gear 51.

As described above, the torque leveling mechanism 50 equalizes torque fluctuations by applying a smooth torque having the same period (two periods for one rotation of the rotary case 12) as the period of torque fluctuations generated by the inconstant speed mechanism. Thus, the phase shift of the planting arm shaft 25 can be improved. As a result, the planting arm shaft 25 can smoothly rotate at a non-uniform speed without twisting or rattling, stabilizing the locus of the planting claw 34 during high-speed rotation, and preventing poor planting.

Since the torque leveling mechanism 50 is directly attached to the planting arm shaft 25 through a gear or chain mechanism in the planting bevel case 11, the torque leveling mechanism 50 is located at a position close to the rotary case 12 that is the source of torque fluctuation. Can be put. As a result, torque fluctuations in opposite phases can be effectively applied, and the effect of leveling torque fluctuations can be increased.

The torque leveling mechanism 50 is provided for each planting unit in which the planting arm shaft 25 is provided. In other words, since the leveling torque cancels out in each unit with the torque fluctuation generated by the acceleration / deceleration of the rotary case 12, the torque fluctuation does not go back to the upstream side of the transmission system. it can.

As shown in FIG. 13, the torque leveling mechanism 50 may be provided with an adjustment mechanism 60 that changes the elastic force of the coil spring 53. The adjustment mechanism 60 adjusts the elastic force by changing the length of the coil spring 53.
For example, the adjustment mechanism 60 includes a link 61 connected to a boss 54 b provided at one end of the coil spring 53, and a link bar 62 that operates the link 61. By operating the link bar 62, the posture of the link 61 is changed and the position of one end of the coil spring 53 is changed. The boss 54b is inserted into an appropriate elongated hole, and the length of the coil spring 53 is changed by moving along the elongated hole.

As described above, by providing the adjustment mechanism 60 in the torque leveling mechanism 50, the magnitude of the leveling torque can be set according to planting conditions (for example, the number of planted stocks (set value between stocks), vehicle speed (accelerator opening), planting. It can be adjusted according to the rotation speed of the arm shaft 25 (planting rotation speed) or the torque of the planting arm shaft 25 (torque fluctuation amount). Moreover, the torque load according to the number of actuating lines can be added by interlocking the adjusting mechanism 60 with the unit clutch 24.
The adjustment mechanism 60 is not limited to the above-described configuration, and may be any other link mechanism or wire as long as the elastic force generated in the coil spring 53 can be changed by changing the length of the coil spring 53. The one using may be used.

The torque leveling mechanism 70 shown in FIGS. 14 and 15 is provided in the planting bevel case 11. That is, the torque leveling mechanism 70 is provided in the planting bevel case 11 provided in each planting unit.
The torque leveling mechanism 70 meshes with the inconstant speed bevel gear 23b, and the inconstant speed bevel gear 51 and the inconstant speed bevel gear 51 having the same number of teeth as the inconstant speed bevel gear 23a are fixed. A crankshaft 52 provided on the same axis, a coil spring 53 connected to the crankshaft 52, a sliding member 55 connected to the other end of the coil spring 53, fixed to the other end of the sliding member 55, and adjusting the tension. A wire 56 that moves the sliding member 55, a case 57 that houses the sliding member 55, and a stopper 58 a that is provided on the sliding member 55 and restricts the movable range of the sliding member 55 within the case 57. It has.

In the torque leveling mechanism 70, the inconstant speed bevel gear 51 rotates with the rotation of the planting arm shaft 25, the crankshaft 52 rotates eccentrically from the center of rotation, and the length of the coil spring 53 changes. Elastic force is generated in the coil spring 53. The elastic force generated in the coil spring 53 is transmitted from the inconstant speed bevel gear 51 to the inconstant speed bevel gear 23b via the crankshaft 52, and is further applied as torque to the planting arm shaft 25.

As shown in FIG. 15, a boss 54 a that fixes one end of the coil spring 53 is provided on the crankshaft 52, and a boss 54 b that fixes the other end of the coil spring 53 is provided on the sliding member 55. The boss 54b is disposed above the rotation center O1 of the crankshaft 52.
The sliding member 55 is accommodated in a case 57 fixed to the planting bevel case 11, and slides in a direction toward and away from the boss 54a (vertical direction in the drawing). Further, a movable range in the sliding direction is limited by a stopper 58a provided in the middle of the sliding member 55. By operating the wire 56, the sliding member 55 moves up and down, and the magnitude of the elastic force can be changed by the expansion and contraction of the coil spring 53 fixed to the sliding member 55. Thus, the torque leveling mechanism 70 is provided with a mechanism for adjusting the elastic force of the coil spring 53 that is an elastic body.

[Adjustment of elastic force of torque leveling mechanism]
Specifically, as shown in FIG. 15A, by pulling the wire 56 attached to the sliding member 55, the sliding member 55 pulls the coil spring 53, and the length of the coil spring 53 is increased. Elastic force increases. From this state, as shown in FIG. 15B, when the force pulling the wire 56 is loosened, the elastic force of the coil spring 53 is similarly weakened. As shown in FIG. 15C, the position where the stopper 58a hits the case 57 is set so that the elastic force of the coil spring 53 is zero or close to zero.
Thus, the magnitude of the elastic force of the coil spring 53 and the presence / absence of torque addition are adjusted by the wire 56. The adjusted elastic force is applied to the planting arm shaft 25 as a leveling torque.

The wire 56 can be interlocked with the connection / disconnection of the unit clutch 24. That is, by linking the movement of the actuator 71 that performs the connecting / disconnecting operation of the unit clutch 24 and the movement of the wire 56, if the unit clutch 24 is in the disconnected state, the torque load by the torque leveling mechanism 40 is made zero or substantially zero, If it is in a connected state, a torque load according to the planting conditions can be applied.
In this way, by leveling the leveling torque applied by the torque leveling mechanism 70 with the unit clutch 24, the leveling torque according to the number of operating stripes can be applied.

It is also possible to connect the wire 56 to the actuator 72 and interlock with a device other than the unit clutch 24. The actuator 72 is, for example, a motor or a solenoid that pulls or loosens the wire 56, and the leveling torque by the torque leveling mechanism 70 can be adjusted by sending an electrical signal to the actuator 72. For example, the number of planting stocks (set value between stocks), the vehicle speed (accelerator opening), the rotational speed of the planting arm shaft 25 (planting rotational frequency), or the torque (torque fluctuation amount) of the planting arm shaft 25 is detected. The spring force can be optimally adjusted by transmitting an electrical signal corresponding to these detected values to the actuator 72.

Specifically, if the vehicle speed or planting rotation speed becomes high, the generated torque fluctuation becomes large. Therefore, a large torque is applied by pulling the wire 56, and conversely, if the speed becomes low, the wire 56 is loosened. In this way, a small torque is applied. Thereby, rotation fluctuation can be effectively suppressed in the whole rotation speed.
In addition, in the case of sparse planting with a small number of planted stocks, the non-uniform motion increases, so the torque load is increased, and in the case of dense plantings with a large number of planted stocks, constant speed motion or slight acceleration / deceleration is involved. From this, the torque load is reduced or made zero. Furthermore, when running at low speed under sparse planting conditions, torque fluctuation due to non-uniform speed movement is reduced, so the torque load is reduced or made zero.
As described above, an effective suppression effect can be obtained by adjusting the torque load of the torque leveling mechanism 40 according to the planting conditions such as the number of planted strains, high speed or low speed.

[Torque fluctuation phase applied by torque leveling mechanism]
Next, the torque applied by the torque leveling mechanism 70 will be described in detail with reference to FIG. In the figure, the crankshaft 52 rotates clockwise with respect to the rotation center. The elastic force of the coil spring 53 adjusted as appropriate by the wire 56 acts on the boss 54 a provided on the crankshaft 52.

As shown in FIG. 16A, when the crankshaft 52 is located on the left side, that is, on the side where the contraction force by the coil spring 53 is in the same direction as the rotation direction of the inconstant speed bevel gear 51, the elastic force of the coil spring 53 is not sufficient. Torque is generated in the same direction as the rotation direction of the constant velocity bevel gear 51. The torque generated in the non-uniform speed bevel gear 51 via the crankshaft 52 is transmitted to the planting arm shaft 25 as it is via the non-uniform speed bevel gear 23b. At this time, torque to the acceleration side is applied to the planting arm shaft 25.

As shown in FIG. 16B, when the crankshaft 52 is located on the right side, that is, on the side where the contraction force by the coil spring 53 is opposite to the rotation direction of the inconstant velocity bevel gear 51, the elastic force of the coil spring 53 is not sufficient. Torque is generated in the direction opposite to the rotation direction of the constant velocity bevel gear 51. The torque generated in the non-uniform speed bevel gear 51 via the crankshaft 52 is transmitted to the planting arm shaft 25 as it is via the non-uniform speed bevel gear 23b. At this time, torque to the deceleration side is applied to the planting arm shaft 25.

Also, as the crankshaft 52 rotates, the elastic force generated in the crankshaft 52 as the coil spring 53 expands and contracts is transmitted to the planting arm shaft 25 as a periodic torque. Specifically, the torque that varies so as to draw a curve close to a sine curve according to the phase of the tip of the boss 54b supporting the coil spring 53 and the crankshaft 52, that is, the position and angle of the crankshaft 52 with respect to the rotation center. appear.

As shown in FIG. 17, the direction of the torque fluctuation generated by the inconstant speed mechanism is canceled by matching the period of torque generated by the torque leveling mechanism 70 with the period of torque fluctuation generated in the planting arm shaft 25 by the inconstant speed mechanism. In addition, torque is generated by the torque leveling mechanism 70 (so as to have an opposite phase in the drawing).
At this time, since the crankshaft 52 rotates at twice the number of rotations of the planting arm shaft 25, the torque leveling mechanism 70 generates torque for two cycles while the planting arm shaft 25 rotates once. In other words, the torque leveling mechanism 70 can generate a torque that cancels out a periodic torque fluctuation having two peaks that occur during one rotation of the rotary case 12 via the inconstant speed mechanism, and equalizes the torque. it can.
In addition, since the elastic force of the coil spring 53 can be adjusted, a torque having the same magnitude can be applied in accordance with the magnitude of torque fluctuation generated by the non-uniform speed mechanism.
As described above, by adjusting the period of the torque leveling mechanism 70 to the magnitude and period of the torque fluctuation due to the inconstant speed mechanism, the torque fluctuation caused by the inconstant speed mechanism is suppressed by synthesizing the torque. .

In the present embodiment, the equalized torque in the opposite phase is applied to the torque fluctuation caused by the inconstant speed mechanism. However, if the torque fluctuation is effectively suppressed, the torque fluctuation is completely reversed. It may not be the phase leveling torque. For example, it is possible to cancel the torque fluctuation by applying a leveling torque that is appropriately delayed by 30 ° or 45 ° with respect to the torque fluctuation. In this case, it can be set as appropriate by changing the timing of the torque generating mechanism (in this embodiment, the crankshaft 52 and the coil spring 53).

As described above, the torque leveling mechanism 70 equalizes torque fluctuations by applying a smooth torque having the same period (two periods for one rotation of the rotary case 12) as the period of torque fluctuations generated by the inconstant speed mechanism. Thus, the phase shift of the planting arm shaft 25 can be improved. As a result, the planting arm shaft 25 can smoothly rotate at a non-uniform speed without twisting or rattling, stabilizing the locus of the planting claw 34 during high-speed rotation, and preventing poor planting.

18 and 19 show another embodiment of the torque leveling mechanism 70. FIG.
In the embodiment shown in FIG. 18, one end of the coil spring 53 is deformed into a long hole and fixed to the sliding member 55 fixed to the planting bevel case 11. The boss 54b is arranged so that it can freely move in the elongated hole of the coil spring 53.
The relative positional relationship between the sliding member 55 and the coil spring 53 is changed by the operation of the wire 56. As shown in FIG. 18A, when the boss 54b does not hit the tip of the elongated hole of the coil spring 53, the coil spring 53 does not expand and contract and the elastic force becomes zero. As shown in FIG. 18B, when the boss 54 b hits the tip of the elongated hole of the coil spring 53, a tensile force is generated in the coil spring 53 so that the coil spring 53 can expand and contract. In this way, the presence or absence of elastic force can be strictly adjusted.

In the embodiment shown in FIG. 19, a ball 80 is provided on the sliding member 55 instead of the boss 54 b, and the diameter of the circle of one end of the coil spring 53 is made smaller than that of the ball 80, so that the ball 80 is positioned inside the coil spring 53. Are arranged to be.
The relative positional relationship between the sliding member 55 and the coil spring 53 is changed by the operation of the wire 56. As shown in FIG. 19A, when the ball 80 does not hit the end of the coil spring 53, the coil spring 53 does not expand and contract, and the elastic force becomes zero. As shown in FIG. 19B, when the ball 80 hits the end of the coil spring 53, a tensile force is generated in the coil spring 53 so that the coil 80 can expand and contract. In this way, the presence or absence of elastic force can be strictly adjusted.

A torque leveling mechanism 90 shown in FIG. 20 applies a leveling torque to the planting arm shaft 25 using a magnet.
As shown in FIG. 20A, the cam 91 is fixed to the outer peripheral surface of the planting arm shaft 25. Four magnets 92a are arranged at equal intervals in the circumferential direction of the cam 91, and are attached so that the magnetic poles on the outer peripheral side are reversed between adjacent magnets 92a. Then, the magnet 92 b is fixed to the outside of the cam 91.
When the cam 91 rotates with the rotation of the planting arm shaft 25, the leveling torque is generated by using the magnetic force generated between the magnet 92a and the magnet 92b. For example, if the magnetic pole on the side of the planting arm shaft 25 of the magnet 92b is the S pole, when the magnet 92a having the S pole on the outside approaches, a torque in the direction opposite to the rotation direction of the planting arm shaft 25 is generated, and when the magnet 92a leaves. Generates torque in the same direction as the rotation direction of the planting arm shaft 25. On the other hand, when the magnet 92a with the N pole on the outside approaches, torque in the same direction as the rotation direction of the planting arm shaft 25 is generated, and when away from the magnet 92a, torque in the direction opposite to the rotation direction of the planting arm shaft 25 is generated. To do.

Therefore, the torque fluctuation generated by the torque leveling mechanism 90 using a magnet is a periodic torque fluctuation in which the planting arm shaft 25 has two peaks during one rotation.

Further, as shown in FIG. 20B, the magnet 92a is fixed to the outer peripheral surface of the cam 91, and four magnets 92b are arranged at equal intervals in the circumferential direction on the outer side of the cam 91, and adjacent magnets. It can also take the form of attaching so that the magnetic pole which comes to the inner peripheral side may be reversed between 92b. In this case, the planting arm shaft 25 similarly has a periodic torque fluctuation having two peaks during one rotation.
Furthermore, as shown in FIG. 20C, two magnets 92 a may be arranged in the circumferential direction of the cam 91, and two magnets 92 b may be arranged on the outer peripheral side of the cam 91. At this time, by making the magnetic pole on the outer peripheral side of the magnet 92a the same as the magnetic pole on the inner peripheral side of the magnet 92b, a periodic torque having two peaks during one rotation of the planting arm shaft 25. Variations can be imparted.
By using electromagnets as the

magnets

92a and 92b and making the magnitude and timing of the electromagnetic force variable, an optimum torque can be applied.

As shown in FIGS. 21 to 23, the torque leveling mechanism may be provided on the planting horizontal shaft 20. The rotational speed of the planting horizontal shaft 20 is twice the rotational speed of the planting arm shaft 25.
In the embodiment shown in FIG. 21, the crank shaft 52 is connected to the end of the planting horizontal shaft 20, and the torque leveling mechanism 50 is arranged on the planting horizontal shaft 20 by connecting the coil spring 53 to the crank shaft 52. Yes.

The torque leveling mechanism 100 shown in FIG. 22 has a cam 101 fixed to the middle portion of the planting horizontal shaft 20, a roller 102 that rotates in contact with the cam surface 101 a of the cam 101, and biases the roller 102 toward the cam 101. A coil spring 103 and an arm 104 that supports the roller 102 and the coil spring 103. The cam surface 101a of the cam 101 is formed as an inclined surface with one side being low and the other side being high. The base end of the arm 104 is slidably accommodated in the case, and a roller 102 is provided at the tip. A coil spring 103 is disposed between the arm 104 and the roller 102.
The cam 101 rotates with the rotation of the planting horizontal shaft 20, and the position of the roller 102 rotating along the cam surface 101a changes, whereby the length of the coil spring 103 expands and contracts. During the expansion and contraction, periodic torque fluctuation is applied to the planting horizontal shaft 20 via the cam 101.

A torque leveling mechanism 110 shown in FIG. 23 includes a cam 111 fixed to the middle portion of the planting horizontal shaft 20, a pressing member 112 that contacts the cam 111, and a coil spring 113 that biases the pressing member 112 toward the cam 111. It comprises. One large diameter portion is formed on the cam surface of the cam 111. The proximal end of the coil spring 113 is fixed in the case, and the distal end is fixed to the pressing member 112.
When the cam 111 rotates with the rotation of the planting horizontal shaft 20 and the pressing member 112 is pushed up by the large diameter portion of the cam surface, the elastic force of the coil spring 113 is applied as a torque resistance. On the other hand, after passing the large diameter portion of the cam surface, the elastic force of the coil spring 113 is applied as torque. Thus, a periodic torque according to the period of the cam 111 is applied.

The torque leveling mechanism 120 shown in FIG. 24 is provided on a connecting plate 121 that connects two rotor arm shafts 33 provided on the rotary case 12.

As shown in FIG. 24 (a), the two

pins

122 and 122 that are provided to protrude outward from the connecting plate 121 are symmetrical with respect to the planting arm shaft 25 that serves as the rotation center of the rotary case 12. Provided in position. The ring 123 that covers the two

pins

122 and 122 from the outer peripheral side is formed in a square shape having the length between the pins 122 as one side of the inner periphery. A coil spring 124 is fixed to the center of the side of the ring 123 opposite to the side in contact with the pin 122.
As shown in FIG. 24B, the pin 122 also rotates around the planting arm shaft 25 in accordance with the rotation of the rotary case 12, and pushes down the inner periphery of the ring 123. As a result, the coil spring 124 is extended, and an elastic force is generated. The elastic force of the coil spring 124 thus generated is transmitted as torque to the planting arm shaft 25 via the connecting plate 121 and the rotary case 12. When the rotary case 12 makes one rotation, the positional relationship between the pin 122 and the ring 123 changes in two cycles of extending, contracting, extending, and contracting the coil spring 124. That is, it is possible to apply a leveling torque having the same period as the torque fluctuation generated in the planting arm shaft 25.

As a more preferred embodiment, the pin 122 has a flange shape, thereby increasing the contact area with the ring 123, or attaching a roller to the pin 122 to reduce the resistance with the inner peripheral surface of the ring 123. Is also possible.
Alternatively, the ring 123 may be formed in a triangular shape, and the coil spring 124 may be fixed to the apex facing the side connecting the pins 122. With the triangular shape, the coil spring 124 can be stably fixed.

In the embodiment shown in FIG. 25, the torque leveling mechanism 130 is connected to the timing cam 131 fixed to the planting horizontal shaft 20, the solenoid 132 that operates at the timing set by the timing cam 131, and the solenoid 132. A micro switch 133 is provided that operates the solenoid 132 by passing an operating current.

As shown in FIG. 25A, the timing cam 131 has a step surface 131a extending in the radial direction, and a large diameter portion and a small diameter portion are formed adjacent to each other in the circumferential direction across the step surface 131a. The solenoid 132 is disposed above the micro switch 133, and a base end portion is rotatably supported. The switch portion of the micro switch 133 is disposed at the top, that is, below the solenoid 132. Plunger 132 a of solenoid 132 is arranged along the cam surface of timing cam 131.
As shown in FIG. 25 (b), when the plunger 132a of the solenoid 132 passes the step surface 131a, it falls from the large diameter portion to the small diameter portion. As a result, the solenoid 132 rotates and contacts the switch portion of the micro switch 133, and an operating current flows from the micro switch 133 to the solenoid 132. Then, the plunger 132a of the solenoid 132 presses the step surface 131a. In this way, impulse torque is applied to the planting horizontal shaft 20 via the timing cam 131.

The timing by the timing cam 131 is set to the timing at which the maximum torque is generated in the torque fluctuation caused by the inconstant speed mechanism. Thereby, the impulse torque is generated so as to cancel the maximum torque.
As described above, by applying the leveling torque as the impulse torque, the operation time is shortened, so that the timing shift hardly occurs. In addition, since the rotation is assisted by the impulse torque, it does not serve as a brake to the rotational load. Furthermore, since the driving force for applying the torque is independent from the rotational driving force of the rotary case 12, it is not affected.
In addition, when providing in the planting arm axis | shaft 25 instead of the planting horizontal axis | shaft 20, the period of the torque fluctuation which arises in the planting arm axis | shaft 25 by providing the level | step difference surface 131a which has a phase difference of 180 degrees in the timing cam 131. It is possible to apply a leveling torque according to the above.

The

torque leveling mechanisms

40, 50, 70, 90, 100, 110, and 130 in the above-described embodiment are ranges from the downstream side of the inconstant speed mechanism included in the inter-stock change device 9 to the planting arm shaft 25. If so, the same applies.
The power transmission path to the planting unit 5 in the above-described embodiment is mainly a gear, but if the power branched from the planting center case 10 can be transmitted to each planting unit, A chain drive type using a sprocket and a chain is also applicable.

The present invention is applicable to a rice transplanter that transmits power to a planting arm through an inconstant speed mechanism.

1: Rice transplanter, 5: Planting part, 9: Stock changer (non-uniform speed mechanism), 11: Planting bevel case, 12: Rotary case, 13: Planting arm, 22: Planting vertical axis, 23a 23b: Inconstant speed bevel gear (unconstant speed mechanism), 24: Unit clutch, 25: Planting arm shaft, 40: Torque leveling mechanism, 41: Gear, 42: Double speed gear, 43: Crank arm, 44: Coil spring, 45: Driven shaft

Claims

A rice transplanter that transmits power to a planting arm shaft that supports a rotary case via an inconstant speed mechanism,
A rice transplanter characterized in that a torque leveling mechanism for applying torque that counteracts torque fluctuations caused by the inconstant speed mechanism is provided, and the torque leveling mechanism is attached to the planting arm shaft.
The rice transplanter according to claim 1, wherein the torque leveling mechanism is provided on a downstream side of a power transmission path with respect to a unit clutch that connects and disconnects power transmission from the inconstant speed mechanism to the planting arm shaft.
The rice transplanter according to claim 1 or 2, wherein the torque leveling mechanism is provided for each planting unit on which the planting arm shaft is provided.
4. The rice transplanter according to claim 1, wherein the torque leveling mechanism includes a crank mechanism or a cam mechanism, and includes an elastic body that periodically generates an elastic force by the crank mechanism or the cam mechanism. .
The rice transplanter according to claim 4, wherein the elastic force of the elastic body is adjustable and interlocks with connection / disconnection of a unit clutch that connects / disconnects power transmission from the inconstant speed mechanism to the planting arm shaft.
The rice transplanter according to claim 5, wherein the elastic force of the elastic body is set to be small or zero according to the number of planted strains.
The rice transplanter according to claim 5 or 6, wherein the elastic force of the elastic body is adjusted according to a vehicle speed or a rotation speed of a planting arm shaft.
A rice transplanter that transmits power to a planting arm shaft that supports a rotary case via an inconstant speed mechanism,
A torque leveling mechanism that provides torque that counteracts torque fluctuations caused by the inconstant speed mechanism is provided, and the torque leveling mechanism is a unit clutch that connects and disconnects power transmission from the inconstant speed mechanism to the planting arm shaft. A rice transplanter, which is provided downstream of the power transmission path.
A rice transplanter that transmits power to a planting arm shaft that supports a rotary case via an inconstant speed mechanism,
A rice transplanter characterized in that a torque leveling mechanism that provides torque that counteracts torque fluctuations caused by the inconstant speed mechanism is provided, and the torque leveling mechanism uses the elastic force of an elastic body.