JP5544825B2 - Ride type rice transplanter - Google Patents

Description

  The present invention belongs to the technical field of riding rice transplanters.

  As this type of prior art, there is a riding type rice transplanter provided with a turning linkage mechanism that brakes by breaking the side clutch of the inside of the turning of the left and right rear wheels by a steering operation of a predetermined angle or more from a straight traveling state of the steering front wheel. is there. In this riding type rice transplanter, it is possible to perform turning with good operability by braking the rear wheel inside the turning only by performing a steering operation on the front wheels (see Patent Document 1).

Japanese Patent Laid-Open No. 11-94051

  However, at the time of turning, in addition to the turning operation of the aircraft, the operator has to perform turning on / off operation of the work device and raising / lowering the working device, and cannot concentrate on the turning operation at the time of turning, There was still a problem in terms of turning operability.

In order to solve the above problems, the following technical measures were taken.
That is, the invention according to claim 1 is provided with a traveling vehicle (1) having left and right front wheels (6) and left and right rear wheels (7), and steering the left and right front wheels (6). In the riding type rice transplanter in which the traveling vehicle (1) is mounted with the rice transplanter (3) via the lifting link device (2) , the steering operation is performed when the left and right front wheels (6) are steered more than a predetermined angle. In the case of a left turn, the left and right front wheels (6) are automatically decelerated while the left and right front wheels (6) are steered to the left by a predetermined angle or more, and the left rear wheel (7) on the inside of the turn is idled. Based on the rotation speed of the rear wheel transmission shaft (89) on the transmission path from the side clutch (I) to the left rear wheel (7) while switching to the rolling state and stopping the driving of the rice transplanter (3) detecting the transmission shaft rotational speed of the left rear wheel as the turning inner side (7), rice planting device The driving of 3) increase the planting device (3) after the operation of stopping the travel distance by the travel distance calculating means based on the detection of the transmission shaft rotational speed of the left rear wheel as the turning inner side (7) When the transmission shaft rotational speed of the left rear wheel (7) that is inside the turn exceeds the first set value, the rice transplanter (3) is lowered, and then the transmission shaft rotational speed is the second set value. Then, the rice transplanter (3) is driven and the speed of the aircraft is automatically increased to automatically perform various operations during turning, and in the case of right turning, the left and right front wheels (6) When the vehicle is steered to the right by a predetermined angle or more, the aircraft's traveling speed is automatically reduced, the right rear wheel (7) on the inside of the turn is switched to the idle state, and the driving of the rice transplanter (3) is stopped. Rear wheel on the transmission path from the side clutch (I) to the right rear wheel (7) The rice transplanter (3) after detecting the transmission shaft rotational speed of the right rear wheel (7) on the inner side of the turn based on the rotational speed of the dynamic shaft (89) and stopping the driving of the rice transplanter (3) The travel distance is calculated by the travel distance calculation means based on the detection of the transmission shaft rotation speed of the right rear wheel (7) on the inside of the turn, and the transmission shaft of the right rear wheel (7) on the inside of the turn When the rotational speed exceeds the first set value, the rice transplanting device (3) is lowered, and then when the transmission shaft rotational speed reaches the second set value, the rice transplanting device (3) is driven and the traveling speed of the aircraft is automatically set. it was riding rice transplanter according to claim manner that provided automatically performed so Ru control device (170) the operation for various operations during turning by accelerated.
Further, in the invention according to claim 2, when the rice transplanter (3) is lowered and not grounded even if the transmission shaft rotational speed of the rear wheel (7) inside the turn reaches the second set value, was riding rice transplanter according to claim 1, characterized in that a control unit that displays on a monitor (170) that the advance of the machine body is stopped is the aircraft stop standby state.

According to the present invention, it is possible to accurately calculate the travel distance based on the detection of the transmission shaft rotational speed of the rear wheel 7 which is an idle wheel on the inside of the turn, perform practical automatic turn control , and steer operation during turning. The aircraft can be turned easily and appropriately.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view showing an eight-row planting type rice transplanter that is an embodiment of the present invention. Example 1 It is a whole top view of the riding type rice transplanter shown in FIG. Example 1 It is a schematic plan view which shows the transmission structure of the traveling vehicle of the riding type rice transplanter shown in FIG. Example 1 It is an expanded sectional view of the mission case of the riding type rice transplanter shown in FIG. Example 1 It is a top view which shows the operation structure of the main clutch and rear-wheel brake of the riding type rice transplanter shown in FIG. Example 1 It is a perspective view of the change lever part of the riding type rice transplanter shown in FIG. Example 1 It is a control block diagram of the riding type rice transplanter shown in FIG. Example 1 It is a figure which shows the view of the turning control of the riding type rice transplanter shown in FIG. Example 1 It is a flowchart figure of the turning control of FIG. Example 1 It is a flowchart figure of turning control which shows another Example. (Example 2)

  Left and right side clutches I and I that separate the drive to the left and right rear wheels 7 and 7 are provided, and the left and right front wheels 6 and 6 are moved at a predetermined angle at a speed equal to or higher than a predetermined speed or within a predetermined steering speed. By means of turning operation of the steering handle 16 to be steered, cooperation means for disengaging the side clutch I of the rear wheel 7 on the inside of the turn is provided, and the rotation speed of the transmission shaft 89 of the rear wheel 7 serving as the idler wheel on the inside of the turn is detected. Based on the travel distance calculation means, a riding type rice transplanter provided with a control device 170 for automatically turning on and off the power transmission to the rice transplanter 3 and turning the rice transplanter 3 up and down during turning is provided. Machine.

An 8-row planted rice transplanter as an embodiment of the present invention will be described in detail with reference to the drawings.
As shown in the side view of FIG. 1, the riding type rice transplanter is equipped with a rice planting device 3 which is a kind of working device by a lifting link device 2 on a traveling vehicle 1 and a fertilizer application device 4, and the riding rice transplanter as a whole. Is configured to function as The traveling vehicle 1 is a four-wheel drive vehicle having a right and left pair of front wheels 6 and 6 and rear wheels 7 and 7 are driving wheels.

  A mission case 11 and an engine 12 are disposed on the main frame 10 in the front-rear direction, a hydraulic pump 13 is provided at the rear of the mission case 11, and a steering post 14 projects upward from the front of the mission case 11. It is installed.

  A steering handle 16 and an operation panel 17 are provided at the upper end of the steering post 14. A step 19 serving as a control floor is attached to the upper part of the fuselage, and a cockpit 20 is installed above the engine 12. The front wheels 6, 6 are pivotally supported by front wheel support cases 22, 22 provided on the left and right sides of the mission case 11 so that the direction can be changed. The rear wheels 7 and 7 are pivotally supported by rear wheel support cases 24 and 24 that are integrally attached to the left and right ends of the rear wheel lateral frame 23. The rear wheel lateral frame 23 is rotatably supported by a rolling shaft 25 protruding in the front-rear direction at the rear end portion of the main frame 10.

  The rotational power of the engine 12 is transmitted to the counter shaft 32 that is the drive shaft of the hydraulic pump 13 via the belt 31, and further transmitted from the counter shaft 32 to the input shaft 35 of the hydraulic transmission HST via the belt 33. The transmission is transmitted from the output shaft 36 of the hydraulic transmission HST to the mission input shaft 34 via a belt.

  A main clutch 43 is provided on the mission input shaft 34, and the driving force of the hydraulic transmission HST is transmitted to the mission input shaft 34 via the main clutch 43. The main clutch 43 is a well-known multi-plate clutch. As shown in FIG. 4, the main clutch shaft side friction plate 44, the mission input shaft side friction plate 45, the spring 46 pressing both friction plates, and a switching operation fixing member. 47 and a sliding member 48 and the like.

  The mission input shaft 34, the counter shaft 50, the traveling primary shaft 51, the traveling secondary shaft 52, the planting primary shaft 53, and the planting secondary shaft 54 are supported in parallel on the front portion of the casing 40 of the mission case 11. ing. The gear G1 of the mission input shaft 34 and the gear G2 of the counter shaft 50, and the gear G2 and the gear G3 of the traveling primary shaft 51 are engaged with each other, and the rotation of the mission input shaft 34 is transmitted to the traveling primary shaft 51 in the forward direction. It is done.

  As the main transmission K, the gears G3 and G4 are dedicated to fixed positions on the traveling primary shaft 51, and the gears G5 and G6 formed integrally with the traveling secondary shaft 52 are slidable in the axial direction. It is mated. When the gears G5 and G6 are moved by the shifter 56 and the gears G4 and G5 are engaged with each other, a low working speed is obtained, and when the gears G3 and G4 are engaged, a high road traveling speed is obtained.

  The planted primary shaft 53 is fitted with a gear G7 and a back gear G8 that are always meshed with the gear G4. When the gear G6 is meshed with the back gear G8, the reverse speed is achieved. The position where the gears G5 and G6 do not mesh with any gear is neutral. A change lever 90 operated by the main transmission K is provided on the operation panel 17.

  As the inter-strain transmission C, gears G9 and GLO formed integrally with the planting primary shaft 53 are slidably fitted in the axial direction, and gears G11 and G12 are mounted on the planting secondary shaft 54. Are attached to each. By appropriately moving the gears G9 and GL0 with the shifter 57, three combinations of the gear G9 and the gear G11, the gear G10 and the gear 11, and the gear G11 and the gear G12 can be obtained, and the three-stage stock switching can be performed. It is transmitted from the planting secondary shaft 54 to the planting part transmission shaft 58 via the bevel gears G13 and G14.

  Rear axles 60, 60 and front axles 61, 61 are supported at the rear of the casing 40, and are transmitted from the traveling secondary shaft 52 to the rear axles 60, 60 via the rear differential device D and from the rear differential device D to the front differential. It is transmitted to the left and right front axles 61 and 61 via the device E. The left and right front wheels 6 and 6 are driven and rotated by the left and right front axles 61 and 61, respectively.

  The rear differential device D includes a container 63 having a gear G16 that meshes with the gear G15 of the traveling secondary shaft 52 formed on the outer peripheral portion, a primary bevel gear G17 attached to a vertical axis 64 in the container, and left and right rear axles 60, 60. The secondary bevel gears G18 and G18 attached separately to each other are housed in a state where they mesh with each other, so that the driving force transmitted to each axle is appropriately changed.

  The front differential device E has the same configuration as the rear differential device D, and is attached to the container 65, the vertical axis 66, the rear differential device side gear G19, the front differential device side gear G20, the bevel gear G21 attached to the vertical axis 66, and the front axle 61. A bevel gear G22 is provided. The rear differential device D and the front differential device E are provided with differential lock devices F and H that stop the differential function and transmit the driving force equally to the left and right axles. The differential lock device F (H) includes a claw 69 (70) formed on the container 63 (65), a claw 73 (74) of a differential lock member 71 (72) fitted to a square rod portion of the axle, and an axle 60 (61). ) Are fixed to each other. A differential lock lever 91 for operating the rear wheel differential lock device F is provided on the operation panel 17.

  The front wheel differential lock device H is configured such that the differential function is stopped when the differential lock pedal 91 'provided in step 19 is depressed. The diff lock lever 91 and the diff lock pedal 91 'are both arranged at the front part of the aircraft. For example, when the vehicle is overtaken from the field and the aircraft is taken out of the field, the operator gets off the vehicle and is in front of the aircraft. Stand up (on the front edge of the aircraft to replace your body as a weight) and move the aircraft forward or backward to safely cross this heel.

  At this time, if any of the left and right front wheels 6, 6 or either of the left and right rear wheels 7, 7 is idle, the operator immediately operates the diff lock lever 91 and the diff lock pedal 91 'at the front of the aircraft in an easy posture. It can be done in the diff lock state and can be safely crossed.

  The rear axles 60, 60 are connected to the side clutch shafts 76, 76 by bevel gears G23, G24,..., And are further transmitted from the side clutch shafts 76, 76 to the rear output shafts 77, 77 via the side clutches I, I. . The side clutch I is a multi-plate clutch and includes a friction plate 80 on the side clutch shaft side and a friction plate 81 on the rear output shaft side. The operating cylinder 82 slidably fitted to the rear output shaft 77 is urged in a direction to press both friction plates 80 and 81 by a leaf spring 83, and is always in a state in which the side clutch I is engaged. . When the operating cylinder 82 is moved in the direction opposite to the urging direction by the shifter 85I, the side clutch I is disengaged.

  Further, rear wheel brake devices J and J are provided on the rear output shafts 77 and 77. The rear wheel brake device J applies pressure to the discs 87,... Attached to the rear output shaft 77 for braking, and the pressure plates 88,. That is, the side clutch I is normally engaged and the rear wheel brake device J is not engaged, and the side clutch I is disengaged by operating the shifter 85I to move the operating cylinder 82 in the direction opposite to the urging direction. When the shifter 85J is operated, the rear wheel brake device J is applied.

  The operation of the rear wheel brake devices J, J (the operation of the left and right shifters 85J and 85J) is performed by the pedal 140 provided on the step 19. That is, the left and right brake operation arms 86J and 86J are fixed to the left and right shifters 85J and 85J, respectively, and the left and right brake operation arms 86J and 86J are linked to the pedal 140 by the linkage mechanism 141. Further, the pedal 140 is linked to a fixing member 47 for switching operation of the main clutch 43, and when the pedal 140 is depressed, the left and right shifters 85J and 85J are rotated to operate the left and right rear wheel brake devices J and J. At the same time, the main clutch 43 is turned off, and the airframe stops.

  On the other hand, the bases of the left and right clutch operating arms 86I and 86I are fixed to the left and right shifters 85I and 85I of the side clutches I and I, and the left and right connecting rods 142 and 142 are respectively attached to the upper ends of the left and right clutch operating arms 86I and 86I. The rear end of the is linked. And the front-end | tip part of the right-and-left connection rod 142 * 142 is connected with the right-and-left both ends of the rocking | swiveling arm 144 rotatably supported by the spindle 143 with which the base was fixed to the body.

  An operating body 145 is fixed to a portion of the swing arm 144 through which the support shaft 143 passes. And the front part of the action body 145 is comprised by the gear 145a by planar view, and the rear part is comprised by the cam 145b in which the center was dented. Further, the front gear 145a of the operating body 145 is engaged with a drive gear 146a of an electric motor 146 provided in the machine body. Accordingly, the electric motor 146 swings the swing arm 144 around the support shaft 143, and the left and right connecting rods 142 and 142 rotate the side clutches I and I and the left and right shifters 85I and 85I. It is configured to allow I to be turned on and off.

  Further, a follower roller 149 provided at the tip of a swing arm 148 rotatably supported by a support shaft 147 is contacted with the rear cam 145b of the operating body 145 by a tension spring 150. ing. One end of the linkage wire 151 is connected to the other end of the swing arm 148, and the other end of the linkage wire 151 is connected to an operation arm for operating the differential lock member 71 of the differential lock device F of the rear differential device D. Therefore, when the swing arm 144 is swung around the support shaft 143 by the electric motor 146, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, and operates the differential lock member 71 to operate the rear differential device. When the differential lock device F of D is operated, the rear differential device D is differentially locked.

The electric motor 146 is configured to operate in cooperation with the operation of the steering handle 16 as will be described later.
The rear end portions of the rear output shafts 77 and 77 protrude out of the casing 40, and left and right rear wheel transmission shafts 89 and 89 that are transmitted to the rear wheel support cases 24 and 24 are connected to the protruding end portions. The left and right rear wheels 7 and 7 are driven and rotated by the left and right rear wheel transmission shafts 89 and 89, respectively.

  The operation position of the change lever 90 is reverse speed, neutral, work speed, and road speed in the order of operation from the rear to the front. When the diff lock lever 91 is operated forward, the diff lock is operated, and when operated backward, the diff lock lever 91 is operated.

  Reference numeral 110 denotes an HST operation lever, which is provided with an HST potentiometer PM-H at its rotation fulcrum, so that the operation position of the HST operation lever 110 can be detected. On the other hand, a shift electric motor MO-H is connected to the arm of the trunnion shaft for shifting the hydraulic transmission HST, and the shift electric motor actuating means of the controller 170 receives the input of the HST potentiometer PM-H. The electric motor MO-H is operated to shift the hydraulic transmission HST. That is, when the HST operation lever 110 is set to the middle of its operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor MO-H is operated by the variable speed electric motor operation means. Thus, the hydraulic transmission HST is set to neutral. As the HST operation lever 110 is operated forward from the intermediate position of the operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor MO is operated by the variable speed electric motor operating means. -H is actuated to speed up the hydraulic transmission HST forward. Conversely, as the HST operation lever 110 is operated backward from the intermediate position of the operation position, the position is detected by the HST potentiometer PM-H and input to the control device 170, and the electric motor is operated by the variable speed electric motor operating means. The MO-H is operated to increase the speed of the hydraulic transmission HST to the reverse side.

  Therefore, when performing the rice transplanting work in the field, the diff lock lever 91 is set to the diff lock, the change lever is shifted to the working speed, the seedling is placed on the seedling stage of the rice transplanting device 3, and the fertilizer tank of the fertilizer application device 4 is granular. When the fertilizer is put in and each part is driven to move forward, the differential lock device F of the left and right rear wheels 7 and 7 is in the state of differential lock and the differential function is stopped. Can be done at the same time. In the case of traveling on the road, if both the rear differential device D and the front differential device E are operated in a state in which the differential function works, the vehicle can travel safely.

Reference numeral 200 denotes a spare seedling stage provided at the front of the machine body, and 201 denotes a center mascot that is used as an indicator of straight running.
Next, the rice transplanter 3 is mounted on the traveling vehicle 1 so as to be movable up and down by the link device 2 for raising and lowering. The configuration for raising and lowering and the configuration of the rice transplanter 3 will be described.

  First, the piston upper end portion of a general hydraulic cylinder 160 whose base is rotatably provided on the traveling vehicle 1 is connected to the lifting link device 2, and the electromagnetic hydraulic valve 161 is connected to the hydraulic pump 13 provided on the traveling vehicle 1. The rice transplanter 3 connected to the lifting and lowering link device 2 is moved up and down by supplying and discharging pressure oil to and from the hydraulic cylinder 160 to extend and retract the piston of the hydraulic cylinder 160.

  The rice transplanting device 3 is supported by a planting transmission case 162 that also serves as a frame that is freely mounted on the rear of the lifting link device 2 via a rolling shaft, and a support member provided in the planting transmission case 162. A seedling mounting base 163 that reciprocates in the left-right direction of the machine body, and a seedling planting tool that is attached to the rear end of the planting transmission case 162 and that splits seedlings for one stock from the lower end of the seedling mounting base 163 to be planted in the field. 164... And a center float 165, a side float 166, etc., which are leveling bodies whose rear part is pivotally supported at the lower part of the planting transmission case 162 and whose front part is mounted so as to freely swing up and down. . The center float 165 and the side float 166 are provided to level the field and level the front of the field where the seedlings are planted by the seedling planting tools 164.

  The PTO transmission shaft 167 has universal joints at both ends, and is provided to transmit the power of the fertilization drive case 168 to the planting transmission case 162 of the rice transplanter 3. The center float sensor 169 is composed of a potentiometer that detects the vertical position of the front portion of the center float 165, and is linked to the upper surface of the front portion of the center float 165 by a link. Based on the vertical position detection of the center float 165 front part of the center float sensor 169, the electromagnetic hydraulic valve 161 is controlled by the working device lifting means of the control device 170, and the vertical position of the rice transplanter 3 is controlled by the hydraulic cylinder 160. Is configured to do.

  That is, when the front part of the center float 165 is lifted to an appropriate range or more by an external force, the hydraulic oil pumped out from the transmission case 11 by the hydraulic pump 13 is sent to the hydraulic cylinder 160 to cause the piston to protrude and to move up and down. The device 2 is moved up to raise the rice transplanter 3 to a predetermined position, and when the front part of the center float 165 is lowered beyond the proper range, the pressure oil in the hydraulic cylinder 160 is returned to the mission case 11 for raising and lowering. The link device 2 is moved down to lower the rice transplanter 3 to a predetermined position, and when the front part of the center float 165 is in an appropriate range (when the rice transplanter 3 is in an appropriate predetermined position), the hydraulic cylinder 160 It is provided in order to stop the pressure oil inside and out and to keep the rice transplanter 3 in a fixed position. As described above, the center float 165 is used as a ground sensor for automatic height control of the rice transplanter 3.

  A finger lever 171 is disposed below the steering handle 16, and when the finger lever 171 is operated in the vertical direction, a finger lever switch 172 constituted by a potentiometer is actuated, and a PTO clutch actuating solenoid is actuated by the PTO clutch actuating means of the control device 170. 173 is operated to operate the PTO clutch for connecting / disconnecting the power provided in the fertilization drive case 168 so that the power to the fertilizer application device 4 and the rice transplanting device 3 can be turned on and off, and the control device 170 By the operation device lifting / lowering means, the electromagnetic hydraulic valve 161 is operated to manually move the rice transplanter 3 up and down.

  That is, when the finger lever 171 is operated to “up”, the PTO clutch is disengaged, the operations of the fertilizer application device 4 and the rice planting device 3 are stopped, and the electromagnetic hydraulic valve 161 is forcibly switched to the side where the rice planting device 3 is raised.

  When the finger lever 171 is operated “down” once after the finger lever 171 is operated “up”, the electromagnetic hydraulic valve 161 is automatically controlled by the vertical movement of the center float 165, and the rice transplanter 3 If the state is raised, the rice transplanter 3 is lowered until the center float 165 comes into contact with the ground and reaches an appropriate posture. When the finger lever 171 is operated to “down” once more, the PTO clutch is engaged and the fertilizer application device 4 and the rice transplanting device 3 are in an automatic control state in which the electromagnetic hydraulic valve 161 is switched by the vertical movement of the center float 165. Driven. Thereafter, each time the finger lever 171 is operated to “down”, the PTO clutch is alternately switched between on and off while the electromagnetic hydraulic valve 161 remains in the automatic control state in which it is switched by the vertical movement of the center float 165.

  In addition, the distance L from the front end of the 8-row planted rice transplanter to the planting position is 240 cm, and the headland for turning the body with a scissors is 270 cm (just exactly 8-row planting). If it is set to (distance to be attached), planting is completed in one process when headland planting is performed in post-work, and workability is good.

Next, the configuration of the portion where the steering wheel 16 steers the front wheels 6 will be described with reference to FIGS.
The steering handle 16 is fixed to the upper portion of the steering shaft provided in the steering post 14, and the rotation of the steering shaft is decelerated via a steering transmission gear provided in the transmission case 11 and transmitted to the lower output shaft 174. The And the lower end of the output shaft 174 protrudes from the bottom face of the mission case 11, and the pitman arm 175 is fixed. The front left and right sides of the pitman arm 175 and the left and right front wheel support cases 22 and 22 are connected by left and right rods 176 and 176, respectively.

  Accordingly, when the steering handle 16 is turned, the steering wheel 16 is transmitted to the steering shaft, the steering speed change gear, the output shaft 174, the pitman arm 175, the left and right rods 176 and 176, and the left and right front wheel support cases 22 and 22, Is steered from side to side.

  On the other hand, a potentiometer PM as a steering angle sensor is provided at the lower end portion of the output shaft 174, and the steering handle 16 is more than a predetermined amount (the amount that the operator turns to the right with the intention of turning the aircraft to the right, For example, if the steering handle 16 is configured to rotate 360 degrees to 400 degrees to the left and right, more than 250 degrees), when the steering handle 16 is turned to the right, the detected rotation angle of the potentiometer PM is input to the control device 170 and the turning control of the control device 170 is performed. The electric motor 146 is driven by the means, and the swing arm 144 is swung around the support shaft 143 in the arrow (A) direction. Then, first, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, operates the differential lock member 71 to operate the differential lock device F of the rear differential device D, and the rear differential device D is differentially locked. . Subsequently, the right shifter 85I of the right side clutch I is turned by the right connecting rod 142, and the right side clutch I is turned off. At this time, since the left connecting rod 142 has the play portion 142a, the left shifter 85I of the left side clutch I is not rotated.

  Therefore, at the beginning of the right turn, the left and right rear wheels 7 and 7 are differentially rotated by the rear differential device D, so that the aircraft can start turning smoothly, but the operation load on the steering handle 16 is light and the operability is high. good. As the turn progresses, the right side clutch I is disengaged and the right rear wheel 7 on the turn center side is in an idle state, so that the right rear wheel 7 does not damage the cultivator and lifts a large amount of mud. The muddy surface is not roughened, and the right turn can be smoothly and cleanly driven by the driving rotation of the left and right front wheels 6 and 6 and the left rear wheel 7.

  Conversely, when the steering handle 16 is turned to the left by a predetermined amount or more (250 degrees or more), the detected rotation angle of the potentiometer PM is input to the control device 170, and the electric motor 146 is driven by the turning control means of the control device 170. Then, the swing arm 144 is swung in the arrow (b) direction around the support shaft 143. Then, first, the driven roller 149 rides on the convex portion of the cam 145b, pulls the linkage wire 151, operates the differential lock member 71 to operate the differential lock device F of the rear differential device D, and the rear differential device D is differentially locked. . Subsequently, the left shifter 85I of the left side clutch I is turned by the left connecting rod 142, and the left side clutch I is turned off. At this time, since the right connecting rod 142 has the play portion 142a, the right shifter 85I of the right side clutch I is not rotated.

  Accordingly, at the initial stage of the left turn, the left and right rear wheels 7 and 7 are differentially rotated by the rear differential device D, so that the airframe can smoothly start turning, and the operation load on the steering handle 16 is light and the operability is good. . As the turn progresses, the left side clutch I is disengaged and the left rear wheel 7 on the turn center side is in an idle state, so that the left rear wheel 7 does not damage the cultivator and lifts a large amount of mud. Without turning the mud surface rough, the left and right front wheels 6 and 6 and the right rear wheel 7 can drive smoothly and cleanly turn left.

  Further, the steering handle 16 is rotated by a predetermined amount when turning the aircraft (the amount that the operator turns to the right with the intention of turning the aircraft to the right, for example, 200 degrees if the steering handle 16 is rotated up to 390 degrees left and right). ) When turned, the rotation angle detected by the potentiometer PM is input to the control device 170, and the PTO clutch operation solenoid 173 is operated by the PTO clutch operation means of the control device 170 to connect / disconnect the power provided in the fertilization drive case 168. After operating the PTO clutch to cut off the power to the fertilizer application device 4 and the rice transplanting device 3, the electromagnetic hydraulic valve 161 is controlled by the working device lifting means of the control device 170, and the rice transplanting device 3 is moved to the maximum position by the hydraulic cylinder 160. Raise to.

  Then, at the end of turning from the middle of turning, the control device 170 automatically lowers the rice transplanter 3 and engages the PTO clutch based on the detection of the rotational speed of the rear wheel 7 inside the turning, and then the control device 170. The electric motor MO-H is actuated by the variable speed electric motor actuating means to increase the speed of the hydraulic transmission HST to the speed before turning.

  That is, when the steering handle 16 is turned by a predetermined amount or more (when the steering handle 16 is rotated by 200 degrees or more), the electric motor MO-H is operated by the transmission electric motor operation means of the control device 170 to automatically decelerate the hydraulic transmission HST, and the PTO With the clutch set to “disengaged”, the rice transplanter 3 is raised, and the side clutch I of the rear wheel 7 on the inside of the turn is disengaged, the number of rotations of the left and right rear wheel transmission shafts 89 is detected, and the inner rear wheel during the turn When the transmission shaft rotational speed of 7 exceeds the set value N1, the rice transplanter 3 is lowered. Thereafter, when the transmission shaft rotational speed of the rear wheel 7 reaches the set value N2, the PTO clutch is set to “ON” and the speed is automatically increased to the original speed.

  A rotation angular velocity sensor S1 is also mounted on the lower end portion of the output shaft 174 so that the rotation speed when the steering handle 16 is rotated can be detected. That is, since the steering handle 16 is rotated more quickly than the steering operation at the time of normal planting work at the time of turning, it can be determined whether the steering operation is a normal steering operation or a turning operation at the time of turning at the rotational angular velocity when the steering handle 16 is rotated. .

The automatic turning control will be described based on the flowchart shown in FIG.
First, the correction setting dial 206 provided on the operation panel 17 is operated to set a correction value n0 suitable for the field in order to cope with differences in the field conditions such as the hardness of the field, water depth, and new board depth.

  Then, when the steering handle 16 is quickly turned counterclockwise by 200 degrees or more (θ ≧ θ1 = left rotation 200 degrees) to turn counterclockwise (when the steering shaft rotation angular speed Ψ ≧ Ψ1), the detected rotation angle and rotation angular speed of the potentiometer PM are detected. The angular velocity Ψ of the sensor S1 is input to the control device 170, and the control device 170 determines that the turning operation is performed (not shown in the flowchart, but first, the electric motor is operated by the variable speed electric motor operating means of the control device 170. The MO-H is actuated to automatically decelerate the hydraulic transmission HST, and at the same time, the PTO clutch actuating solenoid 173 is operated by the PTO clutch actuating means of the control unit 170, and the power provided in the fertilization drive case 168 is After operating the connecting / disconnecting PTO clutch to turn off the power to the fertilizer application device 4 and the rice transplanting device 3, The electrohydraulic valve 161 is controlled by the working device lifting means of the control device 170 and the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160. Then, when the rotational speed of the left rear wheel transmission shaft 89 is detected by the transmission shaft rotational speed sensor 205 and the rotational speed n1 becomes n1 ≧ N1 + n0, the machine has turned 90 degrees or more from the start of turning, so the rice transplanter 3 Lower. The headland is leveled as the rice transplanter 3 descends.

  Subsequently, when the rotational speed of the left rear wheel transmission shaft 89 is detected and the rotational speed n2 reaches n2 ≧ N2 + n + n0, the seedling planting tool 164 is operated with the PTO clutch engaged, and seedling planting is started and the fertilizer application device 4 And the fertilization is started, and the electric motor MO-H is operated by the transmission electric motor operating means of the control device 170 to increase the hydraulic transmission HST to the original speed. n is the number of rotations of the left rear wheel transmission shaft 89 in which the airframe advances a distance from the end of turning to the planting start position (a distance twice the distance from the axle of the rear wheel 7 to the seedling planting tool 164).

  As described above, by detecting the rotational speed of the rear wheel 7 which is the idle wheel inside the turning by the transmission shaft rotational speed sensor 205, the travel distance of the airframe can be accurately calculated by the travel distance calculation means of the control device 170. Thus, the position where the rice transplanter 3 is lowered and the position where the PTO clutch is engaged can be accurately determined, and practical automatic turning control can be performed.

  However, even if the rotational speed n2 is n2 ≧ N2 + n + n0, if the rice transplanter 3 is lowered and is not in contact with the mud surface (the rice floater 3 is in contact with the mud surface, the center float sensor 169 is in the neutral position) Is determined by stopping the lowering of the rice transplanting device 3), the electric motor MO-H is operated by the transmission electric motor operating means of the control device 170 to bring the hydraulic transmission HST to the neutral position, and the aircraft advances Is displayed on the monitor of the operation panel 17 in front of the cockpit. When the rice planting device 3 descends and touches the mud surface, the monitor display in the machine stop standby state is turned off, and at the same time, the PTO clutch is engaged and the seedling planting tool 164 is operated to start planting the seedling and the fertilizer application device 4 is also operated to start fertilization, and at the same time, the electric motor MO-H is operated by the transmission electric motor operating means of the control device 170 to advance the hydraulic transmission HST to the original speed, and move forward. Planting and fertilizing work.

  Thus, since the rotational speed of the rear wheel transmission shaft 89 of the rear wheel 7 with the side clutch I disengaged is detected, it is less susceptible to slip and the like than the rotational speed detection of the rear wheel 7 to which power is transmitted. There are features. Further, since the rotational speed of the rear wheel transmission shaft 89 that rotates faster than the rear wheel 7 is detected, the measurement accuracy can be easily increased. As a result, there is an effect that the start of planting of the seedlings in each process in which the aircraft is turned and the seedlings are planted in the reciprocating process is automatically made substantially constant.

  To summarize the above left turn, if the operator quickly turns the steering handle 16 counterclockwise (at the steering shaft rotation angular velocity Ψ ≧ Ψ1) more than 200 degrees for the left turn of the aircraft, The PTO clutch is disconnected, the operations of the fertilizer application device 4 and the rice transplanter 3 are stopped, and the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160. In the initial stage of the left turn, the left and right rear wheels 7 and 7 are differentially rotated by the rear differential device D, so that the airframe can be smoothly turned, and the operation load of the steering handle 16 is light and the operability is good. Then, when the steering handle 16 is rotated more than 250 degrees counterclockwise, the rear differential device D is in the differential lock state, the left side clutch I is disengaged, and the left rear wheel 7 on the turning center side is in an idle state. The left rear wheel 7 does not damage the cultivator, and does not lift up a lot of mud and rough the mud surface. The left and right front wheels 6 and 6 and the right rear wheel 7 drive and turn left. Smooth and clean. When the aircraft turns 90 degrees, the rice transplanter 3 descends until the center float 165, the side float 166, etc. automatically touch the field, and the turn continues while leveling the headland. After that, when the turn is finished and the planting start position is reached, the PTO clutch is automatically engaged, the rice planting device 3 is activated, the seedling planting is started, and the fertilizer 4 is also activated to start the fertilization. The electric motor MO-H is actuated by the variable speed electric motor actuating means of the apparatus 170 to increase the speed of the hydraulic transmission HST to the original speed. Immediately before the turn is completed, the operator turns the steering handle 16 to the right and returns it to the straight state. However, when the left rotation angle becomes less than 250 degrees, the left side clutch I is engaged and the rear differential device D is differentially operated. Therefore, at the end of turning, the operator can easily adjust the seedling row planted in the previous process, and the workability is good.

In the case of a right turn, the same control is performed as in the case of a left turn.
In the turning control, it is desirable that the hydraulic sensitivity of the hydraulic cylinder 160 of the rice transplanter 3 is insensitive (it is difficult to switch to the rice transplanter 3 ascending side) between the rice transplanter 3 “down” and the PTO clutch “engaged”. In this insensitive state, the turning trace can be leveled, and the headland treatment can be performed easily and accurately. Also, immediately after the turn, the mud surface on the shore is rough and uneven, so that for a while after the PTO clutch “engaged”, the hydraulic sensitivity remains insensitive (it is difficult to switch to the rice transplanter 3 ascending side). Can be planted properly.

  In the above-described embodiment, the steering handle 16 is more than a predetermined amount (the amount that the operator turns left or right with the intention of turning the aircraft to the left or right, for example, the steering handle 16 is 360 degrees to the left and right at the maximum. (If it is configured to rotate up to 400 degrees, more than 250 degrees) When it is turned to the left or right, the electric motor MO-H is operated by the transmission electric motor operating means of the control device 170 to shift the hydraulic transmission HST to a low speed. ing.

  As described above, when the rotational angular velocity Ψ of the steering shaft is Ψ ≧ Ψ1 (when the steering handle 16 is quickly operated to make a turn), it is determined as a turning operation and automatic turning control is entered, but Ψ <Ψ1 In this case, it is determined that the steering operation is performed during normal planting work, and the above-described automatic turning control is not performed even if the steering handle 16 is operated by a predetermined amount or more. Therefore, even when the aircraft is steered to adjust the spacing during straight planting, the turning control is activated and the PTO clutch is disconnected and the rice transplanter 3 does not rise. Appropriate rice transplanting work can be done.

Next, a control configuration for automatically raising the rice transplanter 3 during reverse travel will be described.
First, as shown in FIG. 6, there is provided a backlift switch 191 that is turned on when a contact piece 190 provided at the base of the change lever 90 comes into contact when the change lever 90 is operated to reverse speed. The electrohydraulic valve 161 is controlled by the working device lifting / lowering means of the device 170, and the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160.

  In this way, when the change lever 90 is operated to the reverse speed, the rice transplanter 3 is automatically raised to the basic position, so that the aircraft can be turned to turn the aircraft at the edge of the field. Since the rice transplanter 3 is automatically raised to the maximum position when the vehicle is moved backward, the rice planter 3 can be prevented from colliding with the ridge and being damaged, and the workability is good.

  Further, the operation panel 17 is provided with an automatic turning setting switch 192. When the automatic turning setting switch 192 is set to the “OFF” position, the automatic turning control and the automatic lifting of the rice transplanter 3 at the time of reverse movement are not performed. When the automatic turning setting switch 192 is set to any one of the positions “1” to “3”, the automatic turning control and the automatic lifting of the rice transplanter 3 during reverse movement are performed. The operation positions “1” to “3” are for setting the rotation angle of the steering handle 16 for driving the electric motor 146 to differentially lock the rear differential device D and disengaging the side clutch I. When the operation position is set to “1”, when the steering handle 16 is turned to the left by 250 degrees or more as described above, the electric motor 146 is driven, the rear differential device D is differentially locked, and the side clutch I is turned off. When the operation position is “2”, when the steering handle 16 is turned to the left by 300 degrees or more, the electric motor 146 is driven, the rear differential device D is differentially locked, the side clutch I is turned off, and the operation position “3” is operated. When the steering handle 16 is turned to the left by 350 degrees or more, the electric motor 146 is driven, the rear differential device D is differentially locked, and the side clutch I is turned off.

If the field is a wet field, the left and right rear wheels 7 and 7 are differentially differential so that the turning radius is smaller and the turn can be performed smoothly. In the case of a wet field, the operation position is set to “2” or “3”. Do.
If the automatic turning setting switch 192 is turned off, the rice transplanter 3 will not automatically rise even when the change lever 90 is operated in reverse when the machine is moved backward to a barn or the like. It is possible to move backward and avoid the situation where the rice transplanter 3 is hit against the upper part of the entrance of the barn or other members in the barn. 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 16 along a curved ridge. At this time, automatic turning control works. Therefore, even if the steering handle 16 is rotated 200 degrees or more to the left or right, the rice transplanter 3 does not rise, and even if it is rotated 250 degrees or more, automatic turning control is not performed, and seedling planting work can be performed properly even in a deformed field. .

  For safety, the automatic turning setting switch 192 is turned off when the vehicle is not working, such as when traveling on the road or when loading and unloading the truck. Further, when the change lever 90 is operated to the “road speed”, if it is detected and the automatic turning setting switch 192 is automatically turned off, the road travel speed (moving speed) is changed to the left and right. Since the wheels 7 and 7 remain in the differential differential state no matter how the steering handle 16 is operated, they can travel safely.

  In addition, as shown in FIG. 1, side markers 210 are provided on both sides of the front part of the machine body. By arranging a bar 210 a parallel to the front-rear direction of the machine body at the tip of the side marker, preparation for seedling planting can be performed. When performing, it becomes easy to confirm that the aircraft is parallel to the adjacent strip.

  In the automatic turning control of the first embodiment, the steering handle 16 is rotated more quickly than the steering operation during normal planting work by the rotation angular velocity sensor S1 attached to the lower end portion of the output shaft 174. Therefore, the steering handle The control device 170 determines whether the steering operation is a normal steering operation or a turning operation during a turn based on the rotation angular velocity when the 16 is rotated, but the rotation speed is uniform by looking at the detection value of the rotation angular velocity sensor S1. Depending on whether or not, the control device 170 may determine whether it is a normal steering operation or a turning operation during turning.

  That is, in the steering operation at the time of normal planting work, the steering handle 16 is turned quickly, turned slowly, steered to the left or steered to the right to steer the aircraft. Since the rotational speed fluctuation rate ε of the steering handle 16 (steering shaft) is larger than a fixed value ε1, it is determined that the steering operation is a normal steering operation at that time, and automatic turning control is not performed. Conversely, when turning, the steering handle 16 is rotated at a substantially constant speed more quickly than the steering operation during normal planting work, so that the rotational speed fluctuation rate ε of the steering handle 16 (steering shaft) is smaller than a constant value ε1. Therefore, at that time, it is determined that the turning operation is performed, and automatic turning control is performed (see the flowchart of FIG. 10).

  Even if the above control is performed, even if the steering handle 16 is operated more than a predetermined amount during normal planting work, automatic turning control will not be performed. Even if the direction operation is performed, the automatic turning control is activated, the PTO clutch is disengaged, and the rice transplanter 3 is not raised, so that an appropriate rice transplanting operation can be performed efficiently.

  In the automatic turning control of the first embodiment, the steering handle 16 is rotated more quickly than the steering operation during normal planting work by the rotation angular velocity sensor S1 attached to the lower end portion of the output shaft 174. Therefore, the steering handle In the automatic turning control of the second embodiment, the detected value of the rotational angular velocity sensor S1 is determined based on the rotational angular velocity at the time of rotating 16 and the control device 170 determines whether the steering operation is a normal steering operation or a turning operation at the time of turning. The controller 170 determines whether the steering operation is a normal steering operation or a turning operation at the time of turning depending on whether the rotation speed is uniform. Further, in order to reliably determine that the turning operation is during turning, when the control device 170 of the first and second embodiments determines that the turning operation is during turning, 0.2 second to 0. If the steering direction of the steering wheel 16 does not change after waiting for about 5 seconds, and if the automatic turning control is entered, the wheel is taken into the groove of the cultivator during normal planting work, and the direction of the aircraft is greatly changed. Even if the steering handle 16 is quickly operated more than a predetermined amount when it changes, the steering handle 16 is immediately returned to its original position, so the automatic turning control is not performed. The situation where 3 rises does not occur, and proper rice transplanting work can be performed efficiently.

  In the automatic turning control of the first embodiment, the steering handle 16 is rotated more quickly than the steering operation during normal planting work by the rotation angular velocity sensor S1 attached to the lower end portion of the output shaft 174. Therefore, the steering handle In the automatic turning control of the second embodiment, the detected value of the rotational angular velocity sensor S1 is determined based on the rotational angular velocity at the time of rotating 16 and the control device 170 determines whether the steering operation is a normal steering operation or a turning operation at the time of turning. The controller 170 determines whether the steering operation is a normal steering operation or a turning operation at the time of turning depending on whether the rotation speed is uniform. As another means for determining whether the normal steering operation or the turning operation at the time of turning, the side clutch I inside the turning of the left and right rear wheels 7 and 7 is turned off at the time of turning. The number of revolutions is extremely less than the number of revolutions outside the turn. Therefore, when the steering handle 16 is rotated 200 degrees or more to the left or right (θ ≧ θ1 = 200 degrees of rotation), the detected rotation angle of the potentiometer PM is input to the control device 170 and the transmission shaft rotational speed sensor 205. When the detected number of rotations of the left and right rear wheels 7 and 7 by 205 is input to the control device 170, the control device 170 recognizes that the number of rotations of the rear wheel 7 on the inside of the turn is extremely smaller than the number of rotations on the outside of the turn. The control device 170 may determine that it is a turning operation at the time of turning and may enter automatic turning control.

  In the above embodiments, when the steering device 16 is rotated 200 degrees or more to turn and the control device 170 determines that the turning operation is performed, first, the electric motor MO-H is turned on by the variable speed electric motor actuating means of the control device 170. The PTO clutch for automatically connecting and disconnecting the power provided in the fertilization drive case 168 is operated by operating the PTO clutch operating solenoid 173 by the PTO clutch operating means of the control device 170 at the same time as the hydraulic transmission HST is automatically decelerated. After operating to turn off the power to the fertilizer application device 4 and the rice transplanting device 3, the electromagnetic hydraulic valve 161 is controlled by the working device lifting means of the control device 170 and the rice transplanting device 3 is raised to the maximum position by the hydraulic cylinder 160. I did it. As another embodiment, when the steering device 16 is rotated by 200 degrees or more to make a turn and the control device 170 determines that the turning operation is performed, first, the PTO clutch operation solenoid 173 is operated by the PTO clutch operation means of the control device 170. Then, after operating the PTO clutch for connecting / disconnecting the power provided in the fertilization drive case 168 to cut off the power to the fertilizer 4 and the rice transplanter 3, the electromagnetic hydraulic valve 161 is operated by the working device lifting / lowering means of the controller 170. After the rice transplanter 3 is raised to the maximum position by the hydraulic cylinder 160, the electric motor MO-H is operated by the variable electric motor operating means of the controller 170 so that the hydraulic transmission HST is automatically decelerated. Anyway.

  In this way, after the rice transplanter 3 is raised to the maximum position, the electric motor MO-H is actuated by the variable speed electric motor actuating means of the controller 170 to automatically decelerate the hydraulic transmission HST. Since the vehicle speed while 3 is rising is fast, the turning time is shortened and the work efficiency is improved.

  The present invention is not limited to the above-mentioned riding type rice transplanter, but various riding type transplanting machines such as riding type vegetable transplanting machines and riding type grass transplanting machines, riding type tractors, riding type harvesting machines, and various other riding types. Applicable to traveling vehicles.

1: Traveling vehicle, 2: Link device for lifting, 3: Rice transplanting device, 6: Front wheel, 7: Rear wheel, 16: Steering handle, 170: Control device

Claims (2)

A traveling vehicle (1) having left and right front wheels (6) and left and right rear wheels (7) is provided, a steering handle (16) for steering the left and right front wheels (6) is provided, and the traveling vehicle (1) is raised and lowered. In the riding type rice transplanter equipped with the rice transplanter (3) via the link device (2), if the left and right front wheels (6) are steered more than a predetermined angle, it is judged as a turning operation. With the front wheel (6) steered to the left by a predetermined angle or more, the traveling speed of the aircraft is automatically reduced, the left rear wheel (7) on the inside of the turn is switched to the idle state, and the rice transplanter (3) the left rear wheel as the turning inner based on the rotational speed of the wheel driving shaft after the power transmission path of the driving from the side clutch performs an operation to stop (I) to the left rear wheel (7) (89) (7) line an operation of detecting the transmission shaft rotational speed, to stop the drive of the planting device (3) Increase the planting device (3) after the, the travel distance calculated by the travel distance calculating unit based on the detection of the transmission shaft rotational speed of the left rear wheel as the turning inner side (7), after left to be the turning inner When the rotational speed of the transmission shaft of the wheel (7) exceeds the first set value, the rice transplanter (3) is lowered, and then the rice transplanter (3) is driven when the rotational speed of the transmission shaft reaches the second set value. At the same time, the aircraft's traveling speed is automatically increased to automatically perform operations for various operations during turning. In the case of right turning, the left and right front wheels (6) are steered to the right by a predetermined angle or more. In this state, the traveling speed of the aircraft is automatically reduced, the right rear wheel (7) on the inside of the turn is switched to the idle state, and the driving of the rice transplanter (3) is stopped and the side clutch (I) Based on the number of rotations of the rear wheel transmission shaft (89) on the transmission path from to the right rear wheel (7) The right rear wheel which detects the transmission shaft speed of the right rear wheel (7) which becomes the inside of the rotation and raises the rice transplanter (3) after performing an operation to stop the driving of the rice transplanter (3), When the travel distance is calculated by the travel distance calculation means based on the detection of the transmission shaft rotation speed in (7) and the transmission shaft rotation speed of the right rear wheel (7) inside the turn exceeds the first set value. The rice transplanter (3) is lowered, and then, when the transmission shaft rotational speed reaches the second set value, the rice transplanter (3) is driven and the traveling speed of the machine is automatically increased to perform various operations during turning. riding rice transplanter, wherein automatically performed so Ru controller that was provided (170) the operation of use. Even if the transmission shaft rotation speed of the rear wheel (7) inside the turn reaches the second set value, if the rice transplanter (3) is lowered and is not grounded, the forward movement of the aircraft is stopped and the aircraft is stopped. riding rice transplanter according to claim 1, characterized in that a control unit that displays on a monitor (170) a state.

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