JP2010100170A - Riding working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make automatic control on work behaviors after turning executed accurately while preventing slip of wheels on the turning inside during turning travel in a riding working machine with a turning interlocking automatic control device for making a prescribed behavior performed automatically after turning. <P>SOLUTION: Four wheels of front wheels and rear wheels supporting a riding machine body are supported by a front wheel suspension mechanism and a rear wheel suspension mechanism 3S capable of adjusting elastic supporting force. and a transmission shaft rotation number sensor detecting the number of rotation of the inside axle during turning is arranged in the right and the left of the front or the rear wheels. Moreover, a control device controlling the elastic supporting force of the front wheel suspension mechanism and the rear wheel suspension mechanism 3S is arranged. When a turning angle calculated from the detected rotation number of the transmission shaft rotation number sensor exceeds a prescribed angle, travel stabilizing control of the riding working machine is performed by the control device executing control so that the elastic supporting force on the turning inside of the front wheel suspension mechanism and the rear wheel suspension mechanism 3S is changed to be hardened relatively to the elastic supporting force on the outside. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention is a riding work machine in which a series of work operations are automatically performed after turning on a riding work machine that performs farming work and civil engineering work while the worker is on board and traveling in a stable manner regardless of the unevenness of the work ground. The present invention relates to a running stability control for a riding work machine that can turn and perform work operations after turning automatically and in a timely manner.

  In a riding paddy field machine, the rear axle case equipped with the rear wheels of the four wheels that support the aircraft is suspended by a suspension mechanism in order to drive stably in a field with severe irregularities while suppressing the vibration and vibration of the aircraft. For example, Japanese Patent Application Laid-Open No. 2007-89417 discloses a configuration in which the elastic support is provided.

Similarly, in the riding paddy field machine, based on the detection of the rotational speed of the wheel drive shaft inside the turning, for example, the seedling planting part lifted before the turning is lowered to the field after the turning to resume the seedling planting, etc. Japanese Laid-Open Patent Publication No. 2004-344020 discloses a configuration in which a turning-linked automatic control device that automatically performs the above work operation is provided.
JP 2007-89417 A JP 2004-344020 A

  The state of the field may be soft and the wheels may sink easily, or conversely, the wheels may rise up hard and the wheels may slip when turning in such fields. In the riding work machine provided with the turning interlocking automatic control device that automatically performs the work after turning based on the detection of the rotation speed of the wheel inside the turning, when the wheel inside the turning slips, for example, it is lifted before turning The timing of lowering the seedling planting part to the field after turning is shifted, and the planting work cannot be resumed as set by the control.

  Therefore, in the present invention, in a riding work machine provided with a turning interlocking automatic control device that automatically performs a predetermined operation after turning, the work operation after turning is automatically performed without turning the inner wheel during turning. The challenge is to ensure that the control works correctly.

The problems of the present invention are solved by the following technical means.
The invention according to claim 1 is a front wheel suspension mechanism (adjustable elastic support force) for the four wheels of the front wheels (2), (2) and the rear wheels (3), (3) that support the riding body (1). 2S) and the rear wheel suspension mechanism (3S), while detecting the inner axle rotation speed at the left and right of the front wheels (2), (2) or the rear wheels (3), (3) A transmission shaft rotational speed sensor (125) for determining a turning angle is provided, and further, the elastic bearing force of the front wheel suspension mechanism (2S) and the rear wheel suspension mechanism (3S) is controlled, and the transmission shaft rotational speed sensor (125 ), The elastic support force inside the turning of the front wheel suspension mechanism (2S) and the rear wheel suspension mechanism (3S) is made relative to the elastic support force outside the turn. To become bigger And a controller (115) is provided with riding work machine that controls to puff.

  With this configuration, the inner turning angle detection sensor 125 for accurately determining the turning angle is changed by changing the elastic supporting force inside the turning to be relatively larger than the elastic supporting force outside the turning. Therefore, the number of rotations is detected, so that automatic control of various work operations after turning is performed with good timing.

  In the first aspect of the invention, the front wheel suspension mechanism 2S and the rear wheel suspension mechanism 3S hold the elastic support force of the inner wheel during turning more strongly than the elastic support force of the outer wheel during turning even in a soft or hard field. Thus, without causing the inner wheel to slip, the rotational speed can be accurately detected by the transmission shaft rotational speed sensor 125, and automatic control of various work operations after turning can be performed with good timing.

Embodiments of the present invention will be described below with reference to the drawings.
1 and 2 show a riding type Shijo Ueda transplanter as an example of a riding work machine. A pair of left and right front wheels 2, 2 and a rear wheel 3 as traveling wheels are provided before and after the riding machine body 1. FIG. , 3 are installed. A steering device having an operation box 4 and a steering handle 5 is installed at the front part of the riding machine body 1, and a seedling planting part 6 that can be moved up and down is provided at the rear part of the riding machine body 1. A driver's seat 9 is installed on the rear side of the control device, and an engine E that transmits power to each part of the rice transplanter is mounted below the driver's seat 9. A vehicle body inclination sensor 37 for detecting the inclination angle in the front-rear direction and the left-right direction of the riding machine body 1 is provided in front of the engine E on the riding machine body 1.

  The steering handle 5 is rotated by the steering shaft 18 in the steering post 17 via the steering output shaft 100, the pitman arm 101, the left and right rods 102, etc., which are decelerated and rotated through the steering case. , 2 is steered.

  The rotational power of the engine E is transmitted from the engine output pulley 20 via the belt 25 to the input shaft 23 by the input pulley 22 of the hydraulic continuously variable transmission (HST) 21. From the input shaft 23 to the same axis. The hydraulic pump is driven via a transmission shaft provided in the transmission, and further, the output is transmitted from the output shaft of the hydraulic continuously variable transmission 21 to the mission input shaft of the mission case 26.

  The hydraulic continuously variable transmission 21 is disposed below the front cover 10, and a main transmission lever 27 for shifting the hydraulic continuously variable transmission 21 is disposed near the top of the front cover 10. By operating the main transmission lever 27 in the front-rear direction, the hydraulic continuously variable transmission 21 is driven to control forward and backward movement of the machine body. Further, an auxiliary transmission lever 28 for switching the gear shift of the mission case 26 to travel, planting, and PTO is provided on the upper portion of the front cover 10.

  As shown in FIG. 3, the rear wheel transmission case 30 is configured to be rotatable up and down around a rotation fulcrum shaft P on the front side of the rear wheel axle 31 of the rear wheel 3. The traveling frame 32 is provided with a rear elastic spring portion 34 that urges the rear wheel transmission case 30 to rotate downward, and the rear elastic spring portion 34 contracts due to the weight of the airframe during normal traveling. 3 becomes an upper limit state, and when a predetermined driving load or more is generated on the rear wheel 3 due to advance of the airframe, the rear wheel transmission case 30 is rotated downward by the driving reaction force, and the rear wheel 3 is moved downward. The rear wheel suspension mechanism 3S is configured as described above.

  The rear wheel transmission case 30 is divided into upper and lower parts at a position sandwiching the rear wheel axle 31, and is composed of a half upper case 30a and a half lower case 30b. In addition to being set on the case 30b side, an independent swing stopper 35 is provided on the front side in the traveling direction on the half upper case 30a side.

  Further, as shown in FIG. 4, the traveling frame 32 is provided with a rear wheel vertical position sensor 39 that detects the vertical position of the rear wheel axle 31, and a rear wheel pressing solenoid 49 that halves the rear elastic spring portion 34 and a half. A rear wheel vertical movement restricting solenoid 46 for restricting the vertical movement of the rear wheel 3 by applying a rod 47 to the protrusion 48 of the upper case 30a is provided.

  As shown in FIG. 5, the rear elastic spring portion 34 has a rear outer spring 34a and a rear inner spring 34b interposed between a frame support plate 32a of the traveling frame 32 and a case support plate 30aa of the half upper case 30a. The inner spring seat 30ab that receives the lower side of the rear inner spring 34b can be moved and switched by the pressure adjusting solenoid 95 between the operating position and the non-operating position of the rear inner spring 34b. That is, in order to increase the elastic force, the pressure adjusting solenoid 95 is extended to set the inner spring seat 30ab to the position where the rear inner spring 34b acts, and in order to decrease the elastic force, the pressure adjusting solenoid 95 is contracted to reduce the inner force. The spring 34b is prevented from acting.

  The pivot fulcrum shaft P is pivotally supported by a bracket 33 projecting downward from the traveling frame 32 and is set within the outer diameter of the rear wheel 3. In short, the transmission case 30 for the left and right rear wheels is the rear wheel suspension mechanism 3S that swings left and right independently around the rotation fulcrum axis P via the rear elastic spring portion 34.

  Next, the support structure of the left and right front wheels 2, 2 will be described with reference to FIG. Left and right front wheel drive shafts 43 and 43 are mounted in the left and right front axle cases 40 and 40, and left and right vertical cylindrical body portions 41a and 41a are provided at left and right ends of the left and right front axle cases 40 and 40, respectively. The left and right front wheel support cases 42, 42 are externally fitted to the cylindrical portions 41a, 41a, and are supported so as to be rotatable about the vertical axis and movable up and down. Left and right second front wheel drive shafts 44 and 44 are pivoted in the left and right front wheel support cases 42 and 42, and the left and right front wheels 2 and 2 are placed under the left and right front wheel support cases 42 and 42 via the left and right front wheel shafts 2a and 2a. It is supported.

  Further, the upper portions of the left and right second front wheel drive shafts 44, 44 are inserted into the vertical cylindrical body portions 41a, 41a, and the first bevel gear G1 on the left and right front wheel drive shafts 43, 43 side and the left and right second front wheel drive shafts 44, 44 are connected. The second bevel gear G2 that is spline-fitted in a vertically movable manner is meshed, and the third bevel gear G3 at the lower end of the left and right second front wheel drive shafts 44, 44 and the fourth bevel gears G4, G4 of the left and right front wheel shafts 2a, 2a are engaged. I'm biting. Further, a front elastic spring portion 45 including a front outer spring 45a and a front inner spring 45b is provided in the upper space cylinder portions 42a, 42a of the vertical cylinder portions 41a, 41a, and the left and right second front wheel drive shafts 44, 44 are moved downward. The left and right front wheel support cases 42, 42 are configured to transmit power to the left and right front wheels 2, 2 even when the left and right front wheel support cases 42, move up and down.

  The front bullet spring portion 45 is bounced by interposing a front outer spring 45a and a front inner spring 45b between the upper inner wall of the vertical cylindrical body portion 41a and the receiving seat 98 of the left and right second front wheel drive shaft 44. The front inner spring seat 97 of the spring 45b is attached to the rod end of the front pressure regulating solenoid 96, and in order to increase the elasticity, the front pressure regulating solenoid 96 is extended and the front inner spring seat 97 is operated by the front inner spring 45b. In order to reduce the elastic force, the front pressure regulating solenoid 96 is contracted so that the front inner spring 45b does not act.

  Between the left and right front axle cases 40, 40 and the left and right front wheel support cases 42, 42, a front wheel vertical position sensor 69 that detects the movement of the front wheel 2 by the vertical movement of the left and right front wheel support cases 42, 42 is provided.

Here, a configuration of a portion in which the front wheels 2 and 2 are steered by the steering handle 5 will be described with reference to FIGS. 7 and 8.
The steering handle 5 is fixed to the upper part of the steering shaft provided in the steering post 17, and the rotation of the steering shaft is decelerated via a steering transmission gear provided in the transmission case 26 and transmitted to the steering output shaft 100. Is done. The lower end of the steering output shaft 100 protrudes from the bottom surface of the transmission case 26 and the pitman arm 101 is fixed. The front left and right sides of the pitman arm 101 and the left and right front wheel support case 19 (FIG. 1) are connected by left and right rods 102 and 102.

  Accordingly, when the steering handle 5 is rotated, the steering shaft, the steering transmission gear, the steering output shaft 100, the pitman arm 101, the left and right rods 102 and 102, and the left and right front wheel support cases 19 and 19 are transmitted to the left and right front wheels 6, 6 is steered left and right.

  On the other hand, an operation roller 103 is rotatably provided on the rear upper surface of the pitman arm 101, and a notch 104 cut out in a U shape in plan view so as to surround both the left and right sides of the operation roller 103 is provided. A follower 105 having the same is rotatably supported on the bottom surface of the mission case 26. The left and right side portions of the driven body 105 are connected to the front portions of the left and right rods 106 and 106 connected to the left and right clutch operating arms 107 and 107. Accordingly, when the steering handle 5 is turned to the right by a predetermined amount (the amount that the operator turns to the right with the intention of turning the aircraft to the right), the pitman arm 101 is also turned to the right, and the operation roller 103 is moved in the (c) direction. In order to push the left side surface 104a of the notch 104 of the driven body 105, the driven body 105 is rotated in the direction (D), the right rod 106 is pulled, and the right clutch operating arm 107 is operated to operate the right side. Since the clutch is disengaged and the right rear wheel 3 on the turning center side is in an idle state, the right rear wheel 3 does not damage the tiller, and the mud surface may be lifted up to roughen the mud surface. The right turn is smooth and clean.

  Conversely, when the steering handle 5 is turned to the left by a predetermined amount or more, the pitman arm 101 is also turned to the left, and the operating roller 103 is turned in the anti- (C) direction, so that the right side surface 104b of the notch 104 of the driven body 105 is rotated. In order to push, the driven body 105 is rotated in the opposite direction (D), the left rod 106 is pulled, the left clutch operating arm 107 is operated, the left side clutch is disengaged, and the left rear wheel 3 on the turning center side is idle. Since it is in a rolling state, the left rear wheel 3 can be turned smoothly and clean without damaging the cultivator and without lifting a large amount of mud and roughing the mud surface.

  Further, left and right sensor pressing pieces 108 and 108 are provided on the upper surface of the front portion of the pitman arm 101. When the steering handle 5 is rotated 200 degrees to either the left or right, an auto lift fixed to the bottom surface of the mission case 26 is provided. The switch 109 (FIG. 10) is turned ON (the steering handle 5 rotates up to 360 to 400 degrees to the left and right).

  Next, a control configuration for automatically raising the seedling planting unit 6 during reverse travel will be described. First, as shown in FIG. 9, there is provided a backlift switch 111 that is turned on when a contact piece 110 provided at the base of the chain lever 108 is brought into contact when the chain lever 98 is operated to reverse speed. The electrohydraulic valve 116 is controlled by the seedling planting part raising means of the device 115 (FIG. 10), and the seedling planting part 6 is raised to the maximum position by the hydraulic cylinder 117.

  In this way, when the chain lever 98 is operated backward, the seedling planting unit 6 is automatically raised to the maximum position, so that the aircraft can be turned to turn the aircraft at the edge of the field. Since the seedling planting part 6 is automatically raised to the maximum position when it is moved backward toward the cocoon, it can be prevented that the seedling planting part 6 collides with the cocoon and breaks, and the workability is good.

  Further, when the steering handle 5 is rotated 200 degrees to the left or right and the auto lift switch 109 shown in FIG. 10 is turned ON, the electromagnetic hydraulic valve 116 is controlled by the seedling planting part raising means of the control device 115 to control the hydraulic cylinder. In 117, it is comprised so that the seedling planting part 6 may be raised to the maximum position.

  As described above, when the steering handle 16 is rotated to the left or right as much as possible in order to turn the aircraft at the heel, the auto lift switch 109 is turned on, and the seedling planting part 6 is automatically raised to the maximum position. Therefore, an operation for raising the seedling planting portion 6 during the turning of the body is not required, and the body can be turned efficiently and the workability is good.

  Further, the autolift switch 109 is provided on each of the left and right sides, and the elastic support force of the front bullet spring portion 45 of the front wheel suspension mechanism 2S inside the turning and the rear bullet spring portion 34 of the rear wheel suspension mechanism 3S is set to the elastic force outside the turn. Adjust relatively stronger than the starting force. For example, when the right auto lift switch 109 is turned on, the front pressure regulating solenoid 96 of the left front bullet spring portion 45 is actuated to deactivate the front inner spring 45b and weaken the resilient support force. The pressure regulating solenoid 95 of the spring portion 34 is operated to make the rear inner spring 34b inactive and weaken the elastic support force. Conversely, the front inner springs 45b and the rear inner springs 34b of the left and right front wheel suspension mechanisms 2S and the rear wheel suspension mechanism 3S are deactivated, and the inner front inner springs 45b and the rear inner springs 34b are operated during turning. You may make it strengthen the resilient support force inside turning.

  As described above, the elastic support force of the front elastic spring part 45 of the front wheel suspension mechanism 2S inside the turning and the rear elastic spring part 34 of the rear wheel suspension mechanism 3S is adjusted relatively stronger than the elastic support force of the outside of the turning. By doing this, the turning rotational speed detected by the transmission shaft rotational speed sensor 125, which will be described later, becomes accurate, and the timing for lowering the seedling planting unit 6 to the field is improved.

  Further, the front wheel suspension mechanism 2S and the rear wheel suspension mechanism 3S have their elastic support force even when the vehicle body 1 greatly moves up and down on a large uneven field or when the vehicle body 1 hardly moves up and down on a flat field. It becomes more stable by strengthening.

The front wheel suspension mechanism 2S and the rear wheel suspension mechanism 3S may be configured as an air suspension, and the elastic support force may be changed by adjusting the air pressure.
On the other hand, the operation box 4 is provided with an automatic lift changeover switch 113 for switching between a state in which the seedling planting unit 6 is automatically raised and a state in which the seedling planting unit 6 is not raised. If the back lift switch 111 is turned on or the auto lift switch 109 is turned on as described above, the seedling planting unit 6 is automatically raised by the rice planting device raising means of the control device 115. When the automatic lift changeover switch 113 is turned off, the seedling planting unit 6 is not automatically raised even when the backlift switch 111 is turned on or the autolift switch 109 is turned on.

Next, FIG. 11 shows a flow of interlocking control of the seedling planting unit 6 accompanying the turning operation of the steering handle 5.
First, the rotational speed of the rear axle 31 of the left and right rear wheels 3 and 3 is detected by the transmission shaft rotational speed sensor 125, and the reference value N1 (the inner drive shaft rotational signal set value from the start of turning until the aircraft turns 90 °) ), N2 (Drive shaft rotation signal setting value from the time when the aircraft turns 90 ° until the planting clutch “enters”), θ1 (lower limit value of steering wheel cut angle during straight operation), θ2 (handle during straight operation) Set the upper limit of the cut setting angle.

  Next, a θ1 setting dial 126 that adjusts the set values of the rotation speeds N1 and N2 and the handle cutting angles θ1 and θ2 in order to cope with differences in the field conditions such as the hardness and water depth of the field, the depth of the tillage, and the like; The correction value n0 is set by the setting dial 127 for θ2, the setting dial 128 for N1, and the setting dial 129 for N2.

  From the planting “On” to the planting “Cut”, it is detected in the state of the control device 115 accompanying the operation of the finger lever 121 whether or not the planting basket 12 of the seedling planting unit 6 is in a planting state. At this time, the transmission shaft rotational speed sensor 125 detects the rotational speed n of the rear wheel axle 31 of the rear wheel 3 from the start of the operation of the seedling planting portion 6 to the state of “cutting” until the start of the steering handle 5 cutting operation. Then, the value (n) is stored. Next, the turning angle (steering angle) θ of the steering handle 5 is detected by a potentiometer (not shown) provided on the shaft of the steering handle 5 and is turning in either the left or right direction except when traveling straight (θ1 <θ <θ2). Detect whether or not.

  If the left wheel 3 is turning left, the rotation speed of the rear axle 31 of the left rear wheel 3 is detected, and if the rotation speed n1 is n1 ≧ N1 + n0, the aircraft has turned 90 degrees or more from the start of turning, so Lower part 6. The headland is leveled by the descent of the seedling planting section 6.

Subsequently, the rotational speed of the rear wheel axle 31 of the left rear wheel 3 is detected, and when the rotational speed n2 is n2 ≧ N2 + n + n0, the seedling planting unit 6 is operated to start seedling planting.
In the case of a right turn, the same control is performed as in the case of a left turn.

  On the left and right sides of the steering handle 5, there are provided seedling placement portions 130 for supporting an upper seedling box support frame 131 on which a seedling box is placed and a lower seedling box support frame 132 by a column 131 erected from the riding machine body 1.

  15 and 16 show another embodiment of the seedling placement unit 130. FIG. On the left and right sides of the steering handle 5, a front post 135 and a rear post 136 are erected on the riding body 1 in the front and rear, the lower frame 134 is fixed to the front post 135 and the rear post 136, and the middle frame 137 has the front end at the front post. The upper support rod 138 is pivotally supported by the middle support rod 138 and is held horizontally by hooking the middle hook 142 on the rear pin 141 of the rear column 136. The upper frame 139 is supported by the rear column 136. The upper hook 144 is pivotally supported by 140 and hooked on the front pin 143 of the front column 135 and held horizontally, and the lower frame 134, the middle frame 137 and the upper frame 139 are held in three stages. Then, as shown in FIG. 16, the rear frame 137 is removed from the rear pin 141 and the rear hook 145 provided at the rear end is hooked on the front end of the lower frame 134, and the upper frame 139 is removed from the front pin 143 and the front hook 146 provided at the front end. Is hooked on the rear end of the lower frame 134 so that the middle frame 137 and the upper frame 139 are flush with the lower frame 134, so that the seedling box can be loaded while sliding from the end of the road.

  A fertilizer tank 29 that supplies fertilizer to the two-row planting device 13 is provided on the rear side of the driver's seat 9 of the riding body 1. A fertilizer sensor 74 that senses the weight of the fertilizer is provided in the fertilizer tank 29.

  The fertilizer driving timing of the fertilizer motor that feeds the fertilizer in the fertilizer tank 29 is controlled by the control device, and when the traveling speed is below a certain speed, the seedling planting part 6 is planted and fertilized at the same time, and the traveling speed can exceed the certain speed. Control is performed so that planting and fertilization of the seedling planting unit 6 are performed alternately. In this way, fertilizer is supplied to the seedling without waste.

  18 to 20 show a configuration for mechanically performing the planting and fertilizing operation timing and its operation state. The gear case 154 is provided with a planting clutch pin 165 for turning the planting clutch on and off by sliding up and down, and a fertilization clutch shifter 161 for turning the fertilization clutch on and off by rotation. A planting fertilization clutch motor 156 is attached to a motor attachment plate 155 attached to the gear case 154. An operation roller 159 is provided at the tip of an operation arm 158 fixed to the output shaft 157 of the planting fertilization clutch motor 156, and a fertilization clutch arm 160 and a planting clutch arm 166 are formed with cam portions that alternately contact the operation roller 159. Is pivotally supported on a pivot pin 164 standing on the motor mounting plate 155. The fertilizer clutch arm 160 is connected to the fertilizer clutch shifter 161 by a fertilizer clutch link 163 and a fertilizer clutch arm 162, and the planting clutch arm 166 is coupled to a planting clutch pin 165.

  The state of FIG. 18 is a state in which the operating roller 159 engages with the cam portion of the fertilizer clutch arm 160 and rotates the fertilizer clutch shifter 161 to perform fertilization. When the planting fertilization clutch motor 156 is driven and the state shown in FIG. 19 is reached, the operating roller 159 is disengaged from the cam portions of the fertilization clutch arm 160 and the planting clutch arm 166, and no fertilization or planting is performed. When the planting fertilization clutch motor 156 rotates and the operating roller 159 engages with the cam portion of the planting clutch arm 166 in the state shown in FIG. 20, the planting clutch pin 165 is slid to perform planting.

Next, the structure around the seedling planting part 6 will be described with reference to FIGS.
The seedling planting part 6 is mounted on the rear part of the vehicle body so as to be movable up and down via a lifting link mechanism 7 and is moved up and down by the expansion and contraction operation of the lifting hydraulic cylinder 8, and in this example, on the pulling side of the hydraulic cylinder 8. It is set as the structure which raises the seedling planting part 6. FIG. The cylinder fulcrum shaft Q1 of the elevating hydraulic cylinder 8, the link lower fulcrum shaft Q2 and the link upper fulcrum shaft Q3 of the elevating link mechanism 7 are connected by a single plate 15, and the cylinder fulcrum shaft Q1 and the link lower fulcrum shaft Q2 are connected. The link upper fulcrum shaft Q3 is stretched to give strength. The seedling planting unit 6 is moved up and down by a planting lift lever 16 (FIG. 1) provided in the operation box 4.

  In addition, the seedling planting unit 6 includes a two-row planting device 13, 13 having a seedling tank 11 that reciprocates left and right, and a planting basket 12 that cuts one seedling and transplants it into the soil. It includes a left side float 14L, a right side float 14R, a center float 14S, etc. that level the ground while sliding on the seedling planting surface. A seedling amount sensor 38 for detecting the amount of seedlings by weight is provided in the seedling mounting tank 11.

  In addition, the seedling tank 11 is configured to be received by a support roller 52a of a rectangular support frame 52 having a base fixed to a transmission case 51 that also serves as a frame of the seedling planting unit 6, and to slide in the left-right direction. The left / right position is detected by the left / right position sensor 72, and the right / left inclination is detected by the seedling planting part left / right tilt sensor 77. In addition, the seedling loading tank 11 has a right and left inclination angle changeable by a seedling planting part rolling motor 81.

  As shown in FIG. 17, the lower part of the seedling tank 11 is received so as to slide left and right by the receiving frame 150 of the support frame 52. The oil is automatically supplied to the slide portion 149 of the receiving frame 150. As for the oil supply timing, the rotation of the friction roller 148 provided on the lower support rail 151 on the seedling tank 11 side is detected by the friction rotation sensor 147, and if the rotation increases, it is determined that the friction increases and the oil has run out. The oil supply unit is driven to supply oil to the slide unit 149. The friction rotation sensor 147 may be attached to the bottom plate 152 of the seedling tank 11.

  A seedling feeding device 24 that feeds seedlings to the planting basket 12 is provided on the lower back side of the seedling mounting tank 11, and the feeding amount is adjusted by a seedling feeding lever. The feed amount can be adjusted except for the seedling feed lever, but when the seedling feed lever is moved, the feed amount is changed at the position of the seedling feed lever.

  Further, the seedling tank 11 is pivoted about the horizontal axis on the support frame 52, and the left and right side parts are detachably attached to the support frame 52, so that the seedling loading tank 11 is raised around the horizontal axis. Maintenance of the seedling planting part rolling motor 81 provided on the back side of the tank 11 is facilitated.

  In the lower part of the seedling planting section 6, a leveling rotor 50 for leveling and leveling the mud surface disturbed in the field (the left leveling rotor 50L and the right leveling rotor arranged in front of each of the left side float 14L and the right side float 14R) 50R and the center leveling rotor 50S disposed in front of the center float 14S are generally attached.)

  The side view of FIG. 12 and the rear view of FIG. 13 show the main parts of the leveling rotor support structure, and FIG. 14 shows the left leveling rotor 50L, the right leveling rotor 50R, the center leveling rotor 50S, the left side float 14L, and the right side float 14R. The principal part top view of center float 14S and the double streak planting apparatus 13 is shown.

  A left arm 52L having a base fixed to the support frame 52 of the seedling tank 11, a beam member 53 rotatably supported at the tip of the right arm 52R, and a left support arm 54L fixed to both ends of the beam member 53, A right grading rotor support frame 55L and a right grading rotor support frame 55R that are rotatably attached to the right support arm 54R, the left support arm 54L, and the right support arm 54R, respectively, are provided. Left and right drive shafts 57L and 57R of the left leveling rotor 50L and the right leveling rotor 50R are rotatably supported by the left bearing portion 56L and the right bearing portion 56R at the lower ends of the left leveling rotor support frame 55L and the right leveling rotor support frame 55R. Attached. Further, a left connecting member 58L and a right connecting member 58R, whose bases are rotatably attached to the transmission case 51, are connected to the left leveling rotor support frame 55L and the lower end of the left leveling rotor support frame 55L.

  The left bearing part 56L and the right bearing part 56R in which the lower ends of the left row evening support frame 55L and the right row evening support frame 55R rotatably support the left leveling rotor 50L and the right leveling rotor 50R are respectively provided to the left and right rear wheels 3, 3, the mud surface disturbed by the left and right rear wheels 3 and 3 is well leveled by the left leveling rotor 50L and the right leveling rotor 50R, and appropriate seedling transplanting work can be performed. .

  Further, due to the relationship between the arrangement positions of the left and right side floats 14L, 14R and the center float 14S, the center leveling rotor 50S in front of the center float 14S is the left leveling rotor 50L and the right leveling rotor 50R in front of the left and right side floats 14L, 14R. It is arranged more forward. That is, the left chain case 60L and the left chain case 60L are arranged from the inside of each of the left and right drive shafts 57L and 57R of the left leveling rotor 50L and the right leveling rotor 50R toward the front of the machine body. A central leveling rotor 50S is provided between 60R by pivotally supporting the central drive shaft 57S of the central leveling rotor 50S.

  Then, power is transmitted from the gear in the left gear case 61L of the rear wheel 3 to the left drive shaft 57L of the left leveling rotor 50L via the universal joint 59, and the center is transmitted from the left drive shaft 57L to the chain in the left chain case 60L. The power is transmitted to the center drive shaft 57S of the leveling rotor 50S, and the power is transmitted from the center drive shaft 57S to the right drive shaft 57R of the right leveling rotor 50R through the chain in the right chain case 60R.

  In the case of a structure in which the driving of the left leveling rotor 50L, the right leveling rotor 50R, and the central leveling rotor 50S is performed by a chain drive from a clutch sprocket fitted to a driving shaft that always rotates, the driving shaft that rotates when the clutch sprocket is turned off. In order to supply oil to the fitting portion of the clutch sprocket, an oil supply spline groove is formed on the drive shaft side.

  Since the left gear case 61L and the right gear case 61R are respectively transmitted from the left side clutch 83L and the right side clutch 83R in the transmission case 26, the driving on the inside of the turning is cut off when turning left and right, and the driving of one side of the rear wheel 3 is stopped. Stop.

  Further, a support member 63 in the vertical direction is rotatably connected to the distal end of the link member 62 whose base is fixed to the beam member 53, and the upper part is engaged with a plurality of engagement holes provided in the support member 63. The front part of the center leveling rotor 50S is suspended from the center part in the left-right direction via the spring 64.

Next, a configuration for adjusting the leveling rotor 50 in the vertical position and a configuration for moving the leveling rotor 50 to the storage position will be described.
A ground leveling rotor lifting / lowering motor 67 is attached to a U-shaped body 52b that is fixed downward at the center in the left-right direction of the support frame 52 of the seedling tank 11 and provided downward. Further, a bent piece 68 is fixed to the lower end portion of the leveling rotor raising / lowering motor 67. When the leveling rotor raising / lowering motor 67 rotates in the left-right direction of the machine body, the bent piece 68 rotates around the U-shaped body 52b of the support frame 52. The bent piece 68 pivots up and down by coming into contact with the protruding portion 53a fixed to the beam member 53 that is movably supported from below.

  Since the bent piece 68 is in contact with the lower portion of the projecting portion 53a, the projecting portion 53a is rotated upward in the right direction of the machine body of the leveling rotor lifting / lowering motor 67 (in the direction of arrow S in FIG. 4). It rotates around the member 53. Since the left and right support arms 54L and 54R and the left and right leveling rotor support frames 55L and 55R move upward by the upward rotation of the beam member 53, the left leveling rotor 50L and the right leveling rotor 50R move upward, and The link member 62 and the support member 63 whose bases are fixed to the beam member 53 are also moved upward, and the front portion of the central leveling rotor 50S is also moved upward via the spring 64.

  Conversely, when the leveling rotor raising / lowering motor 67 is rotated in the left direction of the machine body, the bent piece 68 is separated from the lower side of the protruding portion 53a, so that the protruding portion 53a is centered on the beam member 53 downward by the weight of the leveling rotor 50. Rotate. Since the left and right support arms 54L and 54R and the left and right leveling rotor support frames 55L and 55R move downward by the downward rotation of the beam member 53, the left leveling rotor 50L and the right leveling rotor 50R move downward, and The link member 62 and the support member 63 whose bases are fixed to the beam member 53 are also moved downward, and the front portion of the central leveling rotor 50S is also moved downward via the spring 64.

It is a side view of the riding type rice transplanter of the example of the present invention. It is a top view of the riding type rice transplanter of this invention Example. It is an enlarged side view of a rear-wheel axle. It is a detailed enlarged side sectional view of a rear wheel axle. It is a partial expanded sectional view. It is an expansion front sectional view of a front wheel axis part. It is a top view of a steering mechanism. It is a perspective view of a steering mechanism. It is a perspective view around a steering handle. It is a control block diagram of automatic control. It is a flowchart figure of turning interlocking control. It is an enlarged side view of a seedling planting part. It is a rear view which shows the support part of a leveling rotor. It is a rear part top view of riding type rice transplanter. It is a side view of the seedling box support frame of another Example. It is a deformation | transformation side view of the seedling box support frame of another Example. It is a partial expanded sectional view of the seedling loading tank lower part. It is an Example top view of the interlocking mechanism of fertilization and planting. It is an Example top view from which said operation state differed. It is an Example top view from which said operation state differed.

Explanation of symbols

1 vehicle body 2 front wheel 3 rear wheel 2S front wheel suspension mechanism 3S rear wheel suspension mechanism 115 control device 125 transmission shaft rotational speed sensor

Claims (1)

Front wheel suspension mechanism (2S) and rear wheel suspension mechanism (3S) that can adjust the elastic support force of the four wheels of the front wheels (2), (2) and the rear wheels (3), (3) that support the riding body (1) ), And at the left and right of the front wheels (2), (2) or the rear wheels (3), (3), the rotational speed of the transmission shaft is determined by detecting the rotational speed of the inner axle during turning. A sensor (125) is provided, and further, the elastic support force of the front wheel suspension mechanism (2S) and the rear wheel suspension mechanism (3S) is controlled, and the body turns from the detected rotation speed of the transmission shaft rotation speed sensor (125). When it is determined that the vehicle is in the state, the elastic support force on the inner side of the turning of the front wheel suspension mechanism (2S) and the rear wheel suspension mechanism (3S) should be changed so as to be relatively larger than the elastic support force on the outer side of the turn. Control equipment to control Riding a working machine provided with a (115).

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