JP4200967B2 - Ride type seedling transplanter - Google Patents

Description

  The present invention relates to a riding seedling transplanting machine in which a seedling transplanting device is mounted on a traveling vehicle via a lifting link device.

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 wheel.
JP 11-94051 A

  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.

  According to the first aspect of the present invention, seedling transplanting work is carried out on a traveling vehicle 1 provided with left and right rear wheels 7 driven via left and right side clutches I that separate the power from the left and right front wheels 6 and the engine 12 for steering. In the riding-type seedling transplanter provided with the device 3 so as to be movable up and down and capable of switching between a lowered working state and a raised storage state of a drawing marker 195 for marking a predetermined mark on a farm scene in the next process, When the left and right front wheels 6 are steered to a predetermined angle or more, a command to raise the seedling transplanting work device 3 is output to raise the seedling transplanting work device 3 and the side clutch I of the rear wheel 7 that is inside the turning is turned off. Based on detection of the number of rotations of the rear wheel 7 on the inside of the turn, the travel distance is calculated by the travel distance calculating means, and a command to lower the seedling transplanting work device 3 according to the travel distance is output to output the seedling transplant Lower work device 3 And is obtained by the the provided was riding seedling transplantation machine controller 170 for outputting a command to lower the drawing marker 195 after outputting a predetermined time command to lower the seedling porting device 3.

  Therefore, since the travel distance is calculated by the travel distance calculation means based on the detection of the rotation speed of the rear wheel 7 inside the turn where the side clutch I is disengaged, it is less susceptible to slips and the like than the driven wheel. The travel distance can be accurately calculated, and the appropriate seedling transplanting device 3 can be automatically lowered and the drawing marker 195 can be automatically lowered, so that optimum automatic turning control can be performed. In addition, since the command for lowering the drawing marker 195 is output after a predetermined time, the command for lowering the seedling transplanting device 3 is output. Work can be done.

  According to the present invention, it is possible to concentrate on the steering operation at the time of turning, and the aircraft can be turned easily and appropriately.

  The output of the descending command of the drawing marker 195 may be after the seedling transplanting device 3 is grounded to the field scene after the output of the descending command of the seedling transplanting device 3.

  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 seedling transplanting device with a lifting link device 2 on a traveling vehicle 1 and a fertilizer application device 4. It is configured to function as a rice transplanter. The traveling vehicle 1 is a four-wheel drive vehicle having a pair of left and right front wheels 6 and 6 and rear wheels 7 and 7 which are drive trains.

  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. In the rear differential device D, a gear G16 that meshes with the gear G15 of the traveling secondary shaft 52 is formed on the outer peripheral portion. A primary bevel gear G17 attached to the longitudinal axis 64 in the container and secondary bevel gears G18 and G18 attached separately to the left and right rear axles 60 and 60 are accommodated in mesh with each other. The driving force transmitted to the motor fluctuates appropriately.

  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 where 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 181 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 numerals 195 and 195 denote left and right line drawing markers provided on the left and right sides of the rice transplanting apparatus 3, which are respectively driven by left and right electric motors MO-M and MO-M that are driven and controlled by the marker vertical movement control means of the control device 170. It is configured to be movable up and down, and when it is moved down by the electric motor MO-M, it draws a line on the mud surface that becomes the center of the left and right of the next process, and is moved up by the electric motor MO-M. The rice planting apparatus 3 is stored in the front side of the seedling stage 163.

Reference numeral 200 denotes a spare seedling stage provided at the front part of the machine body, and 201 denotes a center mascot that is used as an indicator of straight traveling.
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. Then, 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 lifting control means of the control device 170, and the vertical position of the rice transplanter 3 is controlled by the hydraulic cylinder 160. Ascending / descending control is performed so that the swinging posture of the float 165 is within a permissible range of the reference posture with respect to the rice transplanter 3 set in advance (within the dead zone width).

  That is, when the front part of the center float 165 is lifted to an appropriate range or more (outside the allowable range of the standard posture) by external force, the hydraulic oil pumped out from the transmission case 11 by the hydraulic pump 13 is sent to the hydraulic cylinder 160. The piston is caused to protrude and the lifting link device 2 is moved up to raise the rice transplanting device 3 to a predetermined position, and when the front part of the center float 165 falls below the proper range (outside the allowable range of the standard posture), the hydraulic pressure is increased. When the pressure oil in the cylinder 160 is returned into the mission case 11, the lifting link device 2 is moved down to lower the rice transplanting device 3 to a predetermined position, and when the front part of the center float 165 is within an appropriate range (rice transplanting) When the device 3 is in a proper position), the pressure oil in the hydraulic cylinder 160 is stopped and the rice transplanter 3 is held in a fixed position. Rubeku are provided. As described above, the center float 165 is used as a ground sensor for automatic height control of the rice transplanter 3.

Next, a description will be given of rolling control in which the rice planting device 3 that is connected to the rear portion of the traveling vehicle 1 via the lifting link device 2 so as to be raised and lowered along the mud surface (horizontal surface) of the farm field during the rice planting operation.
The traveling vehicle 1 is provided with a tilt angular velocity sensor S1 that detects acceleration of a left / right tilt angle.

  The rice transplanter 3 is supported at the lower end of the rear vertical frame F1 of the lifting / lowering link device 2 so as to be rotatable (rolling) around a rolling axis R oriented in the front-rear direction. On the upper part of the vertical frame F1, a double rod type rolling hydraulic cylinder CY is provided in the left-right direction with the cylinder part fixed to the vertical frame F1. The left and right rods CYa and CYa of the cylinder and the left and right support columns F2a and F2a of the seedling stand frame F2 of the rice transplanter 3 are connected via links LI and LI. The rolling hydraulic cylinder CY operates with hydraulic fluid supplied by a hydraulic pump driven by a motor. When the rolling hydraulic cylinder CY is operated and the rods CYa and CYa slide left and right, the rice transplanter 3 rolls around the rolling axis R. The left / right tilt angle of the rice transplanter 3 is detected by the left / right tilt sensor S2. Further, the operation amount of the rolling hydraulic cylinder CY is detected by the stroke sensor S3.

  In the rice planting operation, the elevation control for controlling the height of the rice planting device 3 to the ground according to the unevenness of the topsoil surface, and the rolling control for controlling the posture of the rice planting device 3 around the rolling axis R according to the horizontal inclination of the topsoil surface, To maintain a constant seedling planting depth.

  In the rolling control, the detected value of the tilt angular velocity sensor S1 and the detected value of the left / right tilt sensor S2 are input to the control device 170, and the output amount to the motor is determined by the rolling control means based on a predetermined rule. The rice transplanter 3 is rolled so that the left / right tilt sensor S2 is within a dead zone of a predetermined target value (usually horizontal). In this case, when the right-and-left inclination changes abruptly, it is performed by a known method of controlling based on the detection result of the inclination angular velocity sensor S1. A well-known method of control using the tilt angular velocity sensor S1 and the left / right tilt sensor S2 is described in, for example, Japanese Patent Laid-Open No. 6-133612.

  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 The rice-planting apparatus 3 can be manually moved up and down by operating the electromagnetic hydraulic valve 161 by the lifting control means.

  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.

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 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 rice planting device raising means of the control device 170, and the rice planting 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 lowers the rice transplanter 3 and lowers the drawing marker 195 on the next process side to the drawing action state based on the detection of the rotation speed of the rear wheel 7 inside the turning. The PTO clutch is automatically engaged, and then 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 speed before turning.

  That is, when the steering handle 16 is turned by decelerating at the heel, the PTO clutch is turned “off”, the rice transplanter 3 is raised, and the side clutch I of the rear wheel 7 on the inside of the turn is turned off. The rotational speed of the wheel transmission shaft 89 is detected. When the transmission shaft rotational speed of the inner rear wheel 7 during turning 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.

FIG. 9 shows a flow of the turning interlock control.
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.

  When the steering handle 16 is rotated counterclockwise by 200 degrees or more in order to turn left (θ ≧ θ1 = left rotation 200 degrees), the detected rotation angle of the potentiometer PM is input to the controller 170, and the PTO clutch of the controller 170 is activated. The PTO clutch actuating solenoid 173 is operated by means, the PTO clutch for connecting / disconnecting the power provided in the fertilization drive case 168 is operated, and the power to the fertilizer application device 4 and the rice transplanting device 3 is turned off. Thereafter, the electromagnetic hydraulic valve 161 is controlled by the rice planting device raising means of the control device 170 to raise the rice planting device 3 to the maximum position by the hydraulic cylinder 160, and at the same time, the horizontal drawing marker 195 is lowered to the drawing operation state in the next process. 195 is determined by the marker vertical movement control means of the control device 170 (if the previous process has lowered the left line drawing marker 195, it is determined to move the right line drawing marker 195 down, and the previous process is determined to be the right line drawing marker 195) Is lowered, the left line drawing marker 195 is decided to be lowered, that is, the line drawing marker 195 on the opposite side of the previous step is decided to be lowered).

  In order to mount the seedling on the machine body, the next process is performed even if the rice planting apparatus 3 is lowered manually by putting the machine body in the middle of turning and manually raising the rice transplanting apparatus 3 again after loading the seedling. The determination of the left and right line drawing markers 195 and 195 to be lowered to the line drawing action state is not changed. In addition, the drawing marker 195 is programmed so as not to be lowered even if the rice transplanter 3 is lowered manually during the automatic turning control. Therefore, even if the seedling is replenished with the body mounted on the heel during the automatic turning control, after the replenishing of the seedling, an appropriate automatic turning is continued and good rice transplanting work can be performed with good workability.

  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. The control device controls the electric motor MO-M of the determined drawing marker 195 on the determined side 5 seconds after the lowering command of the rice transplanter 3 is issued (predetermined time until the rice transplanter 3 descends and contacts the mud surface). The marker vertical movement control means 170 issues a lowering command to lower the drawing marker 195 on the next process side. The drawing marker 195 is lowered after a predetermined time (5 seconds) after the lowering command of the rice transplanting device 3 is issued. If the drawing marker 195 is lowered before the rice transplanting device 3 is lowered, the drawing marker 195 is turned into a trap. Since it may be damaged due to contact, normally, the rice transplanter 3 is lowered and grounded after 5 seconds from the descending command of the rice transplanter 3, and the drawing marker 195 is in the grounded state in this grounded state. Is lowered, the drawing marker 195 can be prevented from coming into contact with the ridge and being damaged, and appropriate rice transplanting work can be performed.

  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).

  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.

  During 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.

  Further, the steering handle 16 is rotated by a predetermined amount or more (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 rotates up to 360 degrees to 400 degrees to the left and right) If it is turned to the left or right, the electric motor MO-H is actuated by the speed change electric motor actuating means of the control device 170 to shift the hydraulic speed change device HST to a low speed, thereby making the turning operation more effective. It becomes easy to do and workability is good.

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 electro-hydraulic valve 161 is controlled by the rice-planting device raising means of the device 170, and the rice-planting device 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. If 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.

  Moreover, as shown in the schematic plan view of the rice transplanter in FIGS. 1 and 2, side markers 210 are provided on both sides of the front part of the machine body, and a bar 210a parallel to the longitudinal direction of the machine body is arranged at the front end of the side marker. Thus, it becomes possible to easily confirm that the aircraft is parallel to the adjacent strips when performing seedling planting.

  Finally, in the above embodiment, the example is shown in which the side clutch I inside the turning of the left and right rear wheels 7, 7 is disengaged, but turning by applying the side brake J inside the turning of the left and right rear wheels 7, 7 You may make it the structure to carry out. Furthermore, the side clutch I inside the turning of the left and right rear wheels 7, 7 may be disengaged and the side brake J inside the turning may be applied for turning.

  Turning at the time of shore planting work is performed by turning off the above-mentioned automatic turning control. However, if the operator forgets to turn off the automatic turning control at the time of shore planting work, the drawing marker 195 is automatically lowered and damaged. There is a problem that the PTO clutch is automatically engaged at an inappropriate position and proper operation cannot be performed. Therefore, even if the operator forgets to turn off the automatic turning control at the time of planting work, the drawing marker 195 is not lowered during the automatic turning control so that an appropriate work can be performed (the drawing marker 195). If the electric motor MO-M of the drawing marker 195 stops operating, the lowering of the drawing marker 195 is stopped and the automatic turning control is turned off (at this time). Further, the drawing marker 195 in the middle of the descent may be raised, and it is further preferable that the operator is notified by voice that the automatic turning control has been switched to the manual mode. By controlling in this way, even if the operator forgets to turn off the automatic turning control at the time of the planting operation, the automatic turning control is automatically turned off, and the manual mode is set to perform an appropriate planting operation.

  It should be noted that the automatic mode position in which the left and right line drawing markers 195 are automatically switched and lowered, the cutting mode position in which no line drawing marker is lowered, the left lowering position in which the left line drawing marker is manually lowered, and the right lowering in which the right line drawing marker is manually lowered. It is also possible to provide a switch that can set both the position and the lowering position for manually lowering both the left and right line drawing markers, and when the switch is set to the off mode position, the automatic turning control may be cut off simultaneously.

  Turning at the time of shore planting work is performed by turning off the above-mentioned automatic turning control. However, if the operator forgets to turn off the automatic turning control at the time of shore planting work, the drawing marker 195 is automatically lowered and damaged. There is a problem that the PTO clutch is automatically engaged at an inappropriate position and proper operation cannot be performed. Therefore, even when the operator forgets to turn off the automatic turning control at the time of the planting operation, when the steering handle 16 is repeatedly operated from side to side during the automatic turning control so that an appropriate operation can be performed (the planting operation at the beach). When the steering handle 16 is operated several times to the left and right to establish a planting system), it is determined that the turning is not normal and the automatic turning control is turned off (therefore, even if the rice transplanter 3 is lowered, the line drawing is performed). The marker 195 does not descend). By controlling in this way, even if the operator forgets to turn off the automatic turning control at the time of the planting operation, the automatic turning control is automatically turned off, and the manual mode is set to perform an appropriate planting operation.

  The present invention can be applied to various riding-type seedling transplanting machines such as a riding-type vegetable transplanting machine and a riding-type grass transplanting machine in addition to the riding-type rice transplanting machine of the above embodiment.

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 front view of a rice transplanter. Example 1

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 2 Elevating link device 3 Seedling transplanting device (rice transplanting device)
6 left and right front wheels 7 left and right rear wheels 11 mission case 12 engine 16 steering handle 20 cockpit 170 controller 195 left and right draw marker I left and right side clutch

Claims (1)

  The traveling vehicle (1) is provided with left and right rear wheels (7) driven via left and right side clutches (I) for turning the power from the left and right front wheels (6) and the engine (12) separately. Riding that is mounted so that the transplanting device (3) can be moved up and down, and that the drawing marker (195) for marking a predetermined mark on the farm scene in the next process can be switched between a lowered working state and a raised storage state. In the type seedling transplanting machine, when the left and right front wheels (6) are steered to a predetermined angle or more, a command to raise the seedling transplanting device (3) is output to raise the seedling transplanting device (3), and the inside of the turn The travel distance is calculated by the travel distance calculation means on the basis of the detection of the rotational speed of the rear wheel (7) which is inside the turning by disengaging the side clutch (I) of the rear wheel (7) to be the travel distance Command to lower the seedling transplanting device (3) according to A control device (170) for outputting a command to lower the drawing marker (195) after a predetermined time after outputting a command to lower the seedling transplanting device (3) and lowering the seedling transplanting device (3). A riding seedling transplanter characterized by being provided.

Images