JP5215031B2 - Agricultural machine - Google Patents

Agricultural machine Download PDF

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Publication number
JP5215031B2
JP5215031B2 JP2008122549A JP2008122549A JP5215031B2 JP 5215031 B2 JP5215031 B2 JP 5215031B2 JP 2008122549 A JP2008122549 A JP 2008122549A JP 2008122549 A JP2008122549 A JP 2008122549A JP 5215031 B2 JP5215031 B2 JP 5215031B2
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amount
machine body
detection means
rear wheel
movement amount
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JP2009268418A (en
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佳久 藤田
直樹 松木
拓也 岡本
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Kubota Corp
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Description

本発明は、走行機体に作業装置を昇降自在に取り付け、農用粉粒体を供給する機構を備えている農作業機に関する。   The present invention relates to a farm work machine equipped with a mechanism for attaching a work device to a traveling machine body so as to be movable up and down and supplying agricultural powder particles.

農用粉粒体を供給するに、供給する機構として繰出し機構を設け、繰出し機構を電動モータによって駆動回転して、農用粉粒体を供給していた。そして、農用粉粒体の供給量として、走行機体の走行速度に比例した量を繰出していた（特許文献１）。
特開平０５−２９２８１１号公報（第３頁の左欄における第９行から第２３行、図２及び図４） In order to supply the agricultural granular material, a feeding mechanism is provided as a supply mechanism, and the feeding mechanism is driven and rotated by an electric motor to supply the agricultural granular material. And the quantity proportional to the travel speed of a traveling machine body was paid out as supply_amount | feed_rate of agricultural granular material (patent document 1).
Japanese Patent Laid-Open No. 05-29281 (line 9 to line 23 in the left column on page 3, FIGS. 2 and 4)

特許文献１で示された従来構造では、走行機体の車軸の回転数を走行機体の移動距離として検出していた。ところが、車輪がスリップを起こして空転している場合には、走行機体は移動していないにもかかわらず、移動しているものとして回転数をカウントされていることとなり、植付け面積に対応した適量に比べて多量の農用粉粒体を供給することとなる虞があった。   In the conventional structure shown in Patent Document 1, the rotational speed of the axle of the traveling machine body is detected as the travel distance of the traveling machine body. However, when the wheels are slipping and spinning idle, the traveling body is not moving, but the number of rotations is counted as moving, and an appropriate amount corresponding to the planting area Compared to the above, there is a possibility that a large amount of agricultural powder will be supplied.

本発明の目的は、車輪にスリップが生じていても、適量の農用粉粒体を供給することができる農作業機を提供する点にある。   An object of the present invention is to provide an agricultural machine capable of supplying an appropriate amount of agricultural granular material even if slip occurs on a wheel.

〔構成〕
請求項１に係る発明の特徴構成は、前記走行機体を駆動移動させる後輪の回転数を検出する駆動車輪回転数検出手段と、後下がり姿勢の状態で前記走行機体に上下揺動自在に支持してある揺動アームに取り付けられ前輪及び後輪の間に位置して前記走行機体の移動に伴って圃面上を転動する遊転体及び前記遊転体の回転数を検出する回転数検出センサで構成され、前記走行機体の移動量を検出する機体移動量検出手段とを設け、前記機体移動量検出手段を前記走行機体に取り付け、前記駆動車輪回転数検出手段の検出結果に基づく前記後輪の回転量と前記機体移動量検出手段の検出結果に基づく機体移動量とに基づいて前記後輪のスリップ率を算出し、前記後輪の回転量と前記スリップ率とに基づいて、前記供給する機構の供給量を調整する供給量調整手段を設けてあり、前記機体移動量検出手段の検出結果に基づいて前記走行機体の走行距離を表示する手段を、運転操縦部に備えている点にあり、その作用効果は次の通りである。 〔Constitution〕
According to a first aspect of the present invention, there is provided a driving wheel rotational speed detecting means for detecting a rotational speed of a rear wheel for driving and moving the traveling machine body, and a vertically swinging support on the traveling machine body in a state of a rearwardly lowered posture. A rotating body mounted on a swing arm that is positioned between a front wheel and a rear wheel and rolls on the field as the traveling machine moves, and a rotational speed for detecting the rotational speed of the freewheeling body. A vehicle movement amount detection means configured to detect a movement amount of the traveling machine body, the aircraft movement amount detection means attached to the traveling machine body, and based on a detection result of the drive wheel rotation number detection means; The slip ratio of the rear wheel is calculated based on the rotation amount of the rear wheel and the airframe movement amount based on the detection result of the airframe movement amount detection means, and based on the rotation amount of the rear wheel and the slip ratio, Adjust the supply amount of the supply mechanism Supply amount adjusting means is provided, and the means for displaying the travel distance of the traveling machine body based on the detection result of the airframe movement amount detecting means is provided in the driving control unit. Street.

〔作用〕
駆動車輪回転数検出手段とともに、走行機体の移動量を検出する機体移動量検出手段を導入して、供給量の適正化を図るべく、まず、後輪のスリップ率を算出することとする。
つまり、駆動車輪回転数検出手段の検出値である後輪の回転数に作動時間を掛け合わせて回転量を算出し、その回転量と後輪の車輪径とを掛け合わせて、後輪の見掛け上の移動量を算出する。その見掛け上の移動量から、機体移動量検出手段の検出結果としての走行機体の移動量を差し引けば、後輪のスリップした回転量に相当する移動量が算出される。このスリップ回転量を後輪の見掛け上の移動量で割り算することによって、後輪のスリップ率が計算できる。
このスリップ率に対応した分だけ、余分の量が供給されたこととなり、その分だけ供給量調整手段によって調整すること（減らすこと）が可能となる。
また、走行機体の移動に伴って圃面上を転動する遊転体は、後輪がスリップしている場合は回転しない。したがって、後輪の回転量を遊転体の回転量から差し引くことによってスリップした回転量が算出でき、スリップ率が容易に算出できる。
また、走行機体のメインテナンス時期を明示する表示としてはアワメータがあった。アワメータはエンジン回転数から算出したものであるので、実走行距離とは一致しない数値となっていた。そうすると、アワメータが表示する数値に基づいてオイル交換等のメインテナンスを行うことは、走行に関連する機器に対するメインテナンス時期として適正さを欠くこととなる虞もあった。
そこで、本願発明においては、機体移動量検出手段の検出数値を活用して、走行距離を表示することとした。 [Action]
First, the slip ratio of the rear wheels is calculated in order to introduce the airframe movement amount detection means for detecting the movement amount of the traveling machine body together with the drive wheel rotation speed detection means, and to optimize the supply amount.
In other words, the amount of rotation is calculated by multiplying the number of rotations of the rear wheel , which is a detection value of the drive wheel rotation number detection means, by the operating time, and the amount of rotation is multiplied by the wheel diameter of the rear wheel to obtain the appearance of the rear wheel . Calculate the amount of movement above. By subtracting the travel amount of the traveling body as a detection result of the body movement amount detection means from the apparent amount of movement, a movement amount corresponding to the slip rotation amount of the rear wheel is calculated. By dividing the movement amount of the apparent rear wheel slip rotation amount, the slip ratio of the rear wheel can be calculated.
The extra amount corresponding to the slip ratio is supplied, and it is possible to adjust (reduce) the supply amount by that amount.
In addition, the rolling element that rolls on the field with the movement of the traveling machine does not rotate when the rear wheel is slipping. Therefore, the slip rotation amount can be calculated by subtracting the rotation amount of the rear wheel from the rotation amount of the idler, and the slip ratio can be easily calculated.
In addition, there was an hour meter as a display for clearly indicating the maintenance time of the traveling aircraft. Since the hour meter was calculated from the engine speed, it was a numerical value that did not match the actual travel distance. Then, performing maintenance such as oil change based on the numerical value displayed by the hour meter may be inadequate as a maintenance time for equipment related to traveling.
Therefore, in the present invention, the travel distance is displayed by utilizing the detection value of the airframe movement amount detection means.

〔効果〕
機体移動量検出手段を追加するだけの簡単な構造の追加によって、後輪のスリップ量を直接的に把握することができ、農用粉粒体の供給量を調整し、適正な量で農用粉粒体の供給を行うことができる。
しかも、機体移動量検出手段を走行機体に取り付けてあるので、次のような効果がある。例えば、昇降リンク等に取り付けた場合には、作業装置を上昇させて移動する場合には、機体移動量を検出することができない。
これに対して、本願発明の場合には、機体移動量検出手段を走行機体に取り付けてあるので、作業装置を上昇させて移動する場合にも、作業装置を上昇させずに移動する場合と同様に機体移動量を検出できる。
したがって、スリップ率の検出精度を向上させることができ、農用粉粒体の供給をより適正な量にできる。
また、揺動アームに取り付けた遊転体を導入するだけの簡単な改良を施すだけで、農用粉粒体の供給をより適正に行うことができた。
また、走行距離を表示することによって、オイル交換等のメインテナンス作業の目安となる。 〔effect〕
By adding a simple structure that only adds airframe movement detection means, it is possible to directly grasp the slip amount of the rear wheel , adjust the supply amount of agricultural powder, and adjust the amount of agricultural powder to an appropriate amount. The body can be supplied.
In addition, since the airframe movement amount detection means is attached to the traveling airframe, the following effects are obtained. For example, when it is attached to an elevating link or the like, the amount of movement of the body cannot be detected when the work device is moved up.
On the other hand, in the case of the present invention, since the airframe movement amount detection means is attached to the traveling airframe, the case where the work device is moved up is the same as the case where the work device is moved up without being raised. The amount of airframe movement can be detected.
Therefore, the detection accuracy of the slip ratio can be improved, and the supply of agricultural powder can be made more appropriate.
Moreover, it was possible to more appropriately supply the agricultural powder by simply making a simple improvement by introducing an idler attached to the swing arm.
In addition, displaying the travel distance provides a guide for maintenance work such as oil change.

〔構成〕
請求項２に係る発明の特徴構成は、前記走行機体を駆動移動させる後輪の回転数を検出する駆動車輪回転数検出手段と、後下がり姿勢の状態で前記走行機体に上下揺動自在に支持してある揺動アームに取り付けられ前輪及び後輪の間に位置して前記走行機体の移動に伴って圃面上を転動する遊転体及び前記遊転体の回転数を検出する回転数検出センサで構成され、前記走行機体の移動量を検出する機体移動量検出手段とを設け、前記機体移動量検出手段を前記走行機体に取り付け、前記駆動車輪回転数検出手段の検出結果に基づく前記後輪の回転量と前記機体移動量検出手段の検出結果に基づく機体移動量とに基づいて前記後輪のスリップ率を算出し、前記後輪の回転量と前記スリップ率とに基づいて、前記供給する機構の供給量を調整する供給量調整手段を設けてあり、前記機体移動量検出手段の検出結果を利用して既植面積を表示する手段を、運転操縦部に備えている点にあり、その作用効果は次の通りである。 〔Constitution〕
According to a second aspect of the present invention, there is provided a driving wheel rotational speed detecting means for detecting a rotational speed of a rear wheel for driving and moving the traveling machine body, and a vertically swinging support supported on the traveling machine body in a rear lowered posture. A rotating body mounted on a swing arm that is positioned between a front wheel and a rear wheel and rolls on the field as the traveling machine moves, and a rotational speed for detecting the rotational speed of the freewheeling body. A vehicle movement amount detection means configured to detect a movement amount of the traveling machine body, the aircraft movement amount detection means attached to the traveling machine body, and based on a detection result of the drive wheel rotation number detection means; The slip ratio of the rear wheel is calculated based on the rotation amount of the rear wheel and the airframe movement amount based on the detection result of the airframe movement amount detection means, and based on the rotation amount of the rear wheel and the slip ratio, Adjust the supply amount of the supply mechanism A supply amount adjusting means is provided, and the means for displaying the existing planting area using the detection result of the airframe movement amount detecting means is provided in the driving control unit, and its operation and effects are as follows. is there.

〔作用効果〕
駆動車輪回転数検出手段とともに、走行機体の移動量を検出する機体移動量検出手段を導入して、供給量の適正化を図るべく、まず、後輪のスリップ率を算出することとする。
つまり、駆動車輪回転数検出手段の検出値である後輪の回転数に作動時間を掛け合わせて回転量を算出し、その回転量と後輪の車輪径とを掛け合わせて、後輪の見掛け上の移動量を算出する。その見掛け上の移動量から、機体移動量検出手段の検出結果としての走行機体の移動量を差し引けば、後輪のスリップした回転量に相当する移動量が算出される。このスリップ回転量を後輪の見掛け上の移動量で割り算することによって、後輪のスリップ率が計算できる。
このスリップ率に対応した分だけ、余分の量が供給されたこととなり、その分だけ供給量調整手段によって調整すること（減らすこと）が可能となる。
したがって、機体移動量検出手段を追加するだけの簡単な構造の追加によって、後輪のスリップ量を直接的に把握することができ、農用粉粒体の供給量を調整し、適正な量で農用粉粒体の供給を行うことができる。
しかも、機体移動量検出手段を走行機体に取り付けてあるので、次のような効果がある。例えば、昇降リンク等に取り付けた場合には、作業装置を上昇させて移動する場合には、機体移動量を検出することができない。
これに対して、本願発明の場合には、機体移動量検出手段を走行機体に取り付けてあるので、作業装置を上昇させて移動する場合にも、作業装置を上昇させずに移動する場合と同様に機体移動量を検出できる。
したがって、スリップ率の検出精度を向上させることができ、農用粉粒体の供給をより適正な量にできる。
また、走行機体の移動に伴って圃面上を転動する遊転体は、後輪がスリップしている場合は回転しない。したがって、後輪の回転量を遊転体の回転量から差し引くことによってスリップした回転量が算出でき、スリップ率が容易に算出できる。
このように、揺動アームに取り付けた遊転体を導入するだけの簡単な改良を施すだけで、農用粉粒体の供給をより適正に行うことができた。
また、既植面積を表示できるので、植付け作業等に関連する機器のメインテナンスを適正な時期に行うことができる。 [Function and effect]
First, the slip ratio of the rear wheels is calculated in order to introduce the airframe movement amount detection means for detecting the movement amount of the traveling machine body together with the drive wheel rotation speed detection means, and to optimize the supply amount.
In other words, the amount of rotation is calculated by multiplying the number of rotations of the rear wheel , which is a detection value of the drive wheel rotation number detection means, by the operating time, and the amount of rotation is multiplied by the wheel diameter of the rear wheel to obtain the appearance of the rear wheel . Calculate the amount of movement above. By subtracting the travel amount of the traveling body as a detection result of the body movement amount detection means from the apparent amount of movement, a movement amount corresponding to the slip rotation amount of the rear wheel is calculated. By dividing the movement amount of the apparent rear wheel slip rotation amount, the slip ratio of the rear wheel can be calculated.
The extra amount corresponding to the slip ratio is supplied, and it is possible to adjust (reduce) the supply amount by that amount.
Therefore, by adding a simple structure that only adds airframe movement detection means, it is possible to directly grasp the slip amount of the rear wheel , adjust the supply amount of agricultural powder, and use the appropriate amount for agriculture. A powder and granular material can be supplied.
In addition, since the airframe movement amount detection means is attached to the traveling airframe, the following effects are obtained. For example, when it is attached to an elevating link or the like, the amount of movement of the body cannot be detected when the work device is moved up.
On the other hand, in the case of the present invention, since the airframe movement amount detection means is attached to the traveling airframe, the case where the work device is moved up is the same as the case where the work device is moved up without being raised. The amount of airframe movement can be detected.
Therefore, the detection accuracy of the slip ratio can be improved, and the supply of agricultural powder can be made more appropriate.
In addition, the rolling element that rolls on the field with the movement of the traveling machine does not rotate when the rear wheel is slipping. Therefore, the slip rotation amount can be calculated by subtracting the rotation amount of the rear wheel from the rotation amount of the idler, and the slip ratio can be easily calculated.
Thus, it was possible to more appropriately supply the agricultural powder and granule by simply making a simple improvement by introducing the rolling element attached to the swing arm.
In addition, since the existing planting area can be displayed, maintenance of equipment related to planting work and the like can be performed at an appropriate time.

図１に、８条植え仕様に構成された施肥装置付き田植機の全体側面が示されている。この施肥装置付き田植機は、操向可能な前輪１および操向不能な後輪２を備えて４輪駆動で走行する走行機体３の後部に、８条植え仕様の苗植付け装置４が、油圧シリンダ５によって駆動される平行四連リンク構造の昇降リンク機構６の後端部に連結されるとともに、機体後部に農用粉粒体を供給する機構としての施肥装置７が備えられた基本構造を有している。苗植付け装置４と施肥装置７とで作業装置を構成する。   The whole side surface of the rice transplanter with a fertilizer applicator comprised by the 8-row planting specification is shown by FIG. In this rice transplanter with a fertilizer application, a seedling planting device 4 of an eight-row planting specification is hydraulically mounted at the rear of a traveling machine body 3 that has a front wheel 1 that can be steered and a rear wheel 2 that cannot be steered and that travels by four-wheel drive. It has a basic structure equipped with a fertilizer application device 7 as a mechanism that is connected to the rear end portion of the lifting / lowering link mechanism 6 of the parallel quadruple link structure driven by the cylinder 5 and supplies the agricultural granular material to the rear portion of the machine body. doing. The seedling planting device 4 and the fertilizer application device 7 constitute a working device.

前記走行機体３の前部にはエンジン８が搭載され、その出力が前後進の切り換えが可能な主変速装置である静油圧式無段変速装置（ＨＳＴ）９に伝達され、その変速出力がミッションケース１０に入力されて更にギヤ変速された後、前輪１と後輪２に伝達されるようになっている。   An engine 8 is mounted on the front portion of the traveling machine body 3, and its output is transmitted to a hydrostatic continuously variable transmission (HST) 9 which is a main transmission capable of switching between forward and backward travel, and the transmission output is transmitted to the mission. After being input to the case 10 and further gear-shifted, it is transmitted to the front wheel 1 and the rear wheel 2.

前記苗植付け装置４は昇降リンク機構６の後端部に脱着可能に連結支持されており、横長角筒状の植付けフレーム１１、前記ミッションケース１０から取り出された作業用動力を受けるフィードケ−ス１２、マット状苗を載置して一定ストロークで往復横移動する苗のせ台１３、苗のせ台１３の下端から一株分づつ苗を切り出して植付ける８組の回転式の植付け機構１４、圃場の植付け予定箇所を均平にする５個の整地フロート１５が備えられており、前記植付け機構１４は、植付けフレーム１１に後向き片持ち状に並列連結された４個の植付けケース１６の後部左右に２組づつ装着されている。   The seedling planting device 4 is detachably coupled to and supported by the rear end portion of the lift link mechanism 6, and has a horizontally long cylindrical planting frame 11 and a feed case 12 that receives working power taken out from the mission case 10. , A seedling stage 13 on which mat-like seedlings are placed and reciprocally moved laterally with a fixed stroke; eight sets of rotary planting mechanisms 14 for cutting out and planting seedlings one by one from the lower end of the seedling stage 13; There are provided five leveling floats 15 for leveling the planned planting locations, and the planting mechanism 14 has two rear left and right sides of four planting cases 16 connected in parallel in a rearward cantilever manner to the planting frame 11. It is installed in pairs.

前記施肥装置７は、その主部が機体後部に配備された運転座席１７と前記苗植付け装置４との間において走行機体３に搭載されており、粉粒状の肥料を貯留する肥料ホッパ２１、この肥料ホッパ２１内の肥料を繰り出す４組の繰出し機構２２、繰り出された肥料を供給ホース２３を介して苗植付け装置４の各整地フロート１５に備えた作溝器２４に風力搬送するブロワ２５、これを駆動する電動モータ２６、ブロワ２５からの搬送風を繰出し機構２２に分配供給する送風ダクト２７、などを備えている。   The fertilizer application device 7 is mounted on the traveling machine body 3 between the driving seat 17 provided at the rear part of the machine body and the seedling planting apparatus 4, and a fertilizer hopper 21 for storing powdered fertilizer, Four sets of feeding mechanisms 22 that feed out the fertilizer in the fertilizer hopper 21, and a blower 25 that wind-feeds the fed fertilizer to the grooving device 24 provided in each leveling float 15 of the seedling planting device 4 through the supply hose 23. An electric motor 26 for driving the air, a blower duct 27 for distributing and supplying the conveying air from the blower 25 to the feeding mechanism 22, and the like.

図１に示すように、４組の繰出し機構２２は、肥料ホッパ２１の下端に連結される４個の繰出しケース３０のそれぞれに２条分の繰出しロール（図示せず）を装備して構成されており、各繰出し機構２２に２本ずつ前記供給ホース２３が接続され、もって、８条分の肥料繰り出し供給が可能となっている。   As shown in FIG. 1, the four sets of feeding mechanisms 22 are configured such that each of the four feeding cases 30 connected to the lower end of the fertilizer hopper 21 is equipped with two feeding rolls (not shown). In addition, two supply hoses 23 are connected to each feeding mechanism 22 so that eight manure feeds can be fed.

次に、繰出し機構２２の駆動構造について説明する。並列配備された４組の繰出し機構２２に亘って全条共通の繰出し操作軸４１が横架され、この繰出し操作軸４１に備えた駆動ギヤ４２と繰出しロール軸４３に備えた従動ギヤ４４とが咬合連動されるとともに、繰出し操作軸４１自体は、ミッションケース１０から後向きに導出されて走行機体３の下部に沿って配備された走行駆動軸４５に分岐機構４６を介して連動連結されている。   Next, the drive structure of the feeding mechanism 22 will be described. A common feed operation shaft 41 is horizontally installed across the four sets of feed mechanisms 22 arranged in parallel, and a drive gear 42 provided on the feed operation shaft 41 and a driven gear 44 provided on the feed roll shaft 43 are provided. In addition to being interlocked with each other, the feeding operation shaft 41 itself is linked to a travel drive shaft 45 that is led backward from the mission case 10 and provided along the lower portion of the traveling machine body 3 via a branch mechanism 46.

前記分岐機構４６は、走行駆動軸４５に設けられており、この分岐機構４６から繰出し操作軸４１に向けて、操作ロッド４８が上方に延出されている。前記繰出し操作軸４１に装着した操作アーム４７と操作ロッド４８の上端部とが連動連結され、操作ロッド４８のクランク運動に伴って操作アーム４７が往復揺動し、その往復揺動が繰出し操作軸４１に伝達され、繰出し操作軸４１が脈動的に所定方向に回転駆動されることで、繰出し操作軸４１にギヤ連動された繰出しロール軸４３が、所定の繰出し回転方向（この例では反時計方向）に回転駆動されるようになっている。   The branch mechanism 46 is provided on the travel drive shaft 45, and an operation rod 48 extends upward from the branch mechanism 46 toward the feeding operation shaft 41. The operation arm 47 mounted on the feeding operation shaft 41 and the upper end of the operation rod 48 are interlocked and connected, and the operation arm 47 reciprocally swings along with the crank movement of the operation rod 48. 41, and the feeding operation shaft 41 is pulsatically rotated in a predetermined direction so that the feeding roll shaft 43 geared to the feeding operation shaft 41 is rotated in a predetermined feeding rotation direction (in this example, counterclockwise). ) Is driven to rotate.

次に、施肥装置７における繰出し量調整構造について説明する。図２に示すように、後輪２に対して駆動車輪回転数検出手段３１と機体移動量検出手段３２を設ける。駆動車輪回転数検出手段３１としては、後車軸ケース３３内に収納された後車軸（図示せず）の回転数を近接センサ（図示せず）で検出し、近接センサからの検出パルス数に基づいて、後輪２の回転数を計測すべく構成する。   Next, the feeding amount adjustment structure in the fertilizer application device 7 will be described. As shown in FIG. 2, drive wheel rotation speed detection means 31 and airframe movement amount detection means 32 are provided for the rear wheel 2. The drive wheel rotation speed detection means 31 detects the rotation speed of the rear axle (not shown) housed in the rear axle case 33 with a proximity sensor (not shown), and based on the number of detected pulses from the proximity sensor. And configured to measure the rotational speed of the rear wheel 2.

機体移動量検出手段３２について説明する。図１に示すように、機体移動量検出手段３２は、走行機体３に対して揺動自在に取り付けた揺動アーム３２Ａと、揺動アーム３２Ａの先端部に走行機体３の移動に伴って圃面上を転動する遊転体３２Ｂと、遊転体３２Ｂの回転数を検出する回転数検出センサ３２Ｃとを備えて構成してある。   The airframe movement amount detection means 32 will be described. As shown in FIG. 1, the machine body movement amount detection means 32 includes a swing arm 32A that is swingably attached to the traveling machine body 3, and a field that moves along with the movement of the traveling machine body 3 at the tip of the swing arm 32A. An idler 32B that rolls on the surface and a rotational speed detection sensor 32C that detects the rotational speed of the idler 32B are provided.

上記構成に対して、次のような変更を加えてもよい。
（１） 揺動アーム３２Ａに付勢手段を作用させて、圃面に対する追従性を高めてもよい。
（２） 揺動アーム３２Ａと走行機体３との間にシリンダを架設し、揺動アーム３２Ａをシリンダで昇降自在に構成してもよい。しかも、手動スイッチを設けて、手動スイッチに対する操作で揺動アーム３２Ａを任意に昇降させる構成を採ってもよい。
（３） 揺動アーム３２Ａを着脱自在に構成してもよい。 You may add the following changes with respect to the said structure.
(1) An urging means may be applied to the swing arm 32A to improve followability to the farm surface.
(2) A cylinder may be installed between the swing arm 32A and the traveling machine body 3, and the swing arm 32A may be configured to be moved up and down by the cylinder. In addition, a configuration may be adopted in which a manual switch is provided and the swing arm 32A is arbitrarily moved up and down by an operation on the manual switch.
(3) The swing arm 32A may be detachable.

図２に示すように、駆動車輪回転数検出手段３１と機体移動量検出手段３２とからの検出情報を制御手段３４に投入し、制御手段３４において後輪２のスリップ率を計算する。このスリップ率に基づいて粉粒体繰出調整用コントローラ３５によって施肥装置７の繰出し量を調整する。   As shown in FIG. 2, detection information from the drive wheel rotation number detection means 31 and the airframe movement amount detection means 32 is input to the control means 34, and the control means 34 calculates the slip ratio of the rear wheel 2. Based on this slip ratio, the feed amount of the fertilizer application device 7 is adjusted by the powder feed adjustment controller 35.

具体的な調整構造としては、図示はしていないが、操作アーム４７にその操作アーム４７の長手方向に沿った長孔を形成し、操作ロッド４８にその長孔に係合する係合ピンを突設させて、操作アーム４７と操作ロッド４８との連係部位を変更する構造を構成する。この係合ピンを長孔に沿って位置変更するアクチュエータを設け、粉粒体繰出調整用コントローラ３５によってアクチュエータを駆動し、係合ピンと長孔との連係部位を自動的に変更する構成を採る。これによって、スリップ率が大である程繰出し量を少なくするように、係合ピンの位置を調整する。
以上のような制御構成を、供給する機構の供給量を調整する供給量調整手段と称する。 As a specific adjustment structure, although not shown, a long hole is formed in the operation arm 47 along the longitudinal direction of the operation arm 47, and an engagement pin that engages with the long hole is formed on the operation rod 48. A structure is provided in which the connecting portion between the operating arm 47 and the operating rod 48 is changed by projecting. An actuator for changing the position of the engagement pin along the long hole is provided, and the actuator is driven by the powder feed adjustment controller 35 to automatically change the link portion between the engagement pin and the long hole. As a result, the position of the engagement pin is adjusted so that the feeding amount decreases as the slip ratio increases.
The control configuration as described above is referred to as supply amount adjusting means for adjusting the supply amount of the supplying mechanism.

次に、走行距離表示構造について説明する。図１に示すように、機体移動量検出手段３２の検出結果に基づいて走行機体３の走行距離を表示する手段を、運転操縦部Ａに備えている。運転操縦部Ａには、運転座席１７の前方における操縦パネル２８に走行距離を表示する。走行距離は、制御装置３４によって制御される操作パネル表示用コントローラ２９によって、表示される。   Next, the travel distance display structure will be described. As shown in FIG. 1, the driving control unit A includes means for displaying the travel distance of the traveling machine body 3 based on the detection result of the machine body movement amount detection means 32. In the driving control section A, the travel distance is displayed on the control panel 28 in front of the driver seat 17. The travel distance is displayed by the operation panel display controller 29 controlled by the control device 34.

走行距離を表示することによって、オイル交換等のメインテナンス作業の目安となる。
また、機体移動量検出手段３２の検出結果を利用して、操作パネル２８に既植苗の植付け面積を表示してもよい。そうすると、田植機の中で最も消耗品として考えられている植付爪の交換時期をより適正なものにできる。 By displaying the distance traveled, it becomes a guideline for maintenance work such as oil change.
In addition, the planting area of the existing seedlings may be displayed on the operation panel 28 using the detection result of the body movement amount detection means 32. If it does so, the exchange time of the planting nail | claw considered to be the most consumable goods in a rice transplanter can be made more appropriate.

旋回時の苗植付け装置４に対する昇降作動、植付クラッチ２０の入切り制御について説明する。図２に示すように、走行機体３が旋回中であるか否かを検出する旋回角度センサ３６を設ける。旋回角度センサ３６は、旋回操作系のピットマンアーム（図示せず）の旋回作動を検出すべく構成する。   The raising / lowering operation | movement with respect to the seedling planting apparatus 4 at the time of turning, and the on / off control of the planting clutch 20 are demonstrated. As shown in FIG. 2, a turning angle sensor 36 that detects whether or not the traveling machine body 3 is turning is provided. The turning angle sensor 36 is configured to detect a turning operation of a pitman arm (not shown) of the turning operation system.

走行機体３が後進状態にあると、苗植付装置４を上昇作動させるバックアップ制御が行われる。このバックアップ制御を司る為に、バックアップスイッチ３９が設けてある。バックアップスイッチ３９は、主変速レバー３８のレバーガイド部分に設けてあり、主変速レバー３８を後進側に操作すると、バックアップスイッチ３９を入り（オン）操作し、主変速レバー３８を前進側に操作すると、バックアップスイッチ３９を切り（オフ）操作する。   When the traveling machine body 3 is in the reverse drive state, backup control for raising the seedling planting device 4 is performed. In order to control this backup control, a backup switch 39 is provided. The backup switch 39 is provided in the lever guide portion of the main transmission lever 38. When the main transmission lever 38 is operated to the reverse side, the backup switch 39 is turned on (on) and the main transmission lever 38 is operated to the forward side. Then, the backup switch 39 is turned off.

制御手段３４は、バックアップスイッチ３９からのオンオフ信号に基づいて、苗植付装置４の昇降作動、及び、植付クラッチ４０を入り切り操作する駆動手段としての電動式のクラッチモータ４２の作動を制御する。
苗植付装置４等の昇降作動を司る第１タイマー３７Ａ、及び、植付クラッチ４０を入制御する第２タイマー３７Ｂを設けて、制御手段３４に連係してある。 The control means 34 controls the raising / lowering operation of the seedling planting device 4 and the operation of an electric clutch motor 42 as a driving means for turning on and off the planting clutch 40 based on an on / off signal from the backup switch 39. .
A first timer 37A for controlling the raising / lowering operation of the seedling planting device 4 and the like and a second timer 37B for controlling the on / off of the planting clutch 40 are provided and linked to the control means 34.

以上記述したようなセンサ等を利用して、旋回状態での苗植付装置４の昇降作動を制御する。旋回状態での田植機の運転状態は、図３に示すように、次のようになっている。
（１） 植付け作業を行っている田植機は、走行機体３の先端部が畦に到達する位置（ａ）まで前進（Ｌ１）して停止する。その場合に、同時に植付クラッチ４０も切り操作されて植付け作業が停止する。このように、走行機体３の先端部が畦に到達する位置で植付けを停止すると、畦から植え終わり位置までの幅（Ｗ）が特に８条植えの田植機の植付幅に相当するものとなる。このことによって、植付工程の最終段階で枕地を回り植えする際に、既植苗を踏みつけることなく、かつ、植え残しを作ることなく、回り植えを行うことができる。
（２） 植付け作業が停止すると、田植機は一旦後進（Ｌ２）する。その場合に、バックアップスイッチ３９がオン作動して、苗植付装置４は上昇作動する。 The raising / lowering operation | movement of the seedling planting apparatus 4 in a turning state is controlled using a sensor etc. which were described above. The operation state of the rice transplanter in the turning state is as follows, as shown in FIG.
(1) The rice transplanter performing the planting operation moves forward (L1) to the position (a) where the tip of the traveling machine body 3 reaches the ridge and stops. In that case, the planting clutch 40 is simultaneously turned off and the planting operation is stopped. Thus, when planting is stopped at the position where the tip of the traveling machine body 3 reaches the cocoon, the width (W) from the cocoon to the planting end position corresponds to the planting width of the 8-plant rice transplanter in particular. Become. Accordingly, when planting around the headland in the final stage of the planting process, it is possible to perform the planting without stepping on the existing planted seedling and without making a planting residue.
(2) When the planting operation is stopped, the rice transplanter once moves backward (L2). In that case, the backup switch 39 is turned on, and the seedling planting device 4 is raised.

（３） 田植機は後進停止した後に再び前進する（Ｌ３）。主変速レバー３８を前進操作位置に操作すると、田植機は前進を開始するとともに、バックアップスイッチ３９がオフとなる。
（４） 一定程度前進した位置（ｂ）で、運転者は旋回操作を開始する。そうすると、旋回角度センサ３６が旋回作動を捉える。旋回角度センサ３６が旋回作動を捉えとともにバックアップスイッチ３９がオフとなっているので、第１タイマー３７Ａ及び第２タイマー３７Ｂが作動を開始する。 (3) The rice transplanter moves forward again after stopping reverse (L3). When the main transmission lever 38 is operated to the forward operation position, the rice transplanter starts moving forward and the backup switch 39 is turned off.
(4) The driver starts the turning operation at the position (b) advanced by a certain amount. Then, the turning angle sensor 36 captures the turning operation. Since the turning angle sensor 36 detects the turning operation and the backup switch 39 is turned off, the first timer 37A and the second timer 37B start the operation.

（５） 田植機は旋回作動を継続し（Ｌ４）、第１タイマー３７ＡがＸ秒経過したことをカウントすると、旋回途中位置（ｃ）において苗植付装置４の下降作動を開始する。
（６） 田植機が旋回を略終えて条合わせの直進走行を行いながら（Ｌ５）、第２タイマー３７ＢがＹ秒経過したことをカウントすると、位置（ｄ）で植付クラッチ４０が入り作動する。
（７） 尚、前記した田植機が旋回作動を開始した後に、再度、後進作動した場合や切り返し操作が行われた場合には、第１、第２タイマー３７Ａ、３７Ｂでの苗植付装置４の下降作動、植付クラッチ４０の入り作動は自動では行わない。この場合には、運転者の人為的操作に切り換わる。
（８） 駆動車輪回転数検出手段３１と機体移動量検出手段３２とによって走行機体３の速度が検出されているので、この速度によって前記したＹ秒については、修正を施してもよい。 (5) The rice transplanter continues the turning operation (L4), and when the first timer 37A counts that X seconds have elapsed, it starts the lowering operation of the seedling planting device 4 at the turning middle position (c).
(6) While the rice transplanter has almost finished turning and is running straight ahead (L5), when the second timer 37B counts that Y seconds have elapsed, the planting clutch 40 is engaged and operated at position (d). .
(7) In addition, after the above-mentioned rice transplanter starts the turning operation, when the reverse operation is performed again or when the turn-back operation is performed, the seedling planting device 4 in the first and second timers 37A and 37B is used. The lowering operation and the engagement operation of the planting clutch 40 are not performed automatically. In this case, the operation is switched to an artificial operation by the driver.
(8) Since the speed of the traveling vehicle body 3 is detected by the drive wheel rotational speed detection means 31 and the airframe movement amount detection means 32, the Y seconds described above may be corrected by this speed.

〔別実施形態〕
（１） 農用粉粒体を供給する機構として、薬剤散布装置（図示せず）や種籾の直播装置（図示せず）に適用してもよい。薬剤散布装置や直播装置を走行駆動軸４５に連係して動力取出しを行い、前記したスリップ率を考慮して、薬剤散布量を薬剤散布調整用コントローラ３３や直播調整用コントローラ（図示せず）で調整するように構成してもよい。 [Another embodiment]
(1) As a mechanism for supplying agricultural powder particles, the present invention may be applied to a chemical spraying device (not shown) and a seed sowing device (not shown). The medicine spraying device or the direct seeding device is connected to the travel drive shaft 45 to take out the power, and the amount of the medicine sprayed is controlled by the drug spraying adjustment controller 33 or the direct seeding adjustment controller (not shown) in consideration of the slip rate described above. You may comprise so that it may adjust.

田植機の全体側面図Whole side view of rice transplanter 制御構成図Control configuration diagram 旋回時の苗植付装置に対する制御構成を示す図The figure which shows the control structure with respect to the seedling planting apparatus at the time of turning

１ 前輪
２ 後輪
３ 走行機体
４ 苗植付装置（作業装置）
２２ 繰出し機構（供給する機構）
３１ 駆動車輪回転数検出手段
３２ 機体移動量検出手段
３２Ａ 揺動アーム
３２Ｂ 遊転体
３２Ｃ 回転数センサ
Ａ 運転操縦部
 1 front wheel 2 rear wheel 3 traveling machine body 4 seedling planting device (working device)
22 Feeding mechanism (supplying mechanism)
31 Drive wheel rotational speed detection means 32 Airframe movement amount detection means 32A Swing arm 32B Free rotating body 32C Revolution speed sensor A Driving control section

Claims (2)

走行機体に作業装置を昇降自在に取り付け、農用粉粒体を供給する機構を備えている農作業機であって、
前記走行機体を駆動移動させる後輪の回転数を検出する駆動車輪回転数検出手段と、後下がり姿勢の状態で前記走行機体に上下揺動自在に支持してある揺動アームに取り付けられ前輪及び後輪の間に位置して前記走行機体の移動に伴って圃面上を転動する遊転体及び前記遊転体の回転数を検出する回転数検出センサで構成され、前記走行機体の移動量を検出する機体移動量検出手段とを設け、前記機体移動量検出手段を前記走行機体に取り付け、前記駆動車輪回転数検出手段の検出結果に基づく前記後輪の回転量と前記機体移動量検出手段の検出結果に基づく機体移動量とに基づいて前記後輪のスリップ率を算出し、前記後輪の回転量と前記スリップ率とに基づいて、前記供給する機構の供給量を調整する供給量調整手段を設けてあり、
前記機体移動量検出手段の検出結果に基づいて前記走行機体の走行距離を表示する手段を、運転操縦部に備えている農作業機。 A farming machine equipped with a mechanism for attaching a working device to a traveling machine body so as to be movable up and down and supplying agricultural powder particles,
Driving wheel rotational speed detection means for detecting the rotational speed of a rear wheel for driving and moving the traveling machine body, and a front wheel attached to a swinging arm that is supported on the traveling machine body so as to be swingable up and down in a rearward lowered position; It is composed of an idler that is positioned between the rear wheels and rolls on the field as the traveling aircraft moves, and a rotational speed detection sensor that detects the rotational speed of the idler, and the movement of the traveling aircraft Airframe movement amount detection means for detecting the amount, the airframe movement amount detection means is attached to the traveling machine body, and the rotation amount of the rear wheel and the airframe movement amount detection based on the detection result of the drive wheel rotation speed detection means. A supply amount for calculating the slip rate of the rear wheel based on the airframe movement amount based on the detection result of the means, and adjusting the supply amount of the mechanism to be supplied based on the rotation amount of the rear wheel and the slip rate Adjustment means are provided,
A farm work machine provided with means for displaying a travel distance of the traveling machine body based on a detection result of the machine body movement amount detection means in a driving control unit. 走行機体に作業装置を昇降自在に取り付け、農用粉粒体を供給する機構を備えている農作業機であって、
前記走行機体を駆動移動させる後輪の回転数を検出する駆動車輪回転数検出手段と、後下がり姿勢の状態で前記走行機体に上下揺動自在に支持してある揺動アームに取り付けられ前輪及び後輪の間に位置して前記走行機体の移動に伴って圃面上を転動する遊転体及び前記遊転体の回転数を検出する回転数検出センサで構成され、前記走行機体の移動量を検出する機体移動量検出手段とを設け、前記機体移動量検出手段を前記走行機体に取り付け、前記駆動車輪回転数検出手段の検出結果に基づく前記後輪の回転量と前記機体移動量検出手段の検出結果に基づく機体移動量とに基づいて前記後輪のスリップ率を算出し、前記後輪の回転量と前記スリップ率とに基づいて、前記供給する機構の供給量を調整する供給量調整手段を設けてあり、
前記機体移動量検出手段の検出結果を利用して既植面積を表示する手段を、運転操縦部に備えている農作業機。 A farming machine equipped with a mechanism for attaching a working device to a traveling machine body so as to be movable up and down and supplying agricultural powder particles,
Driving wheel rotational speed detection means for detecting the rotational speed of a rear wheel for driving and moving the traveling machine body, and a front wheel attached to a swinging arm that is supported on the traveling machine body so as to be swingable up and down in a rearward lowered position; It is composed of an idler that is positioned between the rear wheels and rolls on the field as the traveling aircraft moves, and a rotational speed detection sensor that detects the rotational speed of the idler, and the movement of the traveling aircraft Airframe movement amount detection means for detecting the amount, the airframe movement amount detection means is attached to the traveling machine body, and the rotation amount of the rear wheel and the airframe movement amount detection based on the detection result of the drive wheel rotation speed detection means. A supply amount for calculating the slip rate of the rear wheel based on the airframe movement amount based on the detection result of the means, and adjusting the supply amount of the mechanism to be supplied based on the rotation amount of the rear wheel and the slip rate Adjustment means are provided,
A farm work machine provided with a means for displaying an existing planting area using a detection result of the airframe movement amount detection means in a driving control unit.
JP2008122549A 2008-05-08 2008-05-08 Agricultural machine Expired - Fee Related JP5215031B2 (en)

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