JP2021184759A - Rice field implement - Google Patents

Abstract

To provide a rice field implement capable of changing and setting a supply amount of an agricultural material to a farm field, according to a state of a rice field and a state of an agricultural material, without risk of damage of a work unit, without providing a special regulation device on the work unit.SOLUTION: A rice field implement comprises: a first speed change unit 24 to which power of a mover part is transmitted; a work unit for supplying an agricultural material to a farm field, at a preset supply amount along a travel direction of a machine body; a branch part branching power of the first speed change unit 24 to a travel transmission system and a work transmission system; travel wheels to which power of the travel transmission system is transmitted; a second speed change unit 45 for changing speed of power of the work transmission system for transmitting the same to the work unit; and a speed change operation tool 30 for changing a speed change state of the first speed change unit 24. When the speed change operation tool 30 is operated to a backward travel side, a control unit 63 switches a state of the second speed change unit 45 to a neutral state.SELECTED DRAWING: Figure 5

Description

The present invention relates to a paddy field working machine that supplies agricultural materials such as seedlings, seeds, fertilizers and chemicals to a field scene, such as a riding type rice transplanter and a riding type direct sowing machine.

Some passenger-type rice transplanters, which are examples of paddy field work machines, have a configuration as disclosed in Patent Document 1. In Patent Document 1, the power of the engine (corresponding to the driving part) is transmitted to the main transmission, and the power after the shifting is branched and transmitted to the traveling wheels and the seedling planting device (corresponding to the working device). There is.

As a result, seedlings are planted in the field by the seedling planting device between the stocks (corresponding to the supply amount) preset along the traveling direction of the aircraft, and the main transmission is operated to operate the traveling speed of the aircraft. Even if the seedling planting device changes, the power transmitted to the seedling planting device is also the power shifted by the main transmission device, so that the seedling planting device maintains a constant interval between the plants.

Then, the power of the main transmission is transmitted to the seedling planting device through the gear shifting type inter-strain transmission device, and the stock spacing by the seedling planting device can be changed by shifting the inter-strain transmission. It is configured to be able to. By changing between the stocks, the supply amount of seedlings supplied to the field scene is changed.

Japanese Unexamined Patent Publication No. 2014-70653

In the above-mentioned conventional configuration, since the main transmission transmits the power after shifting to the wheels for traveling, the transmission state of both the forward rotation transmission state and the reverse rotation transmission state is supported so as to correspond not only to forward traveling but also to reverse traveling. There is. However, in the above-mentioned conventional configuration, the inter-stock transmission is a gear shifting type transmission, and power is transmitted to the working device as it is not only in the forward rotation transmission state but also in the reverse rotation transmission state.

Conventionally, when the machine is moving backward, measures such as switching the work clutch that interrupts and interrupts the power transmission to the work device to the disengaged state to prevent the reverse power from being transmitted have been taken. However, for example, when the disengagement operation of the work clutch is delayed or malfunctions, the reversing power is transmitted to the work device, and proper operation may not be performed and damage may occur. Then, in order to prevent damage, it was necessary to equip the working device side with a special device for regulating the reversing power.

Therefore, even if the work equipment is not equipped with special regulatory equipment, the supply amount of agricultural materials for the field scene is changed and set according to the condition of the field and agricultural materials without the risk of damage to the work equipment. It is requested to be able to do it.

The paddy field working machine of the present invention includes a first transmission for transmitting power of a driving unit, a working device for supplying agricultural materials to a field scene with a supply amount preset along the traveling direction of the machine body, and the like. The work by shifting the power of the work transmission system to the branch portion where the power of the first transmission is branched into the traveling transmission system and the work transmission system, the traveling wheels to which the power of the traveling transmission system is transmitted, and the work. A second transmission that transmits to the device, a speed change operating tool that changes the shift state of the first transmission, and
A control device for switching the second transmission to the neutral state when the transmission operation tool is operated to the reverse traveling side is provided.
Further, the paddy field working machine of the present invention is a first transmission for transmitting power of a driving unit and a working device for supplying agricultural materials to a field scene with a supply amount preset along the traveling direction of the machine. , The branch portion that branches the power of the first transmission to the traveling transmission system and the work transmission system, the traveling wheel to which the power of the traveling transmission system is transmitted, and the power of the work transmission system are changed. A second transmission is provided to transmit to the work apparatus, and the second transmission allows the forward rotation power of the power of the work transmission system to be transmitted to the work apparatus, and the reverse rotation power. Is provided with a check mechanism for checking that the work device is transmitted to the work device.

According to this configuration, the power of the work transmission system of the first transmission is transmitted to the working device through the second transmission, and by operating the second transmission, the shifting operation of the second transmission is performed. It is possible to change and set the supply amount of agricultural materials to be supplied to the field scene within the range.

For example, a state in which the shifting power of the first transmission is set to the normal rotation state, and the second transmission outputs the reverse rotation power when the working device is supplying agricultural materials while the machine is traveling forward. If it is changed to, there is a risk that the working equipment will not operate properly.

However, according to this configuration, the check mechanism provided in the second transmission prevents the reverse power from being transmitted from the second transmission to the work device. As a result, the reverse rotation power is not output to the working device, and only the forward rotation power can be transmitted without using a special device for regulating the reverse rotation power on the working device side.

Therefore, even if the work equipment is not equipped with special regulatory equipment, the supply amount of agricultural materials for the field scene is changed according to the condition of the field fields and agricultural materials without the risk of damage to the work equipment. It is now possible to set it.

In the present invention, the second transmission is composed of a hydrostatic continuously variable transmission.
It is preferable that the check mechanism is composed of a contact member that restrains the shift arm that operates the trunnion shaft in the hydrostatic continuously variable transmission device from being operated in the reverse operation range.

According to this configuration, since the second transmission is composed of a hydrostatic continuously variable transmission, the power of the work transmission system can be changed steplessly. By shifting continuously in this way, the supply amount of agricultural materials for the field scene can be set to an arbitrary supply amount between the maximum speed position and the minimum speed position of the continuously variable transmission according to the work situation. Can be done. As a result, the supply amount can be finely and appropriately set according to the field situation, the state of the agricultural material, and the like, and the work accuracy of the paddy field working machine can be improved.

The hydrostatic continuously variable transmission can continuously change not only the forward rotation power but also the reverse rotation power. Therefore, by restricting the contact of the transmission arm that operates the trunnion shaft with the contact member, it is possible to prevent the trunnion shaft from being operated in the reverse operation range. By mechanically restraining in this way, it is possible to reliably prevent the reversing power from being transmitted to the working device.

The contact member may be a simple structure as long as it regulates the contact of the speed change arm. Further, for example, when a configuration in which the speed change arm is operated by an actuator is adopted, even if the actuator is excessively operated due to factors such as a detection error of a sensor that detects the operation state of the trunnion shaft, reverse power is used. Can be reliably restrained from being transmitted to the working device.

In the present invention, the speed change operating tool for changing the speed change state of the first transmission and
It is preferable that the gear shifting operating tool is provided with a control device for switching the second gear shifting device to the neutral state when the gear shifting operating tool is operated to the reverse traveling side.

According to this configuration, when the gear shifting operating tool is operated from the operation range on the forward traveling side to the reverse traveling side, the second shifting operation is switched to the neutral state. As the operation to the reverse traveling side, for example, the shifting operation tool is operated to the lowest speed position (position corresponding to the neutral state) in the operation range on the forward traveling side, and the shifting operation tool is located at the neutral operation position. It is located at the lowest speed position (position corresponding to the neutral state) in the operation range on the reverse traveling side.

In this way, the speed change controller switches the second transmission to the neutral state based on the operation with high probability of switching to the reverse power transmission state before actually switching to the reverse power transmission state, so that the switching operation is slightly delayed. Even if there is, it is possible to prevent the reverse power from being transmitted to the working device and prevent damage to the working device.

In the present invention, it is preferable that the working device intermittently supplies agricultural materials to the farm scene at preset supply intervals along the traveling direction of the machine.

According to this configuration, the working device intermittently supplies agricultural materials to the farm scene at intervals as the machine travels. As the second transmission shifts, the supply amount is changed by changing and setting the interval at which the working device supplies agricultural materials. In this configuration, the total supply amount can be changed without changing the amount of agricultural materials to be supplied at one time, so that the adjustment work of the supply amount is unnecessary and the correspondence becomes easy.

In the present invention, it is preferable that the working device is provided with a sowing device for spot-seeding seeds as agricultural materials in a field scene at a supply interval set in advance along the traveling direction of the machine.

According to this configuration, seeds can be spot-sown in the field scene by the sowing device while the machine is running, and it becomes easy to accurately control the seed spot-sowing interval in the sowing operation.

In the present invention, it is preferable that the working device is provided with a seedling planting device that supplies seedlings as agricultural materials to the farm scene at preset supply intervals along the traveling direction of the machine. ..

According to this configuration, seedlings can be planted in a field scene by a seedling planting device while the machine is running, and it becomes easy to accurately manage the planting interval of seedlings in the seedling planting work.

It is an overall side view of a passenger-type rice transplanter. It is an overall plan view of a passenger-type rice transplanter. It is a vertical sectional rear view which shows a transmission structure. It is a vertical sectional rear view which shows a transmission structure. It is a block diagram which shows the control composition.

The case where the embodiment of the present invention is applied to a passenger-type rice transplanter, which is an example of a paddy field working machine, will be described with reference to the drawings. It is described in. When the traveling machine body 11 is traveling, the traveling direction on the forward side is "front", and the traveling direction on the reverse side is "rear". The direction corresponding to the right side is "right" and the direction corresponding to the left side is "left" with respect to the forward posture in the front-back direction. That is, the direction indicated by the reference numeral (F) in FIGS. 1 and 2 is the front side of the machine, and the direction indicated by the reference numeral (B) in FIGS. 1 and 2 is the rear side of the machine body. The direction indicated by the reference numeral (L) in FIG. 2 is the left side of the aircraft, and the direction indicated by the reference numeral (R) in FIG. 2 is the right side of the aircraft.

(Overall configuration of passenger rice transplanter)
As shown in FIGS. 1 and 2, the passenger-type rice transplanter is equipped with a right and left front wheel 1 (corresponding to a traveling wheel) and a right and left rear wheel 2 (corresponding to a traveling wheel). A hydraulic cylinder 4 for raising and lowering the link mechanism 3 and the link mechanism 3 is provided at the rear of the machine body 11, and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3.

The seedling planting device 5 includes a planting transmission case 6 arranged at predetermined intervals in the left-right direction, a rotary case 7 rotatably supported on the right and left sides of the rear portion of the planting transmission case 6, and a rotary case 7. It is provided with a pair of planting arms 8, a float 9, a seedling stand 10 and the like provided at both ends of the plant.

Right and left markers 12 are provided on the right and left lateral sides of the seedling planting device 5. The marker 12 can be changed to an action posture in contact with the field scene G (see FIG. 1) and a storage posture upward away from the field scene G, and the rotating body 12a is rotatably supported by the tip of the marker 12. ing. In the acting posture of the marker 12, the rotating body 12a of the marker 12 comes into contact with the field scene G, and the rotating body 12a of the marker 12 forms an index in the field scene G while rotating as the traveling machine 11 travels. ..

(Structure near the driver)
As shown in FIGS. 1 and 2, the traveling machine body 11 is provided with a driver's seat 13 and a steering handle 14 for steering and operating the front wheel 1.

The right and left vertical support frames 16 are provided on the right and left portions of the front portion of the traveling machine body 11, and the spare seedling rest 15 is supported by the vertical support frame 16. A horizontal support frame 17 is connected over the upper part of the right and left vertical support frames 16.

In the sideways support frame 17, the position measuring device 18 is attached to a portion located at the left and right center CL of the traveling machine body 11 in a plan view. The position measuring device 18 is provided with a receiving device (not shown) that acquires position information by a satellite positioning system, and an inertial measurement device (not shown) that detects the inclination (pitch angle, roll angle) of the traveling machine body 11. The position measuring device 18 outputs positioning data indicating the position of the traveling machine body 11.

In the rear axle case 22 that supports the right and left rear wheels 2, an inertial measurement unit 19 that measures inertial information is attached to a portion located at the left and right center CL of the traveling machine body 11 in a plan view. The inertial measurement of the inertial measurement unit 19 and the position measuring unit 18 is configured by an IMU (Inertial Measurement Unit).

As a typical example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System), GPS (Global Positioning System) can be mentioned. GPS uses a plurality of GPS satellites orbiting over the earth, a control station that tracks and controls GPS satellites, and a receiving device provided in a positioning target (traveling machine 11) to measure the position of the position measuring device 18. It measures the position of the receiving device.

The inertial measurement unit 19 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the traveling machine body 11 and an acceleration sensor (not shown) that detects accelerations in three axial directions orthogonal to each other. .. The inertial information measured by the inertial measurement unit 19 includes the directional change information detected by the gyro sensor and the position change information detected by the acceleration sensor. As a result, the position measuring device 18 and the inertial measuring unit 19 detect the position of the traveling machine body 11 and the orientation of the traveling machine body 11.

(Structure near the mission case)
The mission case 20 is supported by the front portion of the traveling machine body 11, and the right and left front wheels 1 are supported by the front axle case 21 connected to the right and left lateral portions of the mission case 20. The rear axle case 22 is supported by the rear portion of the traveling machine body 11, and the right and left rear wheels 2 are supported by the rear axle case 22.

The engine 23 (corresponding to the driving part) is supported on the front part of the mission case 20. A first transmission 24 composed of a hydrostatic continuously variable transmission is connected to the left lateral side of the mission case 20, and the power of the engine 23 is input to the first transmission 24 via the transmission belt 25. It is transmitted to the shaft 24a.

The first transmission 24 is configured to be steplessly variable to the neutral position, the forward side and the reverse side, and is provided with a main shift lever 30 as a shift operation tool provided on the left lateral side of the steering wheel 14. (1) Operate the transmission 24. As shown in FIG. 3, the first transmission 24 integrally accommodates the axial plunger type hydraulic pump 24P and the axial plunger type hydraulic motor 24M in the casing 24C. It is composed of a statically hydraulic type continuously variable transmission with a well-known structure.

As shown in FIG. 5, the main shift lever 30 and the shift arm 24d for operating the trunnion shaft 24c for operating the swash plate of the hydraulic pump 24P are interlocked and linked by the linkage mechanism 30R. By operating the main shift lever 30 to change the inclination of the swash plate of the hydraulic pump 24P, the rotational power can be changed steplessly.

As shown in FIG. 5, the main shift lever 30 can be swung in the front-rear direction, a forward operation range is set from the neutral position N in the front-rear intermediate portion to the front side, and a reverse operation range is set from the neutral position N to the rear side. Is set. The forward traveling speed increases as the main shift lever 30 swings forward from the neutral position N in the forward operation range. The more the main shift lever 30 is swung from the neutral position N to the rear side in the reverse operation range, the faster the reverse travel speed is increased. The forward operation range and the reverse operation range are displaced in the left-right direction, and the main shift lever 30 can be displaced in the left-right direction between the forward side neutral position and the reverse side neutral position in the neutral position N. Therefore, it is not possible to swing from the forward operation type to the reverse operation range at once.

(Structure of running transmission system to front wheels and rear wheels)
As shown in FIG. 3, a hydraulic pump 26 is connected to the right lateral side of the mission case 20, and the hydraulic pump 26 supplies hydraulic oil to the hydraulic cylinder 4 and the like. The input shaft 24a of the first transmission 24 has entered the mission case 20, and the transmission shaft 27 is connected to the input shaft 26a of the hydraulic pump 26 and the input shaft 24a of the first transmission 24.

Inside the transmission case 20, transmission shafts 28 and 29 are supported along the left-right direction, and the output shaft 24b of the first transmission 24 is connected to the end of the transmission shaft 28. Inside the transmission case 20, a gear shifting type auxiliary transmission 31 is provided over the transmission shafts 28 and 29.

The auxiliary transmission 31 includes a low-speed gear 32 and a high-speed gear 33 connected to the transmission shaft 28, and a shift gear 34 integrally rotated and slidably fitted to the transmission shaft 29 by a spline structure. The shift gear 34 can be slid by an auxiliary shift lever (not shown) provided in the vicinity of the driver's seat 13.

In the auxiliary transmission 31, when the shift gear 34 is engaged with the low speed gear 32, the power of the transmission shaft 28 is transmitted to the transmission shaft 29 in a low speed state, and when the shift gear 34 is engaged with the high speed gear 33, the power of the transmission shaft 28 is transmitted. It is transmitted to the transmission shaft 29 in a high speed state.
When the planting work is performed in the paddy field, the auxiliary transmission 31 is operated in a low speed state, and when traveling at a high speed on a road or the like, the auxiliary transmission 31 is operated in a high speed state.

The right and left front axles 35, which transmit power to the right and left front wheels 1, are supported over the mission case 20 and the front axle case 21, and the front wheel differential device is located between the right and left front axles 35. 36 is provided. The transmission gear 37 connected to the transmission shaft 29 and the transmission gear 38 connected to the case 36a of the front wheel differential device 36 are in mesh with each other.

An output shaft 39 is supported in the rear portion of the transmission case 20 along the front-rear direction, and a bevel gear 40 connected to the case 36a of the front wheel differential device 36 and a bevel gear 39a formed in the front portion of the output shaft 39 are provided. I'm biting.

As shown in FIG. 1, the transmission shaft 41 is connected to the rear part of the output shaft 39 via a universal joint (not shown), and the rear part of the transmission shaft 41 is connected to the rear part of the transmission shaft 41 via a universal joint (not shown). , Is connected to the input shaft (not shown) of the rear axle case 22.

With the above configuration, the power shifted by the first transmission 24 is transferred from the output shaft 24b of the first transmission 24 to the transmission shaft 28, the auxiliary transmission 31, the transmission shaft 29, the transmission gears 37 and 38, and the front wheel differential device. It is transmitted to the right and left front wheels 1 via the 36 and the front axle 35.
The power transmitted to the front wheel differential device 36 is transmitted to the right and left rear wheels 2 via the bevel gear 40, the output shaft 39, the transmission shaft 41, and the transmission shaft (not shown) inside the rear axle case 22. To.

A multi-plate type brake 42 is externally fitted to the output shaft 39, and the brake 42 can be operated in the braking state by stepping on the brake pedal 43 shown in FIG. By braking the output shaft 39 with the brake 42, the front wheels 1 and the rear wheels 2 can be braked.

The diff lock member 44 is integrally rotated and slidably fitted to the left front axle 35 by a key structure. By stepping on a diff lock pedal (not shown) provided on the lower side of the driver's seat 13, the diff lock member 44 is slid and engaged with the case 36a of the front wheel diff device 36 to engage the front wheel diff device 36. It can be operated in the differential lock state.

With the above configuration, the power of the first transmission 24 is branched in parallel to the traveling transmission system and the work transmission system on the transmission shaft 28, and the power of the traveling transmission system passes through the auxiliary transmission 31 to the front wheels 1 and It is in a state of being transmitted to the rear wheel 2 (wheel for traveling). Therefore, the transmission shaft 28 constitutes the branch portion.

(Structure of work transmission system to seedling planting device)
As shown in FIG. 4, a second transmission 45 made of a hydrostatic type stepless transmission is connected to the right lateral side of the mission case 20. Similar to the first transmission 24, the second transmission 45 integrally accommodates the axial plunger type hydraulic pump 45P and the axial plunger type hydraulic motor 45M in the casing 45C, which is well known. It is composed of a hydrostatic continuously variable transmission with a structure. By changing the inclination of the swash plate (not shown) provided in the hydraulic pump 45P, the rotational power can be changed steplessly.

The input shaft 45a of the second transmission 45 and the transmission shaft 28 are connected to each other. The input shaft 45a of the second transmission 45 projects to the opposite side of the mission case 20, and the exhaust fan 46 that sends cooling air to the second transmission 45 projects from the input shaft 45a of the second transmission 45. It is connected to the part. That is, the fan 46 is provided in a state of being integrally rotated with the hydraulic pump 45P.

The transmission shaft 47 is connected to the output shaft 45b of the second transmission 45. Inside the transmission case 20, transmission shafts 48 and 49 are supported along the left-right direction, and the end portion of the transmission shaft 49 is supported so as to be concentric with the transmission shaft 47 so as to be rotatable relative to each other.

A transmission gear 50 having two sets of gears is rotatably fitted to the outside of the transmission shaft 48.
The transmission gear 47a formed on the transmission shaft 47 and the large-diameter gear portion of the transmission gear 50 are occluded, and the transmission gear 51 connected to the transmission shaft 49 and the small-diameter gear portion of the transmission gear 50 are occluded. ..

Inside the transmission case 20, a gear shifting type non-constant speed transmission 52 is provided over the transmission shafts 48 and 49, and a bevel gear 53 is connected to the transmission shaft 48. The output shaft 54 is supported in the rear portion of the transmission case 20 along the front-rear direction, the bevel gear 55 is externally fitted to the front portion of the output shaft 54 via the planting clutch 56, and the bevel gears 53 and 55 are occluded. ..

As shown in FIG. 1, a transmission shaft 57 is connected to the rear portion of the output shaft 54 via a universal joint (not shown), and the rear portion of the transmission shaft 57 is connected to the rear portion of the transmission shaft 57 via a universal joint (not shown). , Is connected to the input shaft (not shown) of the seedling planting device 5.

With the above configuration, the power shifted by the first transmission 24 is transferred from the output shaft 24b of the first transmission 24 via the transmission shaft 28 and the input shaft 45a of the second transmission 45 to the second transmission 45. Is transmitted to.

The power shifted by the second transmission 45 is transmitted from the output shaft 45b of the second transmission 45 to the transmission shaft 47 (transmission gear 47a), transmission gears 50, 51, transmission shaft 49, non-constant speed transmission 52, and transmission. It is transmitted to the seedling planting device 5 via the shaft 48, the bevel gears 53 and 55, the planting clutch 56, the output shaft 54, and the transmission shaft 57.

When the planting clutch 56 is operated in the transmission state, power is transmitted to the seedling planting device 5 to operate the seedling planting device 5.
When the seedling planting device 5 is activated, as shown in FIG. 5, the rotary case 7 is rotationally driven in the counterclockwise direction of FIG. A set of planting arms 8 alternately take out seedlings A (corresponding to agricultural materials) from the lower part of the seedling stand 10 and plant them in the field scene G. As a result, the seedlings A are intermittently planted in the field scene G along the traveling direction F1 of the traveling machine 11 at the preset inter-strain L1 (corresponding to the supply interval).
When the planting clutch 56 is operated in the cut-off state, the power to the seedling planting device 5 is cut off, the seedling planting device 5 is stopped, and the seedling pedestal 10 and the rotary case 7 are stopped.

With the above configuration, the power of the first transmission 24 (transmission) is branched in parallel to the traveling transmission system and the work transmission system, and the power of the work transmission system is the second transmission 45 and the unequal speed transmission 52. It is in a state of being transmitted to the seedling planting device 5 (working device) through the seedling planting device 5.

(Structure of non-constant speed transmission)
As shown in FIG. 4, the non-constant speed transmission 52 is a constant speed gear 58 connected to a transmission shaft 49, three non-constant speed gears 59, and a constant speed externally fitted to a transmission shaft 48 so as to be relatively rotatable. A gear 60 and three non-constant speed gears 61 are provided, and the constant speed gears 58 and 60 are engaged with each other, and the three non-constant speed gears 59 and 61 are engaged with each other.

The key-shaped speed change member 62 is slidably supported inside the transmission shaft 48, and the speed change member 62 is slidably operated to engage with one of the constant speed gear 60 and the three non-uniform speed gears 61. By matching, any one of the constant speed gear 60 and the three non-constant speed gears 61 with which the speed change member 62 is engaged can be connected to the transmission shaft 48.

The constant speed gears 58 and 60 are circular gears and have the same diameter. As a result, when the speed change member 62 is engaged with the constant speed gear 60, the power of one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as the power of one rotation in the constant speed state of the angular velocity.

The non-constant speed gears 59 and 61 are elliptical gears, eccentric gears or non-circular gears. As a result, when the speed change member 62 is engaged with one of the non-constant speed gears 61, the power of one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as the power of one rotation. Of these, the angular velocity changes to high and low.

When the non-constant speed gears 59 and 61 are eccentric gears, a plurality of dislocations of gear teeth are set in one eccentric gear, and the dislocations are set to be different depending on the gear teeth. As a result, the variation in the backlash of the non-constant speed gears 59 and 61 can be reduced, and the power transmission by the non-uniform speed gears 59 and 61 can be made smooth.

(Configuration of control system to operate continuously variable transmission)
As shown in FIG. 5, the traveling machine body 11 is provided with a control device 63. A setting unit 64 for setting the set stock L1 is provided in the vicinity of the driver's seat 13 or the steering wheel 14, and the operation signal of the setting unit 64 is input to the control device 63.

The setting unit 64 is a model of an operation lever artificially operated by the operator, and the operator arbitrarily sets (selects) the set inter-stock L1 steplessly between the maximum interval L11 and the minimum interval L12. Can be done.

As shown in FIG. 4, the gear tooth-shaped rotating body 49a is connected to the transmission shaft 49 so as to rotate integrally. A pickup sensor type working rotation speed detecting unit 65 is provided for the rotating body 49a, and the detection value of the working rotation speed detecting unit 65 is input to the control device 63.

As a result, on the downstream side of the second transmission 45 and on the upstream side of the non-constant speed transmission 52, the transmission system (transmission shaft 49) between the second transmission 45 and the non-constant speed transmission 52 The rotation speed is detected by the working rotation speed detection unit 65 as the rotation speed of the power from the second transmission 45, and is input to the control device 63.

As shown in FIG. 4, the gear tooth-shaped rotating body 28a is connected to the transmission shaft 28 so as to rotate integrally with the transmission shaft 28. A pickup sensor type traveling rotation speed detecting unit 66 is provided for the rotating body 28a of the transmission shaft 28, and the detection value of the traveling rotation speed detecting unit 66 is input to the control device 63.

As a result, on the upstream side of the auxiliary transmission 31, the traveling rotation speed detection unit 66 that detects the rotation speed of the transmission system between the branch portion (transmission shaft 28) of the traveling transmission system and the work transmission system and the auxiliary transmission 31. Is in a state of being prepared.

As shown in FIG. 5, a drive mechanism 67 for operating the second transmission 45 by changing the angle of the swash plate (not shown) of the hydraulic pump 45P in the second transmission 45 is provided, and the control device 63 is provided. The operation signal is output to the drive mechanism 67. The second transmission 45 is provided with a transmission arm 45d for operating the trunnion shaft 45c for operating the swash plate. The drive mechanism 67 includes an electric motor 67A with a speed reducer, a drive arm 67B that is oscillated by the electric motor 67A, and a rod 67C that pivotally connects the drive arm 67B and the speed change arm 45d. By swinging the drive arm 67B, the shifting arm 45d swings by pushing and pulling with the rod 67C, and the shifting operation is performed. Although not shown, a potentiometer-type detection sensor for detecting the swing operation position of the drive arm 67B is provided, and the detection value of the detection sensor is input to the control device 63.

The control device 63 includes a slip rate detection unit 68, a control unit 69, a timer 70, a first mileage detection unit 71, a second mileage detection unit 72, and a supply interval detection unit 73 as software.

(Detection of slip ratio of front wheels and rear wheels)
When the planting work is performed in a paddy field, slip occurs in the front wheels 1 and the rear wheels 2, so that the slip rate detecting unit 68 detects the slip rates of the front wheels 1 and the rear wheels 2 as described below.

In this case, the state in which the front wheels 1 and the rear wheels 2 have slipped means that the front wheels 1 and the rear wheels 2 slip, and the traveling machine body 11 is in a state where the front wheels 1 and the rear wheels 2 are rotating. It is in a state of not moving forward.

In the planting operation, a certain first time point and a second time point after the set time has elapsed from the first time point are detected by the timer 70.
From the first time point to the second time point, the first mileage detection unit 71 actually detects the traveling machine body 11 based on the detection of the position of the traveling machine body 11 and the orientation of the traveling machine body 11 by the position measuring device 18 and the inertial measuring device 19. The mileage is detected. In this case, the detection value of the first mileage detection unit 71 includes slip of the front wheels 1 and the rear wheels 2.

From the first time point to the second time point, the second mileage detection unit 72 is based on the outer diameters of the front wheels 1 and the rear wheels 2 and the detection values of the traveling rotation speed detecting unit 66 (rotational speeds of the front wheels 1 and the rear wheels 2). Therefore, the mileage of the traveling machine 11 is detected (calculated). In this case, the detection value of the second mileage detection unit 72 does not include slip in the front wheels 1 and the rear wheels 2.

The slip ratio detection unit 68 compares the detection value of the first mileage detection unit 71 with the detection value of the second mileage detection unit 72.
When the front wheels 1 and the rear wheels 2 are slipped, the detection value of the first mileage detection unit 71 becomes smaller than the detection value of the second mileage detection unit 72, and the first mileage detection unit It can be determined that the larger the difference between the detected values of the 71 and the second mileage detecting unit 72, the more the front wheels 1 and the rear wheels 2 slip.

As a result, the slip ratio detection unit 68 detects the slip ratios of the front wheels 1 and the rear wheels 2 based on the detection values of the first mileage detection unit 71 and the detection values of the second mileage detection unit 72.
When the slip ratios of the front wheels 1 and the rear wheels 2 from the first time point to the second time point are detected, the slip rates of the front wheels 1 and the rear wheels 2 from the second time point to the next third time point after the set time has elapsed are measured. Since it is detected, the slip ratios of the front wheels 1 and the rear wheels 2 are continuously and repeatedly detected.

(Setting between stocks at the start of planting work)
When planting in a paddy field, the following operations are performed.
At the start of the planting work, the worker sets (selects) the set inter-stock L1 by the setting unit 64. When the planting work is started in the state where the inter-stock L1 is set by the setting unit 64, an operation signal is output from the control unit 69 to the drive mechanism 67 in response to the set inter-stock L1, and the drive mechanism 67 outputs the second transmission. 45 is operated. At this time, the position of the drive arm is controlled based on the detection value of the detection sensor.

At this stage, the slip of the front wheels 1 and the rear wheels 2 is not taken into consideration, so that the shift position of the second transmission 45 is uniquely determined. Is operated.

Since hydraulic oil may leak in the second transmission 45, the rotation speed of the output shaft 45b of the second transmission 45 becomes slightly lower than the rotation speed at the shift position corresponding to the set inter-stock L1. The actual inter-stock Lx (corresponding to the supply interval) may be slightly larger than the set inter-stock L1 by this amount.

In this case, the rotation speed of the output shaft 45b of the second transmission 45 corresponds to the set inter-stock L1 based on the detection value of the working rotation speed detection unit 65 (the rotation speed of the output shaft 45b of the second transmission 45). The second transmission 45 is finely adjusted by the drive mechanism 67 in a state of being operated to the shift position corresponding to the set inter-stock L1 so as to have the rotation speed.

(Adjustment between stocks based on detection of slip ratio of front and rear wheels in planting work)
As described above, in a state where the second transmission 45 is operated to the shift position corresponding to the set inter-stock L1, the slip ratio of the front wheels 1 and the rear wheels 2 is increased by the slip ratio detection unit 68 as the planting work progresses. Is detected, and the second transmission 45 is automatically operated as described below so that the actual inter-stock Lx becomes the set inter-stock L1.

Based on the detection value of the working rotation speed detection unit 65 (the rotation speed of the output shaft 45b of the second transmission 45) and the detection value of the traveling rotation speed detection unit 66 (the rotation speed of the front wheel 1 and the rear wheel 2). The supply interval detection unit 73 detects the actual inter-stock Lx.
Specifically, the length corresponding to the slip ratio of the front wheel 1 and the rear wheel 2 is calculated, and the length corresponding to the slip of the front wheel 1 and the rear wheel 2 is subtracted from the set stock spacing L1 to obtain the actual stock spacing. Lx is detected.

An operation signal is output from the control unit 69 to the drive mechanism 67 so that the actual inter-stock Lx detected by the supply interval detection unit 73 becomes the set inter-stock L1, and the second transmission 45 is operated by the drive mechanism 67.

(Operation of non-constant speed transmission based on set stocks)
When the set inter-stock L1 set by the setting unit 64 is not particularly large and not particularly small, the operator is in a state where power is transmitted by the constant speed gears 58 and 60 in the non-constant speed transmission 52. Should be set.

When the set inter-stock L1 set by the setting unit 64 is set to a particularly large one or a particularly small one, the operator slides the transmission member in the unequal speed transmission 52 to operate the transmission member. Of the unequal speed gears 59 and 61, the unequal speed gears 59 and 61 suitable for the set inter-stock L1 set by the setting unit 64 may be selected (the gears may be connected to the transmission shaft 48).

When the set inter-strain L1 set by the setting unit 64 is set to a particularly large one, when the constant speed gears 58 and 60 are used, the seedling A is taken out from the seedling stand 10 by the planting arm 8 and then planted. In the region until the seedling A is planted in the field scene G by the attached arm 8, the rotation speed of the rotating case 7 becomes too low. Therefore, if the non-constant speed gears 59 and 61 suitable for the set inter-stock L1 are selected, the rotation speed of the rotary case 7 can be slightly increased by the non-constant speed transmission 52 in the above-mentioned region, and the seedling A is in the field. It can be properly planted on the surface G.

When the set inter-strain L1 set by the setting unit 64 is set to a particularly small one, the seedling A is taken out from the seedling stand 10 by the planting arm 8 to the field scene G of the seedling A by the planting arm 8. In the area up to planting in, the rotation speed of the rotating case 7 becomes too high. Therefore, if the non-constant speed gears 59 and 61 suitable for the set inter-strain L1 are selected, the rotation speed of the rotary case 7 can be slightly reduced by the non-constant speed transmission 52 in the above-mentioned region, and the seedling A is in the field. It can be properly planted on the surface G.

(Structure that restrains the second transmission)
The second transmission 45 allows the forward rotation power of the work transmission system power to be transmitted to the seedling planting device 5, and restrains the reverse rotation power from being transmitted to the seedling planting device 5. A check mechanism K is provided.

Specifically, the check mechanism K is composed of a contact member 74 that controls the operation of the speed change arm 45d that operates the trunnion shaft 45c in the second transmission 45 in the reverse rotation operation range. That is, as shown in FIG. 5, when the speed change arm 45d swings in a predetermined direction (right direction in FIG. 5) from the neutral position, it switches to the normal rotation operation range. When the speed change arm 45d swings from the neutral position in the direction opposite to the predetermined direction (left direction in FIG. 5), the shift arm 45d switches to the reverse operation range. In the second transmission 45, the speed change arm 45d is switched to the normal rotation operation range, and the larger the swing angle, the higher the speed of the forward rotation power. The second transmission 45 can shift the speed so that the speed change arm 45d is switched to the reverse rotation operation range and the speed of the reverse rotation power increases as the swing angle increases.

However, a contact member 74 is provided at a position where the speed change arm 45d swings from the neutral position to the reverse rotation operation range, and the contact member 74 causes the speed change arm 45d to move to the reverse direction operation range. It is configured to be mechanically contacted and restrained. Therefore, only the forward rotation power is transmitted from the second transmission 45 to the seedling planting device 5, and the reverse rotation power is not transmitted.

Further, the control device 63 is configured to control the drive mechanism 67 so as to switch the second transmission 45 to the neutral state when the main shift lever 30 is operated to the reverse traveling side.
As shown in FIG. 5, a lever position sensor 75 including a potentiometer for detecting the swing operation position of the main shift lever 30 is provided at the swing fulcrum position of the main shift lever 30. The detection result of the lever position sensor 75 is input to the control device 63.

When the control device 63 detects that the main speed change lever 30 has been operated to the neutral position by the detection value of the lever position sensor 75, the control device 63 operates the drive mechanism 67 so that the second speed change device 45 switches to the neutral state. The neutral position N of the main shift lever 30 may be the lowest speed position N1 in the forward operation range, the lowest speed position N2 of the reverse operation type, or an intermediate position thereof. When the main shift lever 30 is operated from the state of being operated in the forward operation range toward the reverse traveling side and is switched to the neutral position N, the second transmission 45 is switched to the neutral state.

[Another Embodiment]
(1) In the above embodiment, the check mechanism K is composed of a contact member 74 for contacting and restraining the speed change arm 45d from being operated in the reverse operation range, but instead of this configuration. The drive arm 67B may be contacted with the drive arm 67B interlocked and connected via the speed change arm 45d and the rod 67c to prevent the drive arm 67B from being operated in the reverse operation range. Further, the check mechanism K is not limited to the configuration in which the speed change arm 45d and the drive arm 67B are contacted and regulated, and may be configured as follows. For example, in the output unit of the second transmission 45, when the output rotating body rotates in the forward rotation direction, the rotational power is transmitted to the lower side of the transmission, and when the output rotating body rotates in the reverse direction, the output rotating body rotates in the reverse direction. It may be configured to include a one-way rotation regulation mechanism that spins idle and does not transmit the power to the lower side of the transmission.

(2) In the above embodiment, as an example in which the main shift lever 30 is operated to the reverse traveling side, when the main shift lever 30 is operated to the neutral position N, the second transmission 45 is switched to the neutral state. Although the configuration is controlled, instead of this configuration, when the main shift lever 30 is operated in the reverse operation type, the second transmission 45 may be switched to the neutral state for control.

(3) In the above embodiment, the working device (seedling planting device 5) intermittently supplies agricultural materials (seedlings) to the farm scene at preset supply intervals along the traveling direction of the machine. However, instead of this configuration, the working device may be configured to continuously supply agricultural materials to the farm scene along the traveling direction of the machine. When the agricultural materials are continuously supplied in this way, the supply amount of the agricultural materials per unit time when the agricultural materials are continuously supplied by the speed change of the second transmission 45 can be changed and adjusted.

(4) In the above embodiment, the rear part of the traveling machine is provided with only the seedling planting device 5 as a working device, but instead of this configuration, the field where the seedlings are planted by the seedling planting device 5. A fertilizer application device that supplies fertilizer to the surface may be separately provided. In order to provide the fertilizer application device in this way, it is necessary to supply the power for the fertilizer application device in parallel with the seedling planting device. Therefore, a transmission mechanism for driving the fertilizer application device may be provided inside the mission case 20.

(5) In the above embodiment, the one applied to a passenger-type rice transplanter provided with the seedling planting device 5 as a working device is shown, but the present invention is set in advance as a working device along the traveling direction of the machine. It can be applied to a paddy field work machine (passenger type direct sowing machine) equipped with a sowing device for seeding seeds as agricultural materials in a field scene at the supplied supply interval. When applied to a passenger-type direct seeding machine in this way, it is possible to change the spot-sowing interval along the traveling direction when the seeds are spot-sown in the field scene by the shifting operation of the second transmission.

(6) In the above embodiment, seedlings or seeds are supplied as agricultural materials, but other than that, fertilizers, chemicals and the like may be supplied to the farm scene.

The present invention can be applied to a paddy field working machine that supplies agricultural materials such as seedlings, seeds, fertilizers and chemicals to a field scene, such as a riding type rice transplanter and a riding type direct sowing machine.

1, 2 Wheels 5 Work equipment 24 1st transmission 30 Shift operation tool 45 2nd transmission 45c Trunnion shaft 45d Shift arm 63 Control device 74 Contact member K Check mechanism

Claims (6)

The first transmission, which transmits the power of the driving part,
A work device that supplies agricultural materials to the field scene with a preset supply amount along the traveling direction of the aircraft,
A branch portion that branches the power of the first transmission into a traveling transmission system and a work transmission system, and
The wheels for traveling to which the power of the traveling transmission system is transmitted, and
A second transmission that shifts the power of the work transmission system and transmits it to the work equipment,
A gear shifting operating tool for changing the gear shifting state of the first transmission and
A paddy field working machine provided with a control device for switching the second transmission to a neutral state when the transmission is operated to the reverse traveling side. The second transmission is composed of a hydrostatic continuously variable transmission.
The paddy field working machine according to claim 1, further comprising a check mechanism for contacting and checking the speed change arm for operating the trunnion shaft in the hydrostatic continuously variable transmission in the reverse operation range. The paddy field working machine according to claim 1 or 2, wherein the working device intermittently supplies agricultural materials to a field scene at a supply interval set in advance along the traveling direction of the machine. As the working device, a sowing device for seeding seeds as agricultural materials in a field scene at a preset supply interval along the traveling direction of the machine, or a preset supply along the traveling direction of the machine. The paddy field working machine according to claim 3, which is provided with a seedling planting device for supplying seedlings as agricultural materials to a field scene at intervals. According to any one of claims 1 to 4, the output shaft of the first transmission and the input shaft of the second transmission are arranged on the same axis and connected via a transmission shaft. The listed paddy work machine. The second transmission is composed of a hydrostatic continuously variable transmission.
A drive mechanism for operating the swash plate of the hydraulic pump in the second transmission is provided.
The second transmission is provided with a transmission arm for operating the trunnion shaft of the swash plate.
The paddy field work according to any one of claims 1 to 5, wherein the drive mechanism includes an electric motor, a drive arm driven by the electric motor, and a rod connecting the speed change arm and the drive arm. Machine.

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