JP2010213620A - Sensitivity control mechanism of gearshift tool in rice transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a sensitivity control mechanism of a gearshift tool in a rice transplanter, which can arbitrarily set the operation sensitivity of the gearshift tool to change the operation sensitivity, and can improve the operability of the rice transplanter. <P>SOLUTION: The sensitivity control mechanism of the speed change pedal 16 (gearshift tool) in the rice transplanter 1 having an engine 5, a continuously variable transmission 21, the speed change pedal 16 (gearshift tool), and a speed change actuator 60 for the speed change control of the continuously variable transmission 21 on the basis of the operation quantity of the speed change pedal 16 (gearshift tool) is characterized by disposing a pedal sensitivity-setting device 89 capable of changing the operation sensitivity of the speed change pedal 16 (gearshift tool). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a technique of a sensitivity control mechanism of a speed change operation tool in a rice transplanter.

  Conventionally, a rice transplanter that changes the traveling speed by drivingly controlling a speed change actuator is known (for example, see Patent Document 1). In the rice transplanter disclosed in Patent Document 1, an operation amount of a shift pedal (shift operation tool) is detected by a position sensor (detection means), and a shift actuator is set so that an arm of the transmission is positioned at a position corresponding to the operation amount. Shift control of rice transplanter is performed by driving control. Specifically, control is performed so that the change rate of the rotation angle of the speed change actuator is increased in proportion to the change rate of the operation amount of the shift pedal (shift operation tool).

Japanese Patent No. 4095356

However, in the rice transplanter as disclosed in Patent Document 1, the shift control is performed regardless of the traveling place of the rice transplanter, the conditions of the field, and the like. That is, the shift control is performed regardless of fluctuations in the traveling load of the rice transplanter. Therefore, when the rice transplanter is driven on a place other than the field where the travel load is relatively small, for example, on a general road, the drive control of the speed change actuator with respect to the amount of operation of the shift pedal (transmission operation tool) When it is carried out in the same manner as driving when traveling in the field, the rotation angle of the transmission actuator changes at a change rate corresponding to the high-output transmission control by the operation of the transmission pedal (transmission operation tool).
For this reason, since the operation sensitivity at the beginning of the operation of the shift pedal (transmission operation tool) becomes too sensitive, there has been a problem that rapid acceleration and rapid deceleration are likely to occur unless the operator is a skilled operator, and the operability is poor.

  The present invention has been made to solve such a problem, and it is possible to change the operation sensitivity by arbitrarily setting the operation sensitivity of the shift operation tool, and to improve the operability of the rice transplanter. An object of the present invention is to provide a pedal sensitivity control mechanism.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, the sensitivity control mechanism of the speed changer in the rice transplanter according to the first invention is
In a rice transplanter comprising an engine, a continuously variable transmission, a transmission operation tool, and an actuator for controlling the transmission of the continuously variable transmission based on an operation amount of the transmission operation tool, operation sensitivity of the transmission operation tool Is provided with a sensitivity setting device capable of changing

The sensitivity control mechanism of the shift operation tool in the rice transplanter according to the second invention is the sensitivity control mechanism of the shift operation tool in the rice transplanter according to the first invention,
In the setting of operation sensitivity, there is provided a mode switching means that can alternatively select a road driving mode or a planting work mode,
The road traveling mode is set so that the operation sensitivity becomes dull compared to the planting traveling mode.

The sensitivity control mechanism of the shift operation tool in the rice transplanter according to the third invention is the sensitivity control mechanism of the shift operation tool in the rice transplanter according to the first invention,
An actuator for changing and controlling the engine speed and an actuator for changing the speed of the continuously variable transmission are provided, and the engine speed changing control and the speed control of the continuously variable transmission are operated separately. Configured to
In the setting of operation sensitivity, mode switching means that can switch between low fuel consumption mode and high output mode is provided,
In the low fuel consumption mode, each actuator is operated so as to operate the continuously variable transmission in a speed increasing direction while maintaining the engine speed.
In the high output mode, each actuator is operated so as to operate the continuously variable transmission in the speed increasing direction while increasing the rotational speed of the engine.

The sensitivity control mechanism of the shift operation tool in the rice transplanter according to the fourth invention is the sensitivity control mechanism of the shift operation tool in the rice transplanter according to the third invention,
A sensor for detecting the height of the planting link mechanism with respect to the traveling machine body is provided based on the inclination angle of the planting link mechanism, and the low fuel consumption mode or the high output mode is automatically set according to the depth of the tillage. It is configured to switch.

  As effects of the present invention, the following effects can be obtained.

  In the first invention, since the operation sensitivity of the shift operation tool in the rice transplanter can be changed, if the operator is skilled, the operation sensitivity at the beginning of the operation of the shift operation tool is set to be sensitive. It is possible to start the planting work by quickly starting the machine. On the other hand, if the driver is unfamiliar, the operation sensitivity of the gear shifting operation tool at the beginning of operation can be set insensitive, and the rice transplanter can be started slowly, and the rolling reaction force at the time of starting is reduced. It becomes possible to perform planting work properly. Therefore, the operability of the rice transplanter can be improved. In addition, when a fertilizer with a blower is installed, if the rice transplanter is started slowly, the time lag between the start of fertilizer supply and the start of the rice transplanter is reduced, and uneven fertilization can be prevented.

  In the second aspect of the invention, the road travel mode has a smaller travel load than the planting travel mode, and therefore, when the shift operation tool is operated in the same manner as the planting travel mode, sudden acceleration and sudden deceleration are likely to occur. It is possible to suppress sudden acceleration / deceleration by reducing the operation sensitivity in the road running mode.

  In the third aspect of the invention, since the driving load changes depending on the field conditions such as deep rice fields and shallow rice fields, switching between the low fuel consumption mode and the high output mode enables energy-saving driving in shallow rice fields, and sufficient in deep rice fields. It becomes possible to obtain a sufficient driving force.

  In the fourth aspect of the invention, since the low fuel consumption mode or the high output mode is automatically switched, it is possible to change the engine speed by detecting the depth of the tiller that is difficult for the operator to check. It is possible to perform planting work adapted to the depth of the board.

The side view of the rice transplanter which concerns on 1st Embodiment. The top view of the rice transplanter which concerns on 1st Embodiment. Schematic of a traveling speed change mission. Schematic which shows the relationship between a driving operation part and a driving | running | working transmission mission. FIG. 5 is an enlarged sectional view taken along line VV in FIG. 4. FIG. 6 is an enlarged sectional view taken along line VI-VI in FIG. 4. The block diagram which shows the control structure of the control apparatus of a rice transplanter. The block diagram which shows the control structure of the control apparatus of a rice transplanter. The flowchart which shows the automatic switching control of a fuel consumption mode (low fuel consumption mode and high output mode).

  Hereinafter, the overall configuration of the rice transplanter 1 will be described with the arrow A direction in FIG.

  As shown in FIGS. 1 and 2, the rice transplanter 1 mainly includes a traveling machine body 2 and a seedling planting device 3.

  In the traveling machine body 2, the body frame 4 is supported by a pair of left and right front wheels 6 and a pair of left and right rear wheels 7. The vehicle body frame 4 is equipped with an engine 5 and a traveling speed change mission 20. The engine 5 is covered with a bonnet 9 on the front side of the body frame 4. Then, the output of the engine 5 is appropriately shifted by the traveling shift transmission 20 and then transmitted to the wheels 6 and 7. Thereby, the traveling machine body 2 is allowed to travel.

  The vehicle body frame 4 is provided with a driving operation unit 10. The driving operation unit 10 includes a seat 12, a steering handle 13, a shift lever 14, a display panel 15, a shift pedal 16, which is a shift operation tool, a brake pedal 17, a travel mode switching switch 18, a fuel consumption mode switching switch 19, and the like. The shift pedal 16 and the brake pedal 17 are forward pedals that are arranged on the right and left sides of the floor of the driving operation unit 10 on the right side of the steering handle 13 and pivotally attached to the vehicle body frame 4.

  As shown in FIG. 2, the display panel 15 is disposed in the vicinity of the steering handle 13. The display panel 15 is provided with display means for displaying the airframe status, and in the event of problems such as abnormal operation of the speed change actuator 60 described later, cutting of seedlings and fertilizers, and clogging of fertilizers, this is indicated to the operator. An informing means for informing is provided.

  For example, the notification means is configured such that a display lamp (not shown) is provided in the main body of the display panel 15 and is lit or blinks when the above-described malfunction occurs. However, the notification means is configured such that a buzzer or the like is provided in the main body of the display panel 15 so that a notification sound is generated when the above-described problem occurs, or the content of the malfunction is displayed on the liquid crystal screen or the like of the display panel 15. It is also possible to configure in this way. Further, the notification means is not limited to the display panel 15 and may be provided in another member.

  The seedling planting device 3 is a multi-row planting planting device, and is attached to the rear part of the traveling machine body 2 so as to be movable up and down. The seedling planting device 3 includes a planting link mechanism 30 and a planting unit 31.

  The planting link mechanism 30 moves the planting part 31 up and down in the vertical direction. The planting link mechanism 30 includes a top link 32, a lower link 33, and an elevating cylinder 34. In the planting link mechanism 30, the top link 32 and the lower link 33 are moved up and down by the expansion and contraction of the lifting cylinder 34.

  The planting part 31 is a part for planting seedlings. The planting unit 31 includes a planting frame, a seedling stage 35, a planting case 36, a planting arm 37, a claw case 38, a planting claw 39, a center float 41, and a side float 42. Is provided. The seedling stage 35 is disposed in a forward-tilt manner with front and rear heights, and is supported by a planting frame connected to the traveling machine body 2 through a planting link mechanism 30 so as to be slidable in the left-right direction.

  The planting case 36 protrudes rearward from the planting frame side, and supports planting arms 37, 37,... Rotated at a constant speed in one direction via a planting arm shaft 37a at the rear end. Below the planting case 36, a center float 41 and a side float 42 are arranged at an appropriate interval in the left-right direction, and are rotatably attached to the planting frame so as to move up and down.

  The planting arm 37 is provided with a pair of claw cases 38 and 38 at symmetrical positions around the rotation axis (planting arm shaft 37a). The nail case 38 has a planting claw 39 attached to its tip. At the same time as the traveling machine 2 travels by driving the front / rear transports 6, 6, 7 and 7, the seedling planting device 3 replants the seedlings from the seedling platform 35 that reciprocally slides left and right. The planting operation for continuously planting seedlings is performed while taking out the product by 39.

  Next, a configuration for performing a shift will be described.

  As shown in FIG. 3, the traveling transmission mission 20 is provided with a hydraulic continuously variable transmission 21. The continuously variable transmission 21 has a variable displacement hydraulic pump 24 driven by the output of the engine 5 and a hydraulic motor 25 driven by the hydraulic pressure from the hydraulic pump 24, and a swash plate in the hydraulic pump 24. By changing the inclination angle of 24a, the discharge amount of hydraulic fluid is changed, the rotation speed of the output shaft of the hydraulic motor 25 is changed, and the traveling speed of the traveling machine body 2 is changed.

  In this embodiment, the hydraulic continuously variable transmission 21 is combined with the mechanical transmission 40 including a planetary gear mechanism to form a hydraulic / mechanical continuously variable transmission.

  Further, as shown in FIGS. 4 and 6, a speed change operation shaft 63 extends in the lateral direction at the front portion of the vehicle body frame 4 and is rotatably supported by a bearing. A sector gear 62 is fixed to the speed change operation shaft 63, and the sector gear 62 and the speed change operation shaft 63 can be rotated together. An arm 65 is fixed to the speed change operation shaft 63 at the base end portion thereof, and the arm 65 and the speed change operation shaft 63 can be integrally rotated.

  A pinion 61 is engaged with the sector gear 62 on the speed change operation shaft 63. The pinion 61 can be rotated by a speed change actuator 60 made of an electric motor, and the speed change operation shaft 63 is rotated in the direction of arrow C in FIG. 6 or the direction of arrow D in FIG. It is configured to be able to.

  On the other hand, a front end portion of a speed change rod rod 67 extending in the front-rear direction is pivotally attached to the distal end portion of the arm 65 on the speed change operation shaft 63. A long slot 67a is formed in the rear end portion of the transmission rod rod 67 with a predetermined length in the front-rear direction. A pin 47a provided at the front end of the speed change arm 47 of the continuously variable transmission 21 is slidably fitted into the long groove hole 67a so that the rear end of the speed change rod rod 67 and the front end of the speed change arm 47 are engaged. Combined. The base of the speed change arm 47 is linked to the swash plate 24a of the hydraulic pump 24 via a trunnion shaft.

  Thus, the continuously variable transmission 21 is configured such that when the speed change operation shaft 63 is not rotated and the speed change rod rod 67 is not moved backward, or when the speed change operation shaft 63 is rotated and the speed change rod rod 67 is moved rearward. However, when the movement amount does not exceed the predetermined length of the long slot 67a, the swash plate 24a of the hydraulic pump 24 is set to the neutral position without being tilted by the speed change arm 47 and the trunnion shaft, and directed toward the wheels 6 and 7. Thus, it is configured to be in a neutral state where no output is transmitted.

  In the continuously variable transmission 21, the speed change rod 63 is rotated in the direction of the arrow C in FIG. 6 with the speed change rod 67 being hardly moved rearward, and the speed change rod 67 is moved rearward. When the movement amount of the hydraulic pump 24 exceeds the predetermined length of the long slot 67a, the swash plate 24a of the hydraulic pump 24 is moved from the point of time to the rear of the transmission rod rod 67 by the transmission arm 47 and the trunnion shaft. By tilting, the gear ratio is changed to the speed increasing side, and the traveling speed is continuously increased.

  In the continuously variable transmission 21, the speed change rod 63 is rotated in the direction of arrow D in FIG. When 67 is moved forward, the swash plate 24a of the hydraulic pump 24 is moved by the transmission arm 47 and the trunnion shaft while the rearward movement amount of the transmission rod rod 67 exceeds the predetermined length of the long slot 67a. The speed change rod rod 67 is tilted based on the amount of forward movement to change the speed ratio to the speed reduction side, and the travel speed is continuously reduced.

  The shift operation shaft 63 is provided with second detection means 66 for detecting the tilt angle of the swash plate 24a of the hydraulic pump 24 in the continuously variable transmission 21 (the rotation angle of the shift actuator 60). The second detection means 66 is composed of an angle sensor such as a potentiometer, and is configured to detect the rotation angle of the speed change operation shaft 63.

  In addition, a shift pedal shaft 51 extends laterally at the front portion of the vehicle body frame 4 and is rotatably supported by a bearing. The shift pedal 16 is linked to the shift pedal shaft 51 via the linkage mechanism 50.

  The speed change pedal 16 is urged by a spring means as an urging means composed of an elastic body so that the front part is in a high oblique state on the floor surface of the driving operation unit 10 with the rear part as a rotation fulcrum. This state is the initial position. For this speed change pedal 16, a stepping operation in which the operator depresses the speed change pedal 16 in the initial position with his / her foot forward, and a stepping release operation for removing the foot from the speed change pedal 16 in the state in which the driver has stepped on is performed. Is called.

  When the depressing operation is performed, the shift pedal 16 is rotated forward from the initial position against the spring means to rotate the shift pedal shaft 51 in the direction of arrow E in FIG. 5, while the depressing operation is performed. And is returned to the original initial position by the spring means, and is configured to rotate the shift pedal shaft 51 in the direction of arrow F in FIG.

  The shift pedal shaft 51 is provided with first detection means 55 for detecting the depression operation amount of the shift pedal 16. The first detection means 55 includes an angle sensor such as a potentiometer, and is configured to detect the rotation angle of the shift pedal shaft 51.

  Further, the traveling transmission mission 20 is provided with a clutch mechanism 22 for enabling transmission or interruption of the output from the hydraulic continuously variable transmission 21 to the wheels 6 and 7, and also applies braking force to the wheels 6 and 7. Is provided (see FIG. 3).

  The travel transmission mission 20 is provided with a rotary operation shaft 45 for the brake mechanism 23. An operation member 46 is fixed to the operation shaft 45, and the operation member 46 and the operation shaft 45 can be rotated together. The operating member 46 is not only linked to the brake mechanism 23 but also linked to the clutch mechanism 22 via a wire or the like.

  A brake on / off member 75 provided in the traveling machine body 2 is also linked to the brake mechanism 23 in conjunction with it.

  When the operation member 46 rotates together with the operation shaft 45 and is in a predetermined rotation position, the operation member 46 is in a stop state in which the brake mechanism 23 is in an operation state and the clutch mechanism 22 is in a disengagement state. At a certain time, the brake mechanism 23 is brought into a non-operating state, and at the same time, the clutch mechanism 22 is put into a running state. The actuating member 46 is biased so as to be in a traveling state by a spring means.

  Thus, the receiving member 46 a is integrally provided on the operating member 46 for both the clutch mechanism 22 and the brake mechanism 23. A speed change rod rod 67 is slidably inserted in the receiving piece 46a in the front-rear direction. A stopper piece 67b is provided in a portion of the speed change rod rod 67 positioned rearward of the receiving piece 46a so that the stopper piece 67b and the receiving piece 46a can come into contact with each other.

  When the speed change operation shaft 63 is not rotated and the speed change rod rod 67 is not moved backward, that is, when the speed change pedal 16 is held at the initial position and the stepping operation is not performed, the actuating member 46 resists the spring means. As described above, the rotation is restricted by contacting the stopper piece 67b, and the brake mechanism 23 is kept in the operating state and at the same time the clutch mechanism 22 is kept in the stopped state.

  When the speed change operation shaft 63 is rotated and the speed change rod rod 67 is moved rearward, that is, when the speed change pedal 16 is depressed and the speed change actuator 60 is driven to rotate as described later, the actuating member 46 is Along with the backward movement of the stopper piece 67b, the stopper member 67b is rotated by the spring means, so that the brake mechanism 23 is brought into a non-actuated state and at the same time the clutch mechanism 22 is brought into an on state.

  A brake shaft 70 extends in the lateral (left and right) direction at the front portion of the body frame 4 and is rotatably supported by a bearing. The brake pedal 17 is interlocked with the brake shaft 70.

  The brake pedal 17 is urged by a spring means as an urging means composed of an elastic body so that the front part is in a high oblique state on the floor surface of the driving operation unit 10 with the rear part as a pivot point. This state is the initial position. With respect to the brake pedal 17, a stepping operation in which the operator depresses the brake pedal 17 in the initial position with his / her foot forward, or a stepping release operation in which the foot is removed from the brake pedal 17 in a state in which the operator has depressed the pedal. Is done.

  When the stepping operation is performed, the brake pedal 17 is rotated forward from the initial position against the spring means, and the brake shaft 70 is rotated in the direction of arrow M in FIG. The spring means is rotated rearward and returned to the original initial position, and the brake shaft 70 is configured to rotate in the direction opposite to the arrow M direction in FIG.

  An arm 71 is fixed to the brake shaft 70 at its base end. A front end portion of a brake rod rod 72 extending in the front-rear direction is pivotally attached to the distal end portion of the arm 71. The rear end portion of the brake rod rod 72 is inserted into the locking piece 46b of the operating member 46 so as to be slidable in the front-rear direction.

  The locking piece 46 b is provided integrally with the operating member 46. A stopper 72a is provided at a portion of the brake rod rod 72 positioned rearward of the locking piece 46b, and the stopper 72a and the locking piece 46b can be brought into contact with each other.

  When the brake shaft 70 is not rotated and the brake rod rod 72 is not moved forward, that is, when the brake pedal 17 is held at the initial position and the depression operation is not performed, the brake mechanism 23 of the operating member 46 is in an operating state. At the same time, free operation is permitted from a stopped state in which the clutch mechanism 22 is disengaged to a traveling state in which the brake mechanism 23 is inactivated and at the same time the clutch mechanism 22 is in the engaged state. Therefore, when the shift pedal is depressed, the driving state is changed as described above.

  When the brake shaft 70 is rotated and the brake rod rod 72 is moved forward (in the direction of the arrow L), that is, when the brake pedal 17 is depressed, the actuating member 46 puts the brake mechanism 23 into a non-actuated state. At the same time, if the vehicle is in a traveling state in which the clutch mechanism 22 is in the engaged state, it is rotated against the spring means, regardless of the movement position of the speed change rod rod 67, that is, in preference to the stepping operation of the speed change pedal 16. Forcibly changed to a stopped state.

  The traveling machine body 2 is provided with a control device 80 (FIG. 7). The control device 80 is connected to a first detection means 55, a second detection means 66, a speed change actuator 60 composed of an electric motor, and a brake on / off member 75.

  The control device 80 detects the depression operation amount of the shift pedal 16 based on the first detection means 55, and the tilt angle of the swash plate 24a of the hydraulic pump 24 in the continuously variable transmission 21 is preset based on the detection result. The speed change actuator 60 is rotationally driven so that the set angle is set. The control device 80 is also configured to detect the tilt angle of the swash plate 24 a of the hydraulic pump 24 based on the second detection means 66.

  In such a configuration, when the depressing operation of the speed change pedal 16 is not performed, the speed change operation shaft 63 is not rotated by the speed change actuator 60, and the speed change rod rod 67 is not moved backward. Therefore, the transmission arm 47 of the continuously variable transmission 21 in the traveling transmission 20 is not rotated, and the swash plate 24a of the hydraulic pump 24 of the continuously variable transmission 21 is held in the neutral position. That is, the continuously variable transmission 21 is in a neutral state in which power is not transmitted toward the wheels 6 and 7.

  Moreover, when the shift pedal 16 is not depressed, the brake mechanism 23 enters the braking state and the clutch mechanism 22 enters the disengaged state. As a result, the output from the continuously variable transmission 21 (hydraulic / mechanical continuously variable transmission) to the wheels 6 and 7 is cut off. Therefore, the traveling machine body 2 is stopped and does not travel.

  When the shift pedal 16 is depressed while the traveling machine body 2 is in the stopped state, the shift pedal shaft 51 rotates in the direction of arrow E in FIG. 5, and the first detection means 55 rotates the shift pedal shaft 51. Detect the rotation angle. The control device 80 acquires the detection value of the first detection means 55 and detects the depression operation amount of the shift pedal 16 based on the detection value.

  Then, based on the amount of depression of the shift pedal 16, the control device 80 drives the shift actuator 60 to rotate. As the speed change actuator 60 is driven to rotate, the speed change operation shaft 63 rotates in the direction of arrow C in FIG. 6, and the speed change rod rod 67 starts to move in the direction of arrow G in FIG.

  When the rearward movement amount of the transmission rod rod 67 exceeds the predetermined length of the long slot 67a on the rear end side, the stopper piece 67b moves rearward. As a result, the actuating member 46 whose rotation by the spring means is restricted by the stopper piece 67b rotates, and the brake mechanism 23 becomes inoperative, and at the same time, the clutch mechanism 22 becomes engaged, whereby the continuously variable transmission. The power can be transmitted from the wheel 21 to the wheels 6 and 7.

  At this time, the speed change arm 47 rotates rearward, and the swash plate 24a of the hydraulic pump 24 in the continuously variable transmission 21 has a trunnion so that the tilt angle thereof becomes a set angle corresponding to the stepping operation amount of the speed change pedal 16. Tilt through the axis. Thereby, the continuously variable transmission 21 changes the gear ratio to the speed increasing side, and transmits the shifted power to the wheels 6 and 7. Therefore, the traveling machine body 2 starts traveling.

  In this state, when the depressing operation of the shift pedal 16 is performed, the shift pedal shaft 51 rotates in the direction of arrow F in FIG. 5, and the first detection means 55 detects the rotation angle of the shift pedal shaft 51 due to this rotation. To do. The control device 80 acquires the detection value of the first detection means 55 and detects the depression operation amount of the shift pedal 16 based on the detection value.

  Then, based on the operation amount of the shift pedal 16, the control device 80 drives the shift actuator 60 to rotate in the opposite direction. As the speed change actuator 60 is driven to rotate, the speed change operation shaft 63 rotates in the direction of arrow D in FIG. 6, and the speed change rod rod 67 moves in the direction of arrow H in FIG.

  As the transmission rod rod 67 moves forward, the transmission arm 47 rotates forward, and the tilt angle of the swash plate 24a of the hydraulic pump 24 in the continuously variable transmission 21 becomes the amount of depression of the transmission pedal 16. It tilts through the trunnion shaft so that the corresponding setting angle is obtained. As a result, the continuously variable transmission 21 changes its gear ratio to the deceleration side and transmits the shifted output to the wheels 6 and 7. Therefore, the speed of the traveling machine body 2 is reduced.

  When the transmission pedal 16 returns to the original initial position, the transmission arm 47 also returns to the original position, and the swash plate 24a of the hydraulic pump 24 of the continuously variable transmission 21 is set to the neutral position. Therefore, the traveling of the traveling machine body 2 is stopped.

  Next, the control configuration will be described.

  As shown in FIGS. 7 and 8, the control device 80 includes a first detection means 55, a second detection means 66, a maximum speed setter 77, a traveling speed detection means 86, and an engine speed detection means 87. The travel mode changeover switch 18 or the fuel consumption mode changeover switch 19, the link height detection means 88, and the pedal sensitivity setting device 89 are connected. Also connected to the control device 80 are a speed change actuator 60, a display panel 15, an engine speed control means 85, and a brake on / off member 75.

  The maximum speed setting unit 77 includes a dial or the like provided in the driving operation unit 10 and is configured to be able to set the maximum speed of the rice transplanter 1. The traveling speed detection means 86 is composed of a rotational speed sensor that detects the rotational speed of the axle or the like, and is configured to detect the traveling speed of the rice transplanter 1 from the detected value.

  The engine speed detection means 87 includes a speed sensor that detects the speed of the output shaft of the engine 5 and the like, and is configured to detect the speed of the engine 5 from the detected value.

  The link height detection means 88 includes an angle sensor that detects an inclination angle of the planting link mechanism 30 of the seedling planting device 3 with respect to the traveling machine body 2, and the seedling planting device 3, that is, the planting link mechanism 30, based on the detected value. It is comprised so that the height of the planting part 31 can be detected. The angle sensor is composed of a potentiometer, for example, and is provided at the front end of the lower link 33.

  Here, since the lower end of the rear wheel 7 of the traveling machine body 2 and the tiller are substantially the same height, the planting part 31 of the seedling planting device 3 is positioned so as to be substantially the same height as the lower end of the rear wheel 7. By detecting the rotation angle of the planting link mechanism 30 with respect to the traveling machine body 2 in advance, the control device 80 can detect the previously detected inclination angle and the newly detected inclination angle of the planting link mechanism 30. Based on the above, the height of the center float 41 of the planting part 31 can be calculated to obtain the depth of the cultivator.

The engine speed control means 85 is an embodiment of an actuator that changes and controls the engine speed. The engine speed control means 85 is configured to be able to control the engine speed of the engine 5 by changing the fuel injection amount, the intake air amount, and the like depending on the type of the internal combustion engine. In the rice transplanter 1 of this embodiment, since the engine 5 is a diesel engine, the engine speed control means 85 changes the fuel injection amount by changing the rack position by a solenoid as an actuator. The engine speed can be controlled.
In the case where the engine 5 is a gasoline engine, the engine speed control means 85 is configured to be able to adjust and control the engine speed of the engine 5 by opening and closing the throttle by driving a motor. Is done.

  The brake on / off member 75 includes an electric motor or cylinder, or a hydraulic cylinder controlled by an electromagnetic valve, and is configured so that the brake mechanism 23 can be switched between a non-operating state and an operating state by its operation. The However, the brake on / off member 75 is provided so that the brake mechanism 23 can be operated by giving priority to the operation of the brake pedal 17 without interfering with the operation of the brake mechanism 23 by the operating member 46.

  The pedal sensitivity setting unit 89 includes a changeover switch, a dial, and the like, and is configured to change the pedal sensitivity of the shift pedal. The pedal sensitivity setting device 89 is disposed in the driving operation unit 10.

  The traveling mode changeover switch 18 is configured to be able to switch the traveling mode of the rice transplanter 1. The travel mode changeover switch 18 is disposed in the vicinity of the steering handle 13 in the driving operation unit 10. As the travel modes that can be switched by the travel mode switch 18, a road travel mode, a planting work mode, and a culling over mode are set.

  The on-road travel mode is a travel mode used when the rice transplanter 1 is traveled on a place other than an agricultural field, for example, on a general road. That is, this is a travel mode used when the rice transplanter 1 is traveled in a place where the travel load is small.

  The planting operation mode is a traveling mode used when the rice transplanter 1 is traveling simultaneously with the planting operation on the field. That is, this is a traveling mode used when the rice transplanter 1 is traveling in a place where the traveling load increases.

  The crossing mode is a traveling mode used when the rice transplanter 1 is moved to the adjacent field beyond the paddy, when entering / exiting the field, or when loading / unloading using a step board. That is, this is a travel mode used when the rice transplanter 1 travels very slowly and the travel load may change suddenly.

  The fuel consumption mode switching switch 19 is configured to be able to switch the fuel consumption mode of the rice transplanter 1. The fuel consumption mode switching switch 19 is disposed in the vicinity of the steering handle 13 in the driving operation unit 10. As the fuel consumption modes that can be switched by the fuel consumption mode changeover switch 19, a low fuel consumption mode and a high output mode are set.

  The low fuel consumption mode is a fuel consumption mode that is used when the rice transplanter 1 is driven in a shallow rice field or the like where the traveling load is relatively small. When the shift pedal 16 is depressed, the number of revolutions of the engine 5 is increased. Is a mode in which the continuously variable transmission 21 is operated in the speed increasing direction, that is, the speed ratio of the continuously variable transmission 21 is changed to the speed increasing side, and energy saving traveling is performed.

  The high output mode is a fuel consumption mode that is used when the rice transplanter 1 travels in a deep field where the traveling load is relatively large. When the shift pedal 16 is depressed, the engine speed is reduced. Is increased in such a way that sufficient driving force can be obtained even in deep fields, etc., the continuously variable transmission 21 is operated in the speed increasing direction, that is, the gear ratio of the continuously variable transmission 21 is changed to the speed increasing side, This is a traveling mode in which traveling is performed.

  Next, the pedal sensitivity control mechanism of the rice transplanter 1 will be described.

  As shown in FIG. 8, the control device 80 detects the stepping operation amount of the shift pedal 16 based on the first detection means 55, and based on the detection result, the swash plate 24a of the hydraulic pump 24 in the continuously variable transmission 21. The speed change actuator 60 is rotationally driven so that the tilt angle becomes a set angle set in advance.

  At the same time, the control device 80 changes the fuel injection amount by changing the rack position by the solenoid of the engine speed control means 85 based on the detection result of the first detection means 55, thereby changing the engine speed of the engine 5. Control.

  Normally, the control device 80 is proportional to the change rate of the stepping operation amount of the shift pedal 16 detected by the first detection means 55, and the change rate of the rotation angle of the shift actuator 60 and the solenoid of the engine speed control means 85. Controls the rate of change in rack position due to the change in the speed increasing direction in which the traveling speed increases.

  That is, the control device 80 makes the change rate of the rack position by the solenoid of the engine speed controller 85 and the rotation angle of the speed change actuator 60 constant with respect to the change rate of the depression operation amount of the shift pedal 16. The rotation position of the speed change actuator 60 and the rack position by the solenoid of the engine speed control means 85 are controlled according to the operation amount of the speed change pedal 16.

As described above, the control device 80 controls the speed change actuator 60 and the engine speed control means 85 in accordance with the stepping operation amount of the speed change pedal 16, but in this embodiment, when the driver presses the speed change pedal 16, The stepping operation sensitivity can be changed by appropriately setting the pedal sensitivity with the pedal sensitivity setting device 89.
Specifically, the control device 80 changes the rate of change of the speed change actuator 60 and the engine speed control means 85 when the speed change pedal 16 is depressed or released according to the setting in the pedal sensitivity setting device 89. Like to do. That is, the degree of acceleration or deceleration when the shift pedal 16 is depressed or released is changed according to the setting in the pedal sensitivity setting unit 89.

  For example, when the pedal sensitivity setting unit 89 is operated and the pedal sensitivity is set to the “small” side, in the region where the shift pedal 16 starts to be depressed, that is, in a region where the stepping operation amount is small, the increase in travel speed is small and the stepping operation amount is small. In a region where there is a large amount, the degree of acceleration is increased. When the pedal sensitivity setting unit 89 is operated to increase the pedal sensitivity to the “large” side, the speed increase degree is large in the region where the shift pedal 16 starts to be depressed, that is, in the region where the stepping operation amount is small, and in the region where the stepping operation amount is large. , Make the speed increase smaller. The setting of the pedal sensitivity from the “small” side to the “large” side or from the “large” side to the “small” side can be changed as appropriate.

  As a result, if a skilled pilot runs the rice transplanter 1, the pedal sensitivity is set to the “large” side, and the pedal sensitivity of the shift pedal 16 at the beginning of the stepping is made sensitive so that the rice transplanter 1 The planting work can be started by quickly starting the planting. Also, if an unfamiliar pilot runs the rice transplanter 1, the pedal sensitivity is set to “low” and the pedal sensitivity of the speed change pedal 16 at the beginning of the stepping is made insensitive. It is possible to start slowly, reduce the reversal power at that time, and perform the planting work properly.

Further, the control device 80 can apply the travel mode or the fuel consumption mode in the rice transplanter 1, sets the pedal sensitivity of the shift pedal 16 based on the applied mode, and depresses the shift pedal 16 to correspond to this. It can also be configured to control the speed change actuator 60 and the engine speed control means 85 with respect to the amount.
Below, control of the pedal sensitivity of the speed change pedal 16 according to each mode in the travel mode and fuel consumption mode of the rice transplanter 1 will be described.

  First, the pedal sensitivity control mechanism when the travel mode is applied to the rice transplanter 1 will be described.

  As shown in FIG. 7, the traveling mode changeover switch 18 is connected to the control device 80 and is configured to have a pedal sensitivity setting function similar to the pedal sensitivity setting device 89 in addition to the above-described traveling mode switching function. Yes. The travel mode changeover switch 18 is disposed in the driving operation unit 10. However, the travel mode changeover switch 18 may be provided in place of the pedal sensitivity setting device 89.

  When the travel mode changeover switch 18 is operated, the control device 80 changes the travel mode to any one of a road travel mode, a planting work mode, and a crossing mode. Then, the pedal sensitivity of the shift pedal 16 is set appropriately in advance by the control device 80 in accordance with the changed mode. However, the modes included in the traveling mode are not limited to the road traveling mode, the planting operation mode, and the over-the-ridge mode, and may be any mode that has a certain law when the rice transplanter 1 is traveling.

  As shown in FIG. 9, when making the rice transplanter 1 drive | work simultaneously with planting work in an agricultural field, the driving mode changeover switch 18 is operated and driving mode is changed into planting work mode. In this case, the control device 80 changes the rate at which the rotation angle of the speed change actuator 60 changes with respect to the stepping operation and the stepping release operation of the shift pedal 16 at a predetermined ratio proportional to the stepping operation amount and the stepping release operation amount. .

  On the other hand, when the rice transplanter 1 is traveled on a place other than the farm field, for example, on a general road, the travel mode changeover switch 18 is operated to change the travel mode to the road travel mode. In this case, the control device 80 reduces the rate of change of the rotation angle of the speed change actuator 60 with respect to the stepping operation of the speed change pedal 16 at the beginning of stepping compared to the planting work mode, thereby increasing the amount of stepping operation. To increase it step by step to the same extent as in the planting mode. Further, the control device 80 reverses the rate at which the rotation angle of the speed change actuator 60 changes with respect to the depression release operation of the shift pedal 16 as the depression operation amount decreases, that is, as the depression release operation amount increases. Change.

  When the rice transplanter 1 is run in a place other than the farm field, the running load of the rice transplanter 1 is smaller than that when the rice transplanter 1 is run simultaneously with the planting operation on the farm field. For this reason, if the stepping operation or the stepping release operation of the shift pedal 16 is performed in the same manner as when traveling simultaneously with planting work in a field, there is a possibility that sudden acceleration or sudden deceleration may occur, resulting in a decrease in operability.

  Therefore, when the travel mode changeover switch 18 is operated to switch the travel mode to the road travel mode, the control device 80 performs the above-described control, whereby the pedal sensitivity of the shift pedal 16 is set to the pedal sensitivity in the planting work mode. Set to be duller, to suppress the occurrence of sudden acceleration or sudden deceleration when the stepping operation or stepping release operation of the shift pedal 16 is performed in the same way as when traveling simultaneously with planting work on the field, It becomes possible to prevent a decrease in operability.

  Further, when the rice transplanter 1 is moved to the adjacent field beyond the ridge, the traveling mode changeover switch 18 is operated to change the traveling mode to the culling over mode. In this case, the control device 80 reduces the rate of change of the rotation angle of the speed change actuator 60 with respect to the stepping operation of the speed change pedal 16 at the beginning of stepping, compared with the case where the rice transplanter 1 is in the road travel mode. As the value increases, the rice transplanter 1 is gradually increased to the same extent as in the road running mode. Further, the control device 80 changes the rate at which the rotation angle of the speed change actuator 60 changes with respect to the stepping release operation of the speed change pedal 16 in reverse to the above as the stepping operation amount decreases.

  In addition to moving the rice transplanter 1 over the fence to the next field, moving the rice transplanter 1 very slowly when entering or leaving the field or when loading and unloading to the transport vehicle using a step board. However, there is a possibility that the traveling load changes rapidly. Therefore, when the shift pedal 16 is depressed or released, sudden acceleration or sudden deceleration may occur due to a sudden change in travel load.

  Therefore, when the traveling mode changeover switch 18 is operated to switch the traveling mode to the over-running mode, the control device 80 performs the above control, whereby the pedal sensitivity of the shift pedal 16 is further increased than the pedal sensitivity in the traveling mode. It is possible to suppress the occurrence of sudden acceleration or sudden deceleration even when the traveling load changes abruptly by setting it to become dull.

  Next, a pedal sensitivity control mechanism when the fuel efficiency mode is applied to the rice transplanter 1 will be described.

  As shown in FIG. 8, the fuel consumption mode changeover switch 19 is connected to the control device 80 and is configured to have a pedal sensitivity setting function similar to the pedal sensitivity setting device 89 in addition to the fuel consumption mode switching function described above. Yes. The running fuel consumption mode switching switch 19 is disposed in the driving operation unit 10. However, the fuel efficiency mode switch 19 may be provided in place of the pedal sensitivity setting device 89.

  The fuel consumption mode switching switch 19 is operated to switch the fuel consumption mode to the high output mode. In the high output mode, when the shift pedal 16 is depressed, the control device 80 controls the continuously variable transmission 21 in the speed increasing direction and the engine speed control means 85 in the increasing direction. Here, the control device 80 increases the rate of increase of the rotational speed of the engine 5 at the beginning of the stepping on the shift pedal 16, and controls the rate of increase of the continuously variable transmission 21 as usual.

  As a result, when traveling on deep fields or hills, the driving load increases, so by operating the fuel consumption mode switch 19 to switch the fuel consumption mode to the high output mode, the rate of increase in engine speed from the start is increased. It is possible to obtain a sufficient driving force while preventing the occurrence of engine stall by increasing.

  On the other hand, the fuel consumption mode changeover switch 19 is operated to switch the fuel consumption mode to the low fuel consumption mode. In the low fuel consumption mode, when the shift pedal 16 is depressed, the control device 80 controls only the continuously variable transmission 21 in the speed increasing direction. Here, the control device 80 maintains the number of rotations of the engine 5 at the start of depressing the shift pedal 16 at a preset number of rotations, and controls the speed increase rate of the continuously variable transmission 21 as usual.

  As a result, the driving load is reduced when driving on shallow rice fields or on flat roads. By operating the fuel efficiency mode switch 19 to switch the fuel efficiency mode to the low fuel efficiency mode, the engine speed remains constant from the start. In addition, it is possible to perform traveling while suppressing wasteful fuel consumption. However, in the low fuel consumption mode, instead of maintaining the rotational speed of the engine 5 at a preset rotational speed, the increase rate of the engine rotational speed may be made smaller than in the high output mode.

  Next, control for automatically switching between the low fuel consumption mode and the high output mode according to the depth of the tillage will be described.

  As shown in FIG. 11, when the operation lever of the driving operation unit 10 becomes the planting work position and the planting work starts, the control device 80 causes the link height detection means 88 to use the seedling planting device 3 (planting link mechanism 30). ) Is detected, and the depth of the tillage is calculated and acquired based on the detection result (S1). The control device 80 compares the acquired value of the depth of the tillage with a preset setting value, and determines whether or not the acquired detected value of the depth of the tillage exceeds the set value. (S2). In other words, it is judged whether the cultivator is deep or shallow. The set value here refers to the deepest value among the depths of the cultivator that can be sufficiently traveled by the rice transplanter 1 in the low fuel consumption mode.

  When it is determined that the acquired detected value of the depth of the tilling pad does not exceed the set value (S2-No), that is, it is determined that the rice transplanter 1 is traveling in a field such as a rice field where the depth of the tilling pad is shallow. In this case, when the fuel economy mode is set to the low fuel consumption mode and the shift pedal 16 is depressed, the control device 80 controls the engine speed control means 85 so as to maintain the engine speed at a constant level. Then, the speed change actuator 60 is controlled in the speed increasing direction (S3). Then, the control device 80 repeatedly detects the current depth of the cultivator using the link height detection means 88 (S1).

  When it is determined that the acquired detected value of the depth of the cultivation pad exceeds the set value (S2-Yes), that is, it is determined that the rice transplanter 1 is traveling in a field such as a rice field where the depth of the cultivation pad is deep. In this case, when the fuel economy mode is set to the high output mode and the depression operation of the shift pedal 16 is performed, the control device 80 controls the engine speed control means 85 in the increasing direction so as to increase the speed of the engine 5. At the same time, the speed change actuator 60 is controlled in the speed increasing direction (S4). And the control apparatus 80 detects the depth of the cultivation board repeatedly by the link height detection means 88 repeatedly (S1).

  In this way, the control device 80 detects the depth of the tillage according to the height of the seedling planting device 3 acquired based on the link height detection means 88, and switches the fuel consumption mode to the high output mode or the low fuel consumption mode. . As a result, when traveling on a field such as a rice field where the depth of the cultivator is shallow, the traveling load of the rice transplanter 1 is reduced, so that the fuel efficiency mode is automatically switched to the appropriate fuel efficiency mode. Is possible. When traveling on a field such as a rice field where the depth of the cultivator is traveling, the traveling load of the rice transplanter 1 is increased, so that the fuel consumption mode can be automatically switched to the high output mode which is an appropriate mode. Become.

As described above, the sensitivity control mechanism of the shift pedal 16 (shift operation tool) in the rice transplanter 1 is the engine 5, the continuously variable transmission 21, the shift pedal 16 (shift operation tool), and the shift pedal 16 (shift operation). In the rice transplanter 1 provided with a speed change actuator 60 that controls the speed change of the continuously variable transmission 21 based on the operation amount of the gear), a pedal sensitivity setting device 89 capable of changing the operation sensitivity of the speed change pedal 16 (speed change operation tool). Is provided.
With this configuration, the operation sensitivity of the shift pedal 16 (shift operation tool) can be changed. Therefore, if the operator is skilled, the operation sensitivity at the beginning of operation of the shift pedal 16 (shift operation tool). Can be set sensitively, and it becomes possible to start the planting work by quickly starting the rice transplanter. On the other hand, if the driver is unfamiliar, the operation sensitivity at the beginning of the operation of the speed change pedal 16 (speed change operation tool) can be set to be insensitive, and the rice transplanter 1 can be started slowly. It is possible to reduce the reaction force and perform the planting work properly. Therefore, the operability of the rice transplanter 1 can be improved. Moreover, when the fertilizer with a blower is mounted, if the rice transplanter 1 is started slowly, the time lag between the start of fertilizer supply and the start of the rice transplanter is reduced, and uneven fertilization can be prevented.

Further, the sensitivity control mechanism of the speed change pedal 16 (transmission operation tool) in the rice transplanter 1 is a travel mode changeover switch 18 (mode switching means) that can alternatively select the road travel mode or the planting work mode for setting the operation sensitivity. ), And the road travel mode is set so that the operation sensitivity becomes dull compared to the planting travel mode.
With this configuration, the road travel mode has a smaller travel load than the planting travel mode. Therefore, when the shift pedal 16 (transmission operation tool) is operated in the same manner as in the planting travel mode, sudden acceleration and sudden Since deceleration is likely to occur, sudden acceleration / deceleration can be suppressed by reducing the operation sensitivity of the shift pedal 16 (shift operation tool) in the road travel mode.

Furthermore, the sensitivity control mechanism of the shift pedal 16 (shift operating tool) in the rice transplanter 1 is a shift that controls the shift of the continuously variable transmission 21 and an actuator (engine speed control means 85) that changes and controls the rotation speed of the engine 5. Each of the actuators 60 is configured to operate the change control of the rotational speed of the engine 5 and the shift control of the continuously variable transmission 21 separately to set the operation sensitivity to the low fuel consumption mode and the high output mode. A switchable fuel consumption mode switch 19 (mode switching means) is provided, and in the low fuel consumption mode, each actuator is operated to operate the continuously variable transmission 21 in the speed increasing direction while maintaining the rotation speed of the engine 5; In the high output mode, each actuator is operated so that the continuously variable transmission 21 is operated in the speed increasing direction while increasing the rotational speed of the engine 5. A.
By configuring in this way, the driving load changes depending on the field conditions such as deep rice fields and shallow rice fields. A sufficient driving force can be obtained.

Furthermore, the sensitivity control mechanism of the shift pedal 16 (transmission operation tool) in the rice transplanter 1 is a sensor that detects the height of the planting link mechanism 30 relative to the traveling machine body 2 based on the inclination angle of the planting link mechanism 30. It is configured to automatically switch between the low fuel consumption mode or the high output mode according to the depth of the tillage.
With this configuration, the low fuel consumption mode or the high output mode is automatically switched, so that it is possible to change the rotational speed of the engine 5 by detecting the depth of the tiller that is difficult for the operator to check. It becomes possible to perform planting work adapted to the depth of the cultivator.

1 Rice transplanter 2 Traveling machine 5 Engine 16 Shift pedal
18 Travel mode switch (mode switching means)
19 Fuel consumption mode changeover switch (mode changeover means)
21 continuously variable transmission 30 planting link mechanism 60 transmission actuator 80 controller 85 engine speed control means 89 pedal sensitivity setting device

Claims (4)

In a rice transplanter comprising an engine, a continuously variable transmission, a transmission operation tool, and an actuator that controls the transmission of the continuously variable transmission based on an operation amount of the transmission operation tool.
A sensitivity control mechanism for a speed change operation tool in a rice transplanter comprising a sensitivity setting device capable of changing the operation sensitivity of the speed change operation tool. In the setting of operation sensitivity, there is provided a mode switching means that can alternatively select a road driving mode or a planting work mode,
The sensitivity control mechanism of the speed change operation tool in the rice transplanter according to claim 1, wherein the road travel mode is set so that the operation sensitivity is lower than that in the planting travel mode. An actuator for changing and controlling the rotational speed of the engine and an actuator for changing the speed of the continuously variable transmission are provided, respectively, and the control for changing the rotational speed of the engine and the shift control of the continuously variable transmission are operated separately. Configured to
In the setting of operation sensitivity, mode switching means that can switch between low fuel consumption mode and high output mode is provided,
In the low fuel consumption mode, each actuator is operated so as to operate the continuously variable transmission in the speed increasing direction while maintaining the engine speed.
The speed control tool sensitivity control mechanism for a rice transplanter according to claim 1, wherein, in the high output mode, each actuator is operated so as to operate the continuously variable transmission in a speed increasing direction while increasing the rotational speed of the engine. .   A sensor for detecting the height of the planting link mechanism with respect to the traveling machine body is provided based on the inclination angle of the planting link mechanism, and the low fuel consumption mode or the high output mode is automatically set according to the depth of the tillage. The sensitivity control mechanism of the speed change operation tool in the rice transplanter according to claim 3 configured to be switched.

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