JP2012172668A - Rice planting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice planting machine with a good operability, which can properly change the rotational frequency of an engine and the transmission gear ratio of an infinite variable-speed system depending on the running status or operation status.SOLUTION: A rice planting machine 1 includes: an engine 14; a first motor 61 that changes the rotational frequency of the engine 14; an HMT 110 that changes the speed of the power from the engine 14; a second motor 62 that changes the transmission gear ratio of the HMT 110; a speed change pedal 26 that changes the running speed; a potentiometer 26a that detects the operation amount of the speed change pedal 26; and a control system 60 that controls the first motor 61 and the second motor 62 on the basis of the value detected by the potentiometer 26a.

Description

  The present invention relates to a rice transplanter including an engine and a continuously variable transmission that shifts power from the engine.

  2. Description of the Related Art Conventionally, a rice transplanter having a configuration in which power from an engine is shifted by a continuously variable transmission and transmitted to a traveling unit and a planting unit is known (see, for example, Patent Document 1 and Patent Document 2). In such a rice transplanter, after operating the accelerator lever and setting the engine speed, operating the shift pedal to change the gear ratio of the continuously variable transmission, the travel speed (work speed during work) It is set as the structure which changes.

JP 2003-83421 A Japanese Patent No. 4067310

  In the rice transplanter, the operator operates the accelerator lever and the shift pedal separately to change the rotational speed of the engine and the transmission gear ratio of the continuously variable transmission. Further, the speed of the engine and the speed of the continuously variable transmission can be changed according to the traveling situation of the rice transplanter (for example, the situation of entering and exiting the field) and the working situation (for example, the situation of planting work in mud). There was also a problem that the ratio could not be changed appropriately.

  The present invention has been made in view of the problems as described above, has good operability, and can appropriately change the rotational speed of the engine and the gear ratio of the continuously variable transmission according to the traveling state and the working state. The purpose is to provide a possible rice transplanter.

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

  2. The engine, a first actuator that changes a rotational speed of the engine, a continuously variable transmission that changes power from the engine, and a second actuator that changes a transmission ratio of the continuously variable transmission. The first actuator and the second actuator based on the detection value of the operation amount detection means, the operation amount detection means for detecting the operation amount of the speed change operation tool, And a control device that controls the rice transplanter.

  The control device may include a map related to fuel efficiency of the engine, a map related to gear shift efficiency of the continuously variable transmission, a map related to the exhaust gas emission rate of the engine, and a load factor of the engine. At least one of the maps is stored, and the first actuator and the second actuator are controlled based on the stored map and the detection value of the operation amount detection means.

  According to a third aspect of the present invention, power is transmitted from the engine to the PTO output shaft.

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

  According to the first aspect, the traveling speed and work speed of the rice transplanter can be changed by controlling the first actuator and the second actuator based on the detected value of the operation amount detecting means. Therefore, the operator can change the traveling speed and work speed of the rice transplanter with only the speed change operation tool, and the operability is improved. Further, the engine speed and the gear ratio of the continuously variable transmission can be appropriately changed in accordance with the traveling situation and work situation of the rice transplanter.

  In claim 2, fuel efficiency can be improved by controlling the first actuator and the second actuator based on a map related to fuel efficiency. Further, by controlling the first actuator and the second actuator based on the map related to the shift efficiency, the shift efficiency can be improved in the entire speed range. Further, the exhaust gas can be reduced by controlling the first actuator and the second actuator based on the map related to the exhaust gas emission rate. Further, by controlling the first actuator and the second actuator based on the map relating to the load factor of the engine, it is possible to travel reliably even when the engine is overloaded due to inclination or the like.

  According to the third aspect, the rotational speed of the PTO output shaft can be changed by changing the rotational speed of the engine. Therefore, the speed increasing / decreasing gear and the speed change mechanism are not required, and the cost can be reduced.

1 is an overall side view of a rice transplanter 1 according to an embodiment of the present invention. The figure which shows the structure of the power transmission structure and control inside the mission case 100 of the rice transplanter 1 which concerns on one Embodiment of this invention. The map which shows the relationship between the rotation speed of the engine 14, and a net average effective pressure. The map which shows the relationship between the working speed of the rice transplanter 1, and the total efficiency of HMT110. The map which shows the relationship between the rotation speed of the engine 14, and NOx density | concentration. The map which shows the relationship between the rotation speed of the engine 14, and the output of the engine 14. FIG. The figure which shows the structure of the power transmission structure and control inside the mission case 100 of another embodiment of the rice transplanter 1 which concerns on one Embodiment of this invention.

  Below, the whole structure of the rice transplanter 1 which concerns on one Embodiment of this invention is demonstrated using FIG. In the present embodiment, the rice transplanter is an eight-row planter, but this is not particularly limited, and a six-plant or ten-row planter may be used.

  As shown in FIG. 1, the rice transplanter 1 includes a traveling unit 10 and a planting unit 40, and is configured so that seedlings can be planted in a field by the planting unit 40 while traveling by the traveling unit 10. The The planting part 40 is arrange | positioned behind the traveling part 10, and is connected with the rear part of this traveling part 10 via the raising / lowering mechanism 30 so that raising / lowering is possible.

  The lifting mechanism 30 is provided between the traveling unit 10 and the planting unit 40. Specifically, the top link 31 and the lower link 32 are installed between the traveling unit 10 and the planting unit 40, and the lifting cylinder is connected between the lower link 32 and the traveling unit 10. And the planting part 40 can be rotated to the up-down direction with respect to the traveling part 10, that is, can be raised or lowered, by the expansion and contraction operation of the lifting cylinder.

  In the traveling unit 10, the engine 14 is provided at the front portion of the vehicle body frame 11 and is covered with a bonnet 15. The mission case 100 is supported by the front portion of the vehicle body frame 11 and is disposed behind the engine 14. The front axle case 16 is supported on the front portion of the vehicle body frame 11, and the front wheels 12 are attached to both the left and right sides of the front axle case 16. A rear axle case 17 is supported on the rear portion of the vehicle body frame 11, and the rear wheels 13 are attached to the left and right sides of the rear axle case 17.

  In the traveling unit 10, a driving operation unit 20 is provided in the middle part of the vehicle body frame 11 before and after. A dashboard 21 is disposed at the front of the driving operation unit 20, a steering handle 24 is disposed at the center of the left and right of the dashboard 21, and a driver seat 22 is disposed behind the steering handle 24. Below the driver's seat 22, a vehicle body cover 23, part of which is a step for getting on and off, is arranged. In the driving operation unit 20, a plurality of operation tools including the main transmission lever 25 and the shift pedal 26 are arranged, and it is possible to perform appropriate operations on the traveling unit 10 and the planting unit 40 with these operation tools. It is said.

  In the planting part 40, the planting mission case 47 is supported near the center of the lower part of the planting frame 49, and the transmission shaft extends from the planting mission case 47 to the left and right sides. The four planting transmission cases 46 are respectively extended rearward from the transmission shaft, and are arranged at appropriate intervals in the left-right direction.

  A rotary case 44 is rotatably supported on the left and right sides of the rear end portion of each planting transmission case 46. The number of the rotary cases 44 is the same as the number of planting strips, that is, eight in this embodiment. Then, the two planting claws 45 are attached to both sides of the rotary case 44 in the longitudinal direction so as to sandwich the rotation fulcrum of the rotary case 44.

  The seedling table 41 is arranged above the planting transmission case 46 in a tilted state with a front height and a low height. The seedling table 41 is attached to the rear portion of the planting frame 49 so as to be reciprocally movable in the left-right direction via a guide rail. The seedling table 41 can be reciprocated horizontally by a lateral feed mechanism.

  The seedling mounting bases 41 having a plurality of (eight) seedling mat mounting portions are arranged in the left-right direction so that each lower end side faces one rotary case 44. Then, the seedling mat is placed on each seedling stage 41, and one seedling can be cut from the seedling mat on the seedling stage 41 by the planting claws 45 when the rotary case 44 rotates.

  In the planting unit 40, a plurality of floats 42 for leveling the farm scene and a leveling rotor 43 for leveling the rough headland after turning are supported by the planting frame 49 so as to be movable up and down. Yes. Further, left and right drawing markers 48 for drawing on the farm field are rotatably supported on both the left and right sides of the planting frame 49.

  Hereinafter, the power transmission structure inside the mission case 100 will be described with reference to FIG.

  The power of the engine 14 is transmitted to the front wheels 12, the rear wheels 13, and the planting part 40 via a power transmission mechanism provided inside the mission case 100. Inside the mission case 100, a hydraulic-mechanical continuously variable transmission (HMT) 110, a main clutch 130, a main transmission mechanism 140, and a braking device 150 are mounted.

  The engine 14 is configured to be able to increase or decrease the power (the number of rotations) by adjusting the fuel injection amount by the speed governor 14a. The power of the engine 14 is transmitted to the input shaft 101 of the mission case 100 via a V belt and a propeller shaft.

  The HMT 110 is a continuously variable transmission, and includes a variable displacement hydraulic pump 111, a fixed displacement hydraulic motor 112, and a planetary gear mechanism 120. The motive power input from the input shaft 101 of the mission case 100 drives the hydraulic pump 111 and feeds the hydraulic oil from the hydraulic pump 111 to the hydraulic motor 112 to rotate the motor shaft 113 of the hydraulic motor 112.

  The movable swash plate 111a of the hydraulic pump 111 is linked to a transmission arm 100a provided in the transmission case 100, and the angle of the movable swash plate 111a can be changed by rotating the transmission arm 100a. A transmission gear 115 is fixed to the pump output shaft 114 of the hydraulic pump 111, and power is transmitted to the charge pump 71 of the HMT 110 and the charge pump 72 of the elevating mechanism 30 at the end thereof.

  A sun gear 121 is pivotally supported on the motor shaft 113 of the hydraulic motor 112, and a planetary carrier 122 is pivotally supported on a boss portion of the sun gear 121 so as to be freely rotatable, and three planetary gears 123 and 123 around the sun gear 121 are supported. -123 is rotatably provided. Further, a ring gear 124 is externally fitted to and engaged with the three planetary gears 123, 123, and 123. Thus, the planetary gear mechanism 120 is formed by the sun gear 121, the planetary carrier 122, the three planetary gears 123, 123, 123, and the ring gear 124, and the power of the HST system and the power of the gear system are combined.

  In such an HMT 110, by rotating the speed change arm 100a and changing the angle of the movable swash plate 111a of the hydraulic pump 111, the pressure oil corresponding to the angle is fed from the hydraulic pump 111. The power (rotational speed) of the motor shaft 113 of the hydraulic motor 112 is changed according to the amount of oil fed from the hydraulic pump 111, and the sun gear 121 rotates at a speed corresponding to this power. On the other hand, when the pump output shaft 114 of the hydraulic pump 111 rotates, the transmission gear 115 and the planetary carrier 122 rotate, and the planetary gears 123, 123, 123 rotate.

  Thereafter, the planetary gear mechanism 120 combines the power of the sun gear 121 and the power of the planetary gears 123, 123, 123 so that the combined output shaft 102 rotates or stops at a speed corresponding to the position of the speed change arm 100a. Become. In this way, the gear ratio of the HMT 110 is changed. The rotational speed of the combined output shaft 102 is a speed corresponding to the rotational speed of the engine 14 and the gear ratio of the HMT 110.

  The main clutch 130 switches whether power can be transmitted from the HMT 110 to the composite output shaft 102. The main clutch 130 is interposed between the ring gear 124 and the composite output shaft 102. In the main clutch 130, the ring gear 124 and the composite output shaft 102 are connected or disconnected as the clutch shifter 131 slides. In this way, the power of the ring gear 124 is transmitted to the composite output shaft 102. Or it is not transmitted.

  The main speed change mechanism 140 changes the power from the HMT 110 in multiple stages. The main transmission mechanism 140 includes a reverse input gear 141, a forward gear 142, and a moving gear 143 that are sequentially fixed to the composite output shaft 102, a reverse output gear 144, and a reverse gear 145 that are fixed to the counter shaft 103, And a slider 146 slidably provided on the travel transmission shaft 104. The reverse input gear 141 and the reverse output gear 144 are engaged with each other, and the power of the combined output shaft 102 is always transmitted to the counter shaft 103.

  The slider 146 is formed with a small diameter gear 146a and a large diameter gear 146b. The slider 146 slides with respect to the travel transmission shaft 104 by the operation of the main transmission lever 25, and the small-diameter gear 146a meshes with the forward gear 142 to advance, and the large-diameter gear 146b meshes with the moving gear 143. Thus, the large-diameter gear 146b meshes with the reverse gear 145 to move backward, and the small-diameter gear 146a and the large-diameter gear 146b switch to neutral when they do not mesh with any gear.

  The braking device 150 brakes the rotation of the traveling transmission shaft 104 that is an output shaft of the main transmission mechanism 140. The braking device 150 is provided at one end of the traveling transmission shaft 104. The braking device 150 is configured such that the braking device 150 can be operated by rotating the brake arm.

  A front-side transmission gear 161 is fixed to the other end of the traveling transmission shaft 104, and the front-side transmission gear 161 meshes with an input gear of the differential device 162. The power of the travel transmission shaft 104 is transmitted to the left and right front output shafts 105 via the differential device 162, and the power transmitted to the left and right front output shafts 105 is transmitted to the transmission mechanism in the front axle case 16. Via the front wheel 12. The differential device 162 can be locked by the front differential lock device 163.

  A rear side first transmission gear 171 is fixed in the middle of the travel transmission shaft 104, and the rear side first transmission gear 171 is loosely fitted to one end of the transmission shaft 106. The rear side second transmission gear 172 is meshed with a rear side third transmission gear 173 fixed to one end of the rear side transmission shaft 107. A bevel gear 174 is fixed to the other end of the rear transmission shaft 107, and a bevel gear 175 that meshes with the bevel gear 174 is fixed to one end of the rear output shaft 108. The power of the travel transmission shaft 104 is transmitted to the rear output shaft 108 via the rear side transmission shaft 107, and the power transmitted to the rear side transmission shaft 107 is transmitted via the transmission mechanism in the rear axle case 17. Is transmitted to the rear wheel 13.

  A PTO-side first transmission gear 181 is fixed to one end of the composite output shaft 102, and the PTO-side first transmission gear 181 is loosely fitted to the other end of the traveling transmission shaft 104. 182, and the PTO side second transmission gear 182 is engaged with a PTO side third transmission gear 183 fixed in the middle of the transmission shaft 106. A bevel gear 184 is fixed to the other end of the transmission shaft 106, and a bevel gear 185 that meshes with the bevel gear 184 is fixed to one end of the PTO output shaft 109. Then, the power of the combined output shaft 102 is transmitted to the PTO output shaft 109 via the transmission shaft 106.

  The power transmitted to the PTO output shaft 109 is shifted by an increase / decrease gear or a transmission mechanism incorporated in the inter-stock transmission case 51, and the lateral feed mechanism and each rotary case via a planting clutch, a planting mission case 47, and the like. 44. As a result, the lateral feed mechanism is actuated, and the seedling stage 41 slides in the left-right direction, and the rotary case 44 is rotationally actuated so that the two planting claws 45 alternately seedling the seedling stage. It can be taken out from the seedling mat on 41 and planted in the field.

  Below, the structure of control of the rice transplanter 1 which concerns on 1st embodiment of this invention is demonstrated using FIG.

  As shown in FIG. 2, the shift pedal 26 is a shift operation tool for changing the working speed (traveling speed) of the rice transplanter 1. The transmission pedal 26 is disposed on the lower right side of the dashboard 21. The operation amount of the shift pedal 26 can be detected by a potentiometer 26a. The potentiometer 26a is configured to detect a rotation angle of a detection shaft that rotates by operating the speed change pedal 26. The potentiometer 26 a is connected to the control device 60 and transmits the detected value (the operation amount of the shift pedal 26) to the control device 60. In addition, it is also possible to use not a pedal but a lever or a push switch as a speed change operation tool.

  The mode selection switch 27 is an operation tool for selecting a control mode of the rice transplanter 1. The mode selection switch 27 is provided on the dashboard 21. The mode selection switch 27 is configured so that the rice transplanter 1 can be selected from five control modes of “fuel efficiency mode”, “shift efficiency mode”, “exhaust gas reduction mode”, “load mode”, and “automatic mode”. . The mode selection switch 27 is connected to the control device 60 and transmits a signal corresponding to the selected control mode to the control device 60.

  The control device 60 controls the first motor 61 and the second motor 62. The control device 60 is provided at an arbitrary position of the traveling unit 10. Specifically, the control device 60 may be configured such that a CPU, a ROM, a RAM, an HDD, and the like are connected by a bus, or may be configured by a one-chip LSI or the like. The control device 60 stores in advance various programs and maps for controlling operations of the first motor 61 and the second motor 62.

  The first motor 61 is an actuator for changing the rotational speed of the engine 14. Specifically, the first motor 61 is a brassless DC motor, a stepping motor, or the like. The first motor 61 is connected to the control device 60 and is driven based on a signal transmitted from the control device 60. The output shaft of the first motor 61 is connected to the speed governor 14a of the engine 14 through a link mechanism. The speed control device 14a is driven by the first motor 61, and the rotational speed of the engine 14 can be changed. In the present embodiment, the speed governor 14a also serves as an output detection means for detecting the output of the engine 14.

  The second motor 62 is an actuator for changing the gear ratio of the HMT 110. Specifically, the second motor 62 is a brassless DC motor, a stepping motor, or the like. The second motor 62 is connected to the control device 60 and is driven by a signal transmitted from the control device 60. The output shaft of the second motor 62 is coupled to the speed change arm 100a via a link mechanism. The transmission arm 100a is rotated by the second motor 62, the inclination angle of the movable swash plate 111a of the hydraulic pump 111 is changed, and the transmission ratio of the HMT 110 can be changed.

  The engine speed detection means 63 detects the speed of the engine 14. The engine speed detection means 63 is configured to detect the speed of the flywheel and crankshaft of the engine 14, for example. Specifically, the engine speed detection means 63 is configured by a magnetic pickup coil, a rotary encoder, or the like. The engine speed detection means 63 is connected to the control device 60 and transmits a detection signal to the control device 60.

  In such a rice transplanter 1, the control device 60 controls the first motor 61 and the second motor 62 based on the detection value of the potentiometer 26a, thereby changing the traveling speed and work speed of the rice transplanter 1. can do. That is, since it is the structure which changes a travel speed and a working speed only with one operation tool (shift pedal 26) instead of two operation tools like before, the operativity of the rice transplanter 1 improves. In addition, the rotational speed of the engine 14 and the gear ratio of the HMT 110 can be appropriately changed according to the traveling state of the rice transplanter 1, for example, the state of entering / exiting the farm field, the state of entering / exiting the truck, and the like. In addition, the work situation of the rice transplanter 1, for example, the situation where the plant 14 is planted with a large amount of fuel consumption of the engine 14, the situation where the plant 14 is planted while the exhaust rate of the engine 14 is high, and the mud and groove The speed of the engine 14 and the gear ratio of the HMT 110 can be appropriately changed according to the situation in which the planting operation is performed in the above state.

  Below, the specific control aspect of the rice transplanter 1 which concerns on 1st embodiment of this invention is demonstrated using FIG.2 and FIG.3.

  FIG. 3 is a diagram showing the relationship between the rotational speed of the engine 14 and the net average effective pressure. The control device 60 stores a map shown in FIG. 3 in advance. Here, the net average effective pressure refers to the average value of the pressure in the cylinder during one cycle of the engine 14. The map shows the characteristics of the engine 14 and is derived in advance by a test or the like. FIG. 3 is an example, and the characteristics of the engine 14 according to the present invention are not limited thereto.

  A solid line in FIG. 3 indicates an iso-fuel consumption curve of the engine 14. An equal fuel consumption curve is a measurement of fuel consumption per output of the engine 14 (hereinafter simply referred to as “fuel consumption”) for each engine speed and each net average effective pressure. Is connected. Of the equal fuel consumption curves in FIG. 3, the area within the innermost fuel consumption curve (hereinafter referred to as “minimum fuel consumption area”) has the smallest fuel consumption (good fuel consumption) and the outer equal fuel consumption curve. The fuel consumption increases toward the curve (fuel consumption is worse). That is, FIG. 3 is a map related to the fuel efficiency of the engine 14.

  The control device 60 constantly calculates the net average effective pressure of the engine 14. That is, the control device 60 stores in advance a map indicating the relationship between the fuel injection pattern (for example, the fuel injection amount, the number of fuel injections, the fuel injection timing, etc.) of the governor 14a and the net average effective pressure. The net average effective pressure of the engine 14 is always calculated based on the map from the fuel injection pattern of the governor 14a.

  In such a rice transplanter 1, when the shift pedal 26 is operated after the "fuel efficiency mode" is selected by the mode selection switch 27, the control device 60 sets the operation amount of the shift pedal 26 detected by the potentiometer 26a. Based on this, the first motor 61 and the second motor 62 are controlled to change the rotational speed of the engine 14 and the gear ratio of the HMT 110, thereby changing the working speed (traveling speed). At this time, the control device 60 grasps the position corresponding to the state of the engine 14 in FIG. 3 from the engine speed detected by the engine speed detecting means 63 and the calculated net average effective pressure, The first motor 61 and the second motor 62 are controlled so that the position corresponding to the state of the engine 14 in 3 is within the minimum fuel consumption region or close to the minimum fuel consumption region.

  For example, it is assumed that the rotational speed of the engine 14 is N1, the net average effective pressure is P1, and the position corresponding to the state of the engine 14 is X1. In such a case, as indicated by the white arrow, the control device 60 decreases the rotational speed of the engine 14 from N1 to N2 and increases the net average effective pressure from P1 to P2, thereby reducing X2 within the minimum fuel consumption region. The first motor 61 and the second motor 62 are controlled so as to be positioned at the position. In this way, by controlling the first motor 61 and the second motor 62 based on the map related to the fuel efficiency of the engine 14 and the detected value of the potentiometer 26a, the fuel consumption of the engine 14 can be achieved even at the same work speed. Can be suppressed, and fuel consumption can be improved.

  Below, the specific control aspect of the rice transplanter 1 which concerns on 2nd embodiment of this invention is demonstrated using FIG.2 and FIG.4.

  FIG. 4 is a map relating to the speed change efficiency of the HMT 110, and more specifically, a map showing the relationship between the work speed of the rice transplanter 1 and the overall efficiency of the HMT 110. The total efficiency of the HMT 110 is the sum of the effective power of the hydraulic transmission mechanism composed of the hydraulic pump 111 and the hydraulic motor 112 shown in FIG. 2 and the effective power of the gear transmission mechanism composed of the transmission gear 115 and the planetary carrier 122. It is said. The map shows the characteristics of the HMT 110 and is derived in advance by a test or the like. FIG. 4 is an example, and the characteristics of the HMT 110 according to the present invention are not limited to this.

  In such a rice transplanter 1, when the speed change pedal 26 is operated after the “speed change efficiency mode” is selected by the mode selection switch 27, the control device 60 sets the operation amount of the speed change pedal 26 detected by the potentiometer 26a. Based on this, the first motor 61 and the second motor 62 are controlled to change the rotational speed of the engine 14, the gear ratio of the HMT 110, and the work speed. At this time, the control device 60 controls the first motor 61 and the second motor 62 so that the overall efficiency of the entire HMT 110 is increased, that is, the conversion efficiency of the HMT 110 is improved.

  For example, it is assumed that the work speed corresponding to the operation amount of the shift pedal 26 is V1, and the total efficiency of the HMT 110 at the work speed V1 is E1. In such a case, the control device 60 controls the second motor 62 so that the total efficiency E1 becomes the highest gear ratio, that is, the HMT 110 shifts only with the gear effective power. Then, the control device 60 calculates an appropriate rotational speed of the engine 14 from the speed ratio at which the overall efficiency becomes highest and the work speed V1 corresponding to the operation amount of the shift pedal 26, and calculates the rotational speed. Thus, the first motor 61 is controlled.

From this state, when the operation speed of the shift pedal 26 is changed from V1 to V2 by operating the shift pedal 26 and the total efficiency of the HMT 110 at the work speed V2 is E2, the control device 60, as indicated by the white arrow, the second motor 62 is set so that the total efficiency E2 becomes the highest gear ratio, that is, the HMT 110 shifts only with the gear effective power as in the case of V1. Control. Then, the control device 60 controls the first motor 61 so that the rotational speed of the engine 14 corresponds to the speed ratio at which the overall efficiency becomes the highest and the work speed V2. Thus, by controlling the first motor 61 and the second motor 62 based on the map relating to the shift efficiency of the HMT 110 and the detected value of the potentiometer 26a, the overall efficiency in the HMT 110 is high in the entire work speed region. Work can be done.
Note that when a small speed change is required on the low speed side, the ratio of the effective hydraulic power to the total efficiency can be increased.

  Below, the specific control aspect of the rice transplanter 1 which concerns on 3rd embodiment of this invention is demonstrated using FIG.2 and FIG.5.

  FIG. 5 is a map relating to the exhaust gas emission rate of the engine 14, and more specifically, is a map showing the relationship between the rotational speed of the engine 14 and the NOx concentration in the exhaust gas. The control device 60 stores a map shown in FIG. 5 in advance. The map shows the characteristics of the engine 14 and is derived in advance by a test or the like. FIG. 5 is merely an example, and the characteristics of the engine 14 according to the present invention are not limited thereto. Moreover, the map which shows PM density | concentration and HC density | concentration in waste gas may be sufficient.

  In such a rice transplanter 1, when the shift pedal 26 is operated after the “exhaust gas efficiency mode” is selected by the mode selection switch 27, the control device 60 sets the operation amount of the shift pedal 26 detected by the potentiometer 26a. Based on this, the first motor 61 and the second motor 62 are controlled to change the rotational speed of the engine 14 and the gear ratio of the HMT 110, thereby changing the working speed. At this time, the control device 60 controls the first motor 61 and the second motor 62 so that the NOx concentration in the exhaust gas decreases based on the map.

  For example, when the rotational speed of the engine 14 is N3 and the NOx concentration corresponding to the rotational speed N3 is C1, the controller 60 determines that the rotational speed of the engine 14 is N3 as indicated by a white arrow. The first motor 61 is controlled to increase from NO to N4, and the NOx concentration is decreased to C2. Then, the control device 60 calculates an appropriate gear ratio of the HMT 110 from the rotational speed N4 of the engine 14 and the work speed corresponding to the operation amount of the shift pedal 26, and the second gear ratio is set so as to be this gear ratio. The motor 62 is controlled. In this way, by controlling the first motor 61 and the second motor 62 based on the map relating to the exhaust gas efficiency of the engine 14 and the detected value of the potentiometer 26a, the NOx concentration is lowered even at the same work speed. This makes it possible to reduce exhaust gas.

  Below, the specific control aspect of the rice transplanter 1 which concerns on 4th embodiment of this invention is demonstrated using FIG.2 and FIG.6.

  FIG. 6 is a map relating to the load factor of the engine 14, and more specifically, a map showing the relationship between the rotational speed of the engine 14 and the output (load) of the engine 14. A map shown in FIG. 6 is stored in the control device 60 in advance. The solid line in FIG. 6 is an output curve connecting points that become the maximum output at each rotation speed. On this output curve, the load factor of the engine 14 (in this embodiment, the actual output with respect to the maximum output of the engine 14). The output ratio) is 100%. A lower region in the output curve in FIG. 6 is an operation region where the engine 14 operates, and an upper region is a stop region where the engine 14 stops. The map shows the characteristics of the engine 14 and is derived in advance by a test or the like. FIG. 6 is an exemplification, and the characteristics of the engine 14 according to the present invention are not limited thereto.

  The control device 60 constantly calculates the output of the engine 14. That is, the control device 60 stores in advance a map indicating the relationship between the fuel injection pattern (for example, the fuel injection amount, the number of fuel injections, the fuel injection timing, etc.) of the speed governor 14a and the engine output, Based on the map, the output of the engine 14 is constantly calculated from the fuel injection pattern of the governor 14a.

  In such a rice transplanter 1, when the shift pedal 26 is operated after the “load mode” is selected by the mode selection switch 27, the control device 60 is based on the operation amount of the shift pedal 26 detected by the potentiometer 26a. Then, the first motor 61 and the second motor 62 are controlled to change the rotational speed of the engine 14, the gear ratio of the HMT 110, and the work speed. At this time, even if an excessive load is applied to the engine 14 due to mud, grooves, inclination, etc., the control device 60 detects the engine speed detected by the engine speed detection means 63 and the calculated engine output. , The position corresponding to the state of the engine 14 in FIG. 6 is grasped, and the position corresponding to the state of the engine 14 in FIG. The motor 62 is controlled.

  For example, it is assumed that the rotational speed of the engine 14 is N5, the output of the engine 14 is W1, and the position corresponding to the state of the engine 14 is Y1. In such a case, when an excessive load is applied to the engine 14 (the output of the corresponding engine 14 is W2) and the rotational speed of the engine 14 decreases, the controller 60 operates the position corresponding to the state of the engine 14. The rotational speed of the engine 14 is increased from N5 to N6 so as to be positioned at Y2 in the region (the two-dot chain arrow in FIG. 6), and the work corresponding to the rotational speed N6 and the operation amount of the shift pedal 26 From the speed, an appropriate gear ratio of the HMT 110 is calculated, and the first motor 61 and the second motor 62 are controlled so as to obtain this gear ratio. As described above, even when the engine 14 is overloaded due to an inclination or the like by controlling the first motor 61 and the second motor 62 based on the map relating to the load factor of the engine 14 and the detected value of the potentiometer 26a. The work speed does not decrease, and the work can be performed reliably.

  Further, when “automatic mode” is selected by the mode selection switch 27, among the four control modes (“fuel efficiency mode”, “transmission efficiency mode”, “exhaust gas reduction mode”, “load mode”), rice transplanting is performed. An appropriate control mode is automatically selected according to the traveling status and work status of the machine 1. For example, during normal work, the work is performed in the “fuel efficiency mode”, and when the engine 14 is overloaded due to mud, grooves, inclination, etc., it is automatically switched to the “load mode”.

  In addition, in the rice transplanter 1 which concerns on one Embodiment of this invention, it is also possible to set it as the structure which serves as a some control mode. For example, the fuel consumption can be further reduced by combining the “fuel efficiency mode” and the “conversion efficiency mode”. Further, by combining the “exhaust gas efficiency mode” and the “load mode”, it is possible to reliably perform the work even when the engine 14 is overloaded due to inclination or the like while reducing the exhaust gas.

  Moreover, the rice transplanter 1 which concerns on one Embodiment of this invention can change the rotation speed of the engine 14, and the gear ratio of HMT110 arbitrarily by controlling the 1st motor 61 and the 2nd motor 62 separately. Therefore, it is also possible to configure so that power is transmitted to the PTO output shaft 109 by branching from the engine 14 without passing through the HMT 110. For example, as shown in FIG. 7, a bevel gear 191 is fixed to the pump output shaft 114 of the hydraulic pump 111, and a bevel gear 192 that meshes with the bevel gear 191 is fixed to one end of the PTO output shaft 109. Power is transmitted to the PTO output shaft 109 without being shifted by the HMT 110.

  In this case, the control device 60 can change the rotational speed of the PTO output shaft 109 to an arbitrary rotational speed by controlling the first motor 61 and changing the rotational speed of the engine 14. Therefore, the speed increasing / decreasing gear and the speed change mechanism incorporated in the inter-stock speed change case 51 are not required, and the cost can be reduced. Note that the control device 60 controls the second motor 62 so that the speed ratio of the HMT 110 corresponding to the rotational speed of the engine 14 and the operation amount (working speed) of the shift pedal 26 is obtained.

  Similarly, it is also possible to configure so that power is transmitted from the engine 14 to the traveling transmission shaft 104. This eliminates the need for the speed increasing / decreasing gear and the speed change mechanism on the traveling side, thereby reducing the cost.

  As described above, in the rice transplanter 1 according to an embodiment of the present invention, the engine 14, the first motor 61 serving as the first actuator for changing the rotational speed of the engine 14, and the power from the engine 14 are used. An HMT 110 that is a continuously variable transmission that changes speed, a second motor 62 that is a second actuator that changes a gear ratio of the HMT 110, a speed change pedal 26 that is a speed change operation tool that changes a running speed, and the speed change pedal 26 A rice transplanter 1 comprising: a potentiometer 26a serving as an operation amount detection means for detecting the operation amount of the control device 60; and a control device 60 for controlling the first motor 61 and the second motor 62 based on the detection value of the potentiometer 26a. It is. Thereby, the traveling speed and work speed of the rice transplanter 1 can be changed by controlling the first motor 61 and the second motor 62 based on the detection value of the potentiometer 26a. Therefore, the operator can change the traveling speed and work speed of the rice transplanter 1 with only the shift pedal 26, and the operability is improved. Further, the rotational speed of the engine 14 and the gear ratio of the HMT 110 can be appropriately changed according to the traveling situation and work situation of the rice transplanter.

  Further, the control device 60 includes a map relating to fuel efficiency of the engine 14, a map relating to the shift efficiency of the HMT 110, a map relating to the exhaust gas emission rate of the engine 14 and a map relating to the load factor of the engine 14. At least one of them is stored, and the first motor 61 and the second motor 62 are controlled based on the stored map and the detected value of the potentiometer 26a. Thereby, fuel consumption can be improved by controlling the 1st motor 61 and the 2nd motor 62 based on the map concerning fuel consumption efficiency. Further, by controlling the first motor 61 and the second motor 62 based on the map related to the shift efficiency, the shift efficiency can be improved in the entire speed range. Moreover, exhaust gas can be reduced by controlling the 1st motor 61 and the 2nd motor 62 based on the map which concerns on an exhaust gas discharge rate. Further, by controlling the first motor 61 and the second motor 62 based on the map related to the load factor of the engine 14, it is possible to travel reliably even when the engine 14 is overloaded due to inclination or the like.

  Further, the power is branched from the engine 14 and transmitted to the PTO output shaft 109. Thereby, the rotation speed of the PTO output shaft 109 can be changed by changing the rotation speed of the engine 14. Therefore, the speed increasing / decreasing gear and the speed change mechanism are not required, and the cost can be reduced.

1 Rice transplanter 14 Engine 26 Shift pedal (shifting operation tool)
26a Potentiometer (operation amount detection means)
60 controller 61 first motor (first actuator)
62 Second motor (second actuator)
100 mission case 109 PTO output shaft 110 HMT (continuously variable transmission)

Claims (3)

Engine,
A first actuator for changing the rotational speed of the engine;
A continuously variable transmission that shifts power from the engine;
A second actuator for changing a gear ratio of the continuously variable transmission,
A speed changer for changing the running speed;
An operation amount detection means for detecting an operation amount of the speed change operation tool;
A rice transplanter comprising: a control device that controls the first actuator and the second actuator based on a detection value of the operation amount detection means.   The control device includes at least one of a map related to fuel efficiency of the engine, a map related to gear shift efficiency of the continuously variable transmission, a map related to the exhaust gas emission rate of the engine, and a map related to the load factor of the engine. The rice transplanter according to claim 1, wherein the first actuator and the second actuator are controlled based on the stored map and the detected value of the operation amount detection means.   The rice transplanter according to claim 1 or 2, wherein power is transmitted to a PTO output shaft by branching from the engine.

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