JP2012244939A5 - - Google Patents

Description

Work vehicle

  The present invention relates to a work vehicle such as a seedling transplanter for planting seedlings in a field.

  2. Description of the Related Art A seedling transplanting machine including a farming unit that performs farming operations such as planting seedlings behind a traveling device is known. The seedling transplanter uses a hydrostatic continuously variable transmission (HST) to shift engine power to shift operation positions such as working speed for planting seedlings, moving speed for traveling on the road, etc., and PTO speed for operating only the agricultural working section. It is configured to control and output to the drive wheels of the traveling device.

JP 2010-252638 A

  The seedling transplanter described in Patent Document 1 can change the engine speed according to the working state, but has a mechanism for automatically adjusting the engine speed and the HST opening so as to match the output characteristics of the engine. Since it does not have, there is a problem that fuel consumption is deteriorated depending on the working conditions.

The travel distance can be calculated by the rear wheel speed sensor, but the rear wheel speed sensor can detect the numerical distance, so even if the actual travel distance becomes shorter due to wheel slip etc. If the worker notices and does not manually operate the HST opening, a torque value that does not cause slipping cannot be ensured, so that there is a problem that work efficiency is lowered.
Therefore, an object of the present invention is to provide a work vehicle such as a seedling transplanter equipped with a mechanism for automatically adjusting the engine speed and the HST opening degree so as to match the output characteristics of the engine.

  The problems of the present invention are solved by the following means.

That is, the invention described in claim 1 is a work vehicle provided with a traveling vehicle body (2) having a front wheel (10) and a rear wheel (11), an engine (20), and a hydraulic continuously variable transmission (23). an engine speed sensor (16) provided for measuring the rotational speed of the engine (20), a torque sensor (17) for detecting the driving torque provided to the engine (20), said hydraulic stepless transmission (23) An HST servo actuator (30) for adjusting the opening degree of the engine is provided , a virtual line having an appropriate engine output characteristic is set from the driving torque of the engine speed sensor (16) and the engine (20), and the torque sensor (17 ) Exceeds the imaginary line, and the engine speed (20) detected by the engine speed sensor (16) is set. When below the peak value, the HST servo actuator (30) is operated to increase the opening of the hydraulic continuously variable transmission (23), and the engine (20) driving torque detected by the torque sensor (17). Is below the imaginary line, and when the engine speed (20) detected by the engine speed sensor (16) falls below a set peak value, the HST servo actuator (30) is operated to While the opening degree of the step transmission (23) is decreased, the driving torque of the engine (20) detected by the torque sensor (17) falls below the set peak value, and the engine speed sensor (16) detects it. When the rotational speed of the engine (20) exceeds the set peak value, the HST servo actuator (30) is operated to When the opening of the continuously variable transmission (23) is lowered to increase the torque value, and the drive torque and the engine speed reach the maximum values set, the opening of the hydraulic continuously variable transmission (23) is set to the set value. A work vehicle characterized in that a control device (100) for performing control to return to is provided.

According to a second aspect of the present invention, the traveling vehicle body (2) is provided with a rear wheel rotational speed sensor (22) for detecting the rotational speed of the rear wheel (11), and a GPS receiver (23) for acquiring position information from satellite information. The control device (100) calculates the moving distance based on the detected rotational speed of the rear wheel rotational speed sensor (22) within a predetermined section and the information from the GPS receiver (23), respectively, If the two travel distances are both within the set value, the current HST opening is maintained, and it is determined that slip occurs when the rear wheel rotational speed is larger than the travel distance, and the HST servo actuator (30) Is operated to lower the opening of the hydraulic continuously variable transmission (23), and when the rear wheel rotational speed is smaller than the moving distance based on information from the GPS receiver (23), it is determined that the resistance of the field is small. , Said HST It actuates the turbo actuator (30) is a working vehicle according to claim 1, characterized by performing control for increasing the opening degree of the hydraulic stepless transmission (23).

According to a third aspect of the present invention , a steering handle (34) is provided on the traveling vehicle body (2), a steering angle sensor (28) for detecting a cutting angle of the steering handle (34) is provided, and the control device is provided. (100) stores the current opening of the hydraulic continuously variable transmission (23) and detects the rear wheel within a predetermined time when the steering wheel angle sensor (28) detects an angle greater than a predetermined value. Based on the rotational speed of the rotational speed sensor (22) and the information from the GPS receiver (23), the moving distance is calculated, and if the two moving distances are both within the set value, the current hydraulic continuously variable transmission (23) The opening degree is maintained, and the movement at the time of turning obtained based on the detected value of the rear wheel speed sensor (22) as compared with the moving distance at the time of turning based on the information from the GPS receiver (23). If the distance is large, there is slip And the HST servo actuator (30) is actuated to lower the opening of the hydraulic continuously variable transmission (23), and the rear wheel is compared with the moving distance during turning obtained from the GPS receiver (23). When the moving distance at the time of turning obtained based on the detection value of the rotation speed sensor (22) is small, it is determined that the field resistance is small, and the HST servo actuator (30) is operated to operate the hydraulic continuously variable transmission (23 ), And when the detected angle of the steering angle sensor (28) is less than a predetermined angle, control is performed to return to the opening of the hydraulic continuously variable transmission (23) before turning movement. The work vehicle according to claim 2, wherein

The invention according to claim 4 is provided with a work device (4) that can be moved up and down at the rear part of the traveling vehicle body (2), and provided with a leveling device (27a, 27b) for leveling the field in the work device (4), A leveling device lifting / lowering actuator (63) for adjusting the vertical position of the leveling devices (27a, 27b) is provided on the traveling vehicle body (2), and a wave preventing member (25 for preventing generation of waves on the left and right sides of the working device (4)). ) Is provided so as to be rotatable, and a wave preventing member rotation detecting device (29) for detecting the rotation of the wave preventing member (25) is provided, and the control device (100) is configured to detect the wave preventing member rotation. When the device (29) detects the rotation of the wave preventing member (25) above a predetermined value, the leveling device elevating actuator (63) is operated to control the leveling devices (27a, 27b) to move up and down. The method according to any one of claims 1 to 3, It is a work vehicle.

According to a fifth aspect of the present invention, when the wave preventing member rotation detecting device (29) detects a rotation greater than a predetermined value and the rotation number of the rear wheel rotation number sensor (22) is less than a predetermined value. The work vehicle according to claim 4 , wherein the lift actuator is not operated .

According to a sixth aspect of the present invention, a float (55) for detecting the height of the work device is provided at a lower portion of the work device (4), and the work device lifting / lowering actuator (46) extending and lowering the work device (4) is expanded and contracted. An expansion / contraction amount sensor (81) for detecting and recording the amount is provided, and the control device (100) calculates the traveling speed of the traveling vehicle body (2) from the rotational speed of the rear wheel rotational speed sensor (22), and travel speed When the working device elevating actuator (46) is actuated to raise the working device (4), and the elevating amount of the working device elevating actuator (46) is expanded and lowered. The work vehicle according to any one of claims 1 to 5 , characterized in that a quantity sensor (81) stores it.

According to the first aspect of the present invention, the driving torque of the engine (20) detected by the torque sensor (17) exceeds the virtual line, and the rotational speed of the engine (20) detected by the engine rotational speed sensor (16) is When it falls below the set peak value, the torque value of the engine (20) decreases by operating the HST servo actuator (30) to increase the opening of the hydraulic continuously variable transmission (23). The engine is in a working state that matches the engine output characteristics, and the fuel consumption is automatically maintained in a good state, thereby improving the fuel consumption.

When the detected value of the torque sensor (17) falls below the imaginary line and the detected value of the engine speed sensor (16) falls below the set peak value, the HST servo actuator (30) is actuated to make it hydraulic. By reducing the opening of the continuously variable transmission (23), the torque value of the engine (20) is increased, so that the working state matches the set engine output characteristics and the fuel consumption is automatically maintained in a good state. This improves fuel economy.
Furthermore, when the detected value of the torque sensor (17) falls below the set peak value and the detected value of the engine speed sensor (16) exceeds the set peak value, the hydraulic continuously variable transmission (23) After the opening of the engine is lowered and the torque value is increased, when the driving torque and the engine speed reach the maximum values set, control is performed to return the opening of the hydraulic continuously variable transmission (23) to the set opening. By adopting the configuration, it is possible to match the engine output characteristics without abruptly decreasing the engine speed, thereby preventing the shake of the fuselage and the deterioration of fuel consumption.

According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, the numerical movement distance based on the detected value of the rear wheel speed sensor (22) and the actual movement by the GPS receiver (23). Since the distances can be compared, control suitable for the working conditions can be performed even in a place where slip is likely to occur, such as a wetland.

As a result, when the actual moving distance is shorter than the numerical moving distance, it can be determined that a slip has occurred, so the opening of the hydraulic continuously variable transmission (23) is lowered and the engine (20) By increasing the torque value, a traveling output that cannot be taken by the wetland is ensured, so that the work efficiency is improved as compared with the conventional case.

Further, when the actual moving distance is longer than the numerical moving distance, it can be determined that the resistance of the ground is low, so the opening of the hydraulic continuously variable transmission (23) is increased and the torque value of the engine (20) is increased. The fuel consumption can be improved.

According to the invention of claim 3, in addition to the effect of the invention of claim 2 , the turning movement distance based on the detection value of the rear wheel rotation speed sensor 22 and the turning movement distance based on the information from the GPS receiver 23, Since the numerical turning movement distance and the actual turning movement distance can be compared, control suitable for the working conditions can be performed even during turning on wet ground where slipping is likely to occur.

As a result, when the actual turning movement distance is shorter than the numerical turning movement distance, it can be determined that slip has occurred. Therefore, the opening degree of the hydraulic continuously variable transmission (23) is lowered and the engine (20 By increasing the torque value of), it is possible to secure a running output that cannot be taken by the wetland, thereby improving the turning performance and the work efficiency.

Further, when the actual turning movement distance is longer than the numerical turning movement distance, it can be determined that the resistance of the ground is low, so the opening of the hydraulic continuously variable transmission (23) is increased and the engine (20) The torque value can be lowered, and the fuel efficiency is improved as compared with the prior art.
Further, when the steering angle sensor (28) detects the turning angle when the handle (34) is operated, the current opening of the hydraulic continuously variable transmission (23) is stored, and the handle (34) is less than the turning angle. When returned, the configuration is such that the opening degree of the hydraulic continuously variable transmission (23) is automatically changed, so that the operator operates the opening degree of the hydraulic continuously variable transmission (23) after turning. There is no need, and operability and work efficiency are improved compared to the conventional one.

According to the invention described in claim 4, in addition to the effect of the invention described in any one of claims 1 to 3, the wave preventing member (25) of the work device (4) has a predetermined value (angle, number of times, time, etc.). ) When the above-mentioned rotation, that is, the state in contact with the convex portion of the ground or the state where the convex portion of the ground is separated and returned to the original position, the leveling device elevating actuator (63) is operated and the leveling device (27a, 27b) Since the working height of the leveling device (27a, 27b) is changed in accordance with the unevenness of the ground, the convex portion of the ground can be surely leveled and the work efficiency can be improved. Will improve.

According to the invention of claim 5, wherein, in addition to the effects of the invention of claim 4 Symbol mounting, even breakwater member rotation detection device (29) detects the rotation of a predetermined value or more, the rear wheel rotation speed When the rotational speed of the sensor (22) is less than a predetermined value, that is, when the traveling speed is low, the leveling device elevating actuator (63) is not operated so that the vertical positions of the leveling devices (27a, 27b) are set at short intervals. Since it is possible to prevent a sudden change, the leveling error and the load on the leveling devices (27a, 27b) and the wave preventing member (25) are prevented, and the durability is improved.

According to the invention of claim 6, in addition to the effect of the invention of any one of claims 1 to 5 , the traveling speed is calculated from the rotational speed of the rear wheel rotational speed sensor (22), When the traveling speed exceeds a predetermined value, the work device elevating actuator (46) is slightly pulled to raise the work device (4) slightly, so that the float (55) provided at the lower portion of the work device (4) is provided. ) And the ground can be created, so that the float (55) can be prevented from pushing up the soil on the ground during high-speed work, and the level of the field can be maintained.

It is the whole riding type rice transplanter which is one Example of the present invention. It is a whole top view of the riding type rice transplanter shown in FIG. It is a control block diagram of the riding type rice transplanter shown in FIG. It is a principal part rear view of the support structure of the leveling rotor of the riding type seedling transplanter of FIG. It is the schematic of the drive mechanism of the leveling rotor of the riding type seedling transplanter of FIG. FIG. 2 is a partial view illustrating a configuration of a drive system of the leveling device of the riding seedling transplanter of FIG. 1. It is a graph which shows the suitable output characteristic which shows the relationship between the engine speed and torque which are preset for the riding type rice transplanter shown in FIG. It is a flowchart figure of the control which returns the opening degree of the hydraulic continuously variable transmission in case drive torque is insufficient with respect to the engine speed of the riding type rice transplanter shown in FIG. It is a graph which shows the relationship of the virtual line used as the straight line which is directly proportional to an appropriate engine output characteristic line between the engine speed sensor and torque of the riding type rice transplanter shown in FIG. It is a flowchart of control of the HST opening degree in the area | region where the engine output characteristics of the riding type rice transplanter shown in FIG. 1 differ. It is a flowchart which controls the HST opening degree by judging the presence or absence of a slip from the movement distance based on the rear-wheel rotation speed of the riding type rice transplanter shown in FIG. 1, and the information from a GPS receiver. 2 is a flowchart for controlling the opening degree of the HST by detecting a slip generated when the riding type rice transplanter shown in FIG. 1 turns. FIG. 14 is a rear schematic view (FIG. 13 (a)) and a partially enlarged view (FIG. 13 (b)) of FIG. 13 (a) for explaining the operation of the wave preventing plate of the riding type rice transplanter shown in FIG. It is a flowchart of control which raises / lowers a leveling rotor according to rotation of the wave-breaking plate arm of the riding type rice transplanter shown in FIG. It is a flowchart of control which raises / lowers a leveling rotor according to rotation of the wave-breaking plate arm of the riding type rice transplanter shown in FIG. It is a flowchart of control which raises / lowers a leveling rotor according to rotation of the wave-breaking plate arm of the riding type rice transplanter shown in FIG. FIG. 3 is a partially enlarged view of the rear surface of the machine body for explaining the operation of the wave breaker of the riding type rice transplanter shown in FIG. 1. It is a flowchart which raises / lowers a leveling rotor by the frequency | count of operation of the wave-shielding plate of the riding type rice transplanter shown in FIG. It is a flowchart of control which memorize | stores the expansion-contraction amount of the raising / lowering cylinder which raises / lowers a seedling planting apparatus with the traveling speed of the riding type rice transplanter shown in FIG.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 and FIG. 2 are a side view and a plan view of a riding seedling transplanter which is an embodiment using the present invention. The riding seedling transplanter 1 has a seedling planting portion 4 mounted on the rear side of a traveling vehicle body 2 via a lifting link device 3 so as to be lifted and lowered. Moreover, the control block diagram of the riding type rice transplanter of a present Example is shown in FIG.

The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and a pair of left and right rear wheels 11 and 11 as drive wheels, and a transmission case 12 is disposed at the front of the fuselage. Front wheel final cases 13, 13 are provided on the left and right sides of the case 12, and the left and right front wheels are mounted on the left and right front wheel axles projecting outward from the respective front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 13, 13. 10 and 10 are respectively attached.
Further, a seedling planting portion 4 is mounted on the rear side of the traveling vehicle body 2 so as to be movable up and down via a lifting link device 3, and a main body portion of the fertilizer application device 5 is provided on the upper rear portion of the traveling vehicle body 2.

  Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and a rear wheel rolling shaft (not shown) provided horizontally in the front and rear at the center of the rear end of the main frame 15 is used as a fulcrum. The rear wheel gear cases 18 and 18 are supported in a freely rolling manner, and the rear wheels 11 and 11 are attached to a rear wheel axle 11a that protrudes outward from the rear wheel gear cases 18 and 18.

  The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a hydrostatic continuously variable transmission (HST) 23 and the like. The rotational power transmitted to the mission case 12 is shifted by a transmission in the case 12 and then separated into traveling power and external power to be extracted.

  A part of the traveling power is transmitted to the front wheel final cases 13 and 13 to drive the front wheels 10 and 10, and the rest is transmitted to the rear wheel gear cases 18 and 18 to drive the rear wheels 11 and 11. Further, the external take-out power is transmitted to a planting clutch case (not shown) provided at the rear portion of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26.

A seat 31 is installed at the top of the engine 20. A front cover 32 incorporating various operation mechanisms is provided in front of the seat 31, and a handle 34 for steering the front wheels 10 and 10 is provided above the front cover 32. The left and right sides of the lower end of the front cover 32 are horizontal floor steps 35. The floor step 35 is provided with a number of holes (see FIG. 2), and mud on the shoe of the worker walking through the step 35 falls to the field. The rear part on the floor step 35 is a rear step 36 that also serves as a rear wheel fender.
In addition, on the left and right sides of the front part of the traveling vehicle body 2, a spare seedling stage 38 on which supplementary seedlings are placed may be provided. The elevating link device 3 has a parallel link configuration, and includes one upper link 40 and a pair of left and right lower links 41, 41. These links 40, 41, 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected on the rear end of the main frame 15, and a vertical link 43 is connected to the tip side thereof. ing.

  And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44. An elevating hydraulic cylinder 46 is provided between a support member fixed to the main frame 15 and a tip of a swing arm (not shown) integrally formed with the upper link 40, and the cylinder 46 is expanded and contracted hydraulically. As a result, the upper link 40 rotates up and down, and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

  The seedling planting section 4 has a four-row planting structure, a transmission case 50 also serving as a frame, and a mat seedling is placed to reciprocate to the left and right to supply seedlings one by one to the seedling outlets 51a,. When all the seedlings for one row are supplied to the seedling outlet 51a, ..., the seedling mount 51 for transferring the seedling downward by the seedling feeding belt 54, ..., the seedling for planting the seedling supplied to the seedling outlet 51a, ... in the field A planting device 52,... Is provided with a pair of left and right drawing markers (not shown) for drawing the aircraft course in the next stroke to the topsoil surface. In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and side floats 56, 56 are provided on the left and right sides thereof.

  When these floats 55, 56, 56 are grounded on the mud surface of the field, the aircraft moves forward, and the floats 55, 56, 56 slide while leveling the mud surface. Seedlings are planted by. Each of the floats 55, 56, and 56 is rotatably attached so that the front end side thereof moves up and down according to the unevenness of the soil surface of the field, and the vertical movement of the front part of the center float 55 is a float inclination angle sensor during planting work. 94 (FIG. 3), and according to the detection result, the seedling planting depth is always kept constant by switching the hydraulic valve that controls the lifting hydraulic cylinder 46 to raise and lower the seedling planting unit 4. maintain.

  A rotor 27 (27a, 27b), which is an example of a leveling device, is attached to the seedling planting unit 4. In addition, the seedling mount 51 is configured to slide in the left-right direction using a support roller 65a of a rectangular support frame 65 having a full width in the left-right direction and the vertical direction that supports the entire seedling planting unit 4 as a rail.

The fertilizer applicator 5 feeds the granular fertilizer stored in the fertilizer hopper 60 by a certain amount by the feeding portions 61,... Guide to a guide (not shown), ..., and drop into a fertilization groove formed in the vicinity of the side of the seedling planting line by a grooved body 64 (Fig. 1) provided on the front side of the fertilization guide, ... It has become. The air generated by the blower 58 driven by the blower electric motor 53 is blown into the fertilizer hoses 62,... Via the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hoses 62,. It is designed to be transported.
FIG. 4 (rear view) shows a support structure for the leveling rotors 27a and 27b, and FIG.

The rotor driving unit includes a beam member 66 that is rotatably supported on both side members 65b of the support frame 65 of the seedling stage 51, a support arm 67 fixed to both ends of the beam member 66, and the support. A rotor support frame 68 that is rotatably attached to the arm 67 is provided. Further, a rotor raising / lowering motor 63 is provided on the axial extension line of the beam member 66. A drive shaft 70 (70a, 70b) (FIG. 4) of the leveling rotor 27 (27a, 27b) is attached to the lower end of the rotor support frame 68. The lower end portion of the rotor support frame 68 is connected to a connecting member 71 that is rotatably attached to the transmission case 50.
Further, in place of the rotor lifting / lowering motor 63 shown in FIG. 4, the support arm 67 is rotated in the front-rear direction by operating the rotor height adjustment lever 69 (FIG. 1) supported by the support arm 67, so that the rotor support frame 68 is moved. It may be moved up and down.

  As shown in FIG. 5, power is transmitted from the transmission case 18 to the rear wheel gear case 18 on the right side from the transmission case 12 through transmission shafts 18 a and 18 c having a universal joint 18 b in the middle, and an input gear (not shown) in the rear wheel gear case 18 is shown. The left leveling rotor 27a rotates by driving the drive shaft 70a via the leveling transmission shaft 72 and the like. Each of the left drive shafts 70a is provided with a bevel gear 70v, and the bevel gear 70v is engaged with a bevel gear 72v provided at the tip of the leveling shaft 72 so that the drive force from the transmission case 12 side is transmitted. The

  A leveling rotor 27b is disposed at the center in the left-right direction of the machine body, and is driven by a rotor drive shaft 70b of the leveling rotor 27b. The power from the drive chain 73a of the left rotor drive shaft case 73 is transmitted to the rotor drive shaft 70b. Further, power is transmitted from the rotor drive shaft 70b to the right rotor drive shaft 70a via the drive chain 73a of the right rotor drive shaft case 73.

  The engine 20 is provided with an engine speed sensor 16 for measuring the engine speed and a torque sensor 17 for detecting the driving torque of the engine. The HST servo actuator 30 is an opening of a hydraulic continuously variable transmission (HST) 23. (Rotation angle of swash plate adjusted by rotation of trunnion shaft) is adjusted.

  FIG. 7 is a graph showing an appropriate output characteristic indicating the relationship between the preset engine speed and torque. The control device 100 adjusts the rotation speed of the engine 20 based on the detection values of the engine rotation speed sensor 16 and the engine drive torque sensor 17 so that the rotation speed and drive torque of the engine 20 have an appropriate relationship shown in FIG. Execute control to increase or decrease.

If the driving torque is smaller than the output characteristics shown in FIG. 7 with respect to the engine speed, the HST servo actuator 30 is activated if the torque that provides the appropriate output characteristics cannot be obtained even if the engine speed is increased. Thus, the opening degree of the hydraulic continuously variable transmission 23 is reduced to obtain the torque having the appropriate output characteristics, and then the HST servo actuator 30 is operated again to set the opening degree of the hydraulic continuously variable transmission 23. The control device 100 executes control to return to the opened position. A flowchart in this case is shown in FIG.
In FIG. 8, “engine speed x” uses a value obtained by averaging measured values measured constantly by the engine speed sensor 16 over a fixed interval.

  In this way, the detected value of the torque sensor 17 and the detected value of the rotational speed sensor 16 are compared with an appropriate output characteristic line L1 set in advance, and the engine rotational speed is changed to a value that matches the output characteristics. As a result, the fuel consumption is automatically maintained in a good state, so that the fuel consumption is improved as compared with the prior art.

  Further, when the torque is lower than the peak value A (FIG. 7) and the engine speed exceeds the peak value A, that is, the engine speed cannot be changed, the HST servo actuator 30 is operated. By adopting a control configuration in which the HST opening is lowered and the torque is increased to match the output characteristic line L1, a rapid decrease in the engine speed is prevented, and the traveling vehicle body is prevented from shaking and fuel consumption is deteriorated.

  As shown in FIG. 9, a virtual line L0 that is a straight line that is theoretically directly proportional to the appropriate engine output characteristic line L1 is set between the engine speed sensor 16 and the torque (the engine output characteristic line L1 in this case is (The same line as the engine output characteristic line L1 in FIG. 7). As shown in the flowchart of FIG. 10, the detected value (Trx) of the torque sensor 17 exceeds the virtual line L1, and the detected value (x) of the engine speed is within a preset peak value A (FIG. 7). In this case, the HST servo actuator 30 is operated to increase the HST opening, the detection value (Trx) of the torque sensor 17 falls below the virtual line L0, and the detection value (x) of the engine speed sensor 16 is If it is within the preset peak value A, the HST servo actuator 30 is actuated to decrease the HST opening, and the detected value (Trx) of the torque sensor 17 is within the preset peak value A; If the detected value (x) of the engine speed sensor 16 exceeds a preset peak value A, the torque value is increased by lowering the HST opening and then set again. Performs control to return each time.

  Thus, when the detected value (Trx) of the torque sensor 17 exceeds the virtual line L0 and the detected value (x) of the engine speed sensor 16 is within the peak value A, the HST servo actuator 30 is operated to increase the HST opening. By increasing the torque value, the torque value decreases, so that a working state that matches a preset appropriate engine output characteristic is obtained, and the fuel consumption is automatically maintained in a good state to improve the fuel consumption.

  When the detection value (Trx) of the torque sensor 17 is below the virtual line L0 and the detection value (x) of the engine speed sensor 16 is within the peak value A, the HST servo actuator 30 is operated to increase the HST opening. By reducing the torque value, the torque value increases, so that the working state matches the engine output characteristic, and the fuel consumption is automatically maintained in a good state to improve the fuel consumption.

  Further, when the detected value (Trx) of the torque sensor 17 is within the peak value A and the detected value (x) of the engine speed sensor 16 exceeds the peak value A, the torque value is increased by lowering the HST opening. Thereafter, by adopting a configuration in which the control is performed to return to the set opening degree again, it is possible to match the engine output characteristics without drastically reducing the engine speed, thereby preventing the traveling vehicle body 2 from shaking and fuel consumption from being deteriorated. .

  As shown in the flowchart shown in FIG. 11, a rear wheel speed sensor 22 for detecting the speed of the rear wheel 11 and a GPS receiver 23 for acquiring position information from satellite information are provided, and a rear wheel speed sensor 22 for a predetermined section is provided. The travel distance is calculated based on the detected rotation speed and the information obtained from the GPS receiver 23, and if the two travel distances are both within a set value (eg, about 5 revolutions, about 4.5-9 m), When the rear wheel rotational speed is larger than the moving distance, it is determined that slip has occurred, the HST servo actuator 30 is operated to lower the HST opening, and the moving distance is reached. In contrast, when the rear wheel rotational speed is small, it is determined that the field resistance is small, and the HST servo actuator 30 is operated to increase the HST opening. In this way, the numerical movement distance based on the detection value of the rear wheel rotation speed sensor 22 and the actual movement distance by the GPS receiver 23 can be compared. Can be controlled.

  As a result, when the actual moving distance is shorter than the numerical moving distance, it can be determined that slip has occurred. Therefore, when the HST opening degree is lowered and the torque value is increased, traveling without getting in the wetland Since the output is secured, the work efficiency is improved as compared with the conventional case. In this case, the match with the engine output characteristics is not considered.

  Further, when the actual moving distance is longer than the numerical moving distance, it can be determined that the resistance of the ground is low. Therefore, the HST opening degree can be increased to decrease the torque value, and the fuel efficiency is improved. However, priority is given to matching with the engine output characteristics.

FIG. 12 shows a control flowchart for detecting the slip generated during turning and performing HST opening control (output control).
When the steering angle sensor 28 that detects the turning angle of the steering handle 34 detects a turning angle greater than or equal to a predetermined value (e.g., 90 to 120 degrees or more), the current HST opening is stored, and a predetermined time (e.g., about 3 to 5 seconds), the rotation number of the rear wheel rotation number sensor 22 and the movement distance obtained from the GPS receiver 23 are calculated, and both are set values (eg, about 1 to 2 rotations, 1.0 to 1. 5 m), the current HST opening degree is maintained and obtained based on the detection value of the rear wheel rotational speed sensor 22 compared to the moving distance during turning (hereinafter referred to as turning distance) obtained from the GPS receiver 23. When the turning distance is large, it is determined that slip has occurred, the HST servo actuator 30 is operated to lower the HST opening, and the detected value of the rear wheel speed sensor 22 is compared with the turning distance obtained from the GPS receiver 23. Based on When the turning distance is small, it is determined that the field resistance is small, the HST servo actuator 30 is operated to increase the HST opening, and the detection angle of the steering angle sensor 28 is a predetermined angle (eg, 120). When less than -90 degrees), a control configuration is performed to return to the HST opening before the turning movement.

  In this way, since the detected value of the rear wheel rotation speed sensor 22 and the value obtained by the GPS receiver 23 can be compared with the actual moving distance even when turning, it is possible to compare the actual moving distance on the wet ground where slip is likely to occur. Even during the turning of the vehicle, it is possible to perform control suitable for the working conditions. As a result, when the actual turning distance is shorter than the numerical turning distance, it can be determined that a slip has occurred. Therefore, when the HST opening degree is lowered and the torque value is increased, traveling without getting in the wetland Since the output is secured, the turning performance is improved and the work efficiency is improved.

  Further, when the actual turning distance is longer than the numerical turning distance, it can be determined that the resistance of the ground is low. Therefore, the HST opening degree can be increased and the torque value can be lowered, thereby improving the fuel consumption. However, priority is given to matching with engine output characteristics. Further, the steering angle sensor 28 detects the turning angle and stores the current HST opening at the same time, and automatically changes to the stored HST opening when the steering wheel is returned below the turning angle. The operator does not need to operate the HST opening degree after turning, and the operability and work efficiency are improved as compared with the prior art.

  The working device (seedling planting unit 4) is equipped with leveling devices 27a and 27b for leveling the field, but a rotor lifting motor 63 for adjusting the vertical position of the leveling devices 27a and 27b is mounted on the traveling vehicle body 15. ing. In addition, as shown in the overall view of the work vehicle of FIGS. 1 and 2 and the partial view of the back of the seedling transplanter in FIG. 13, the seedling planting unit 4 generates waves by pushing mud while traveling through the field, In order to prevent the seedlings already planted in the field from being covered with mud or pushed away, the wave-breaking plates 24 may be attached to the left and right sides of the lower part of the seedling mounting base 51 via the wave-breaking plate arms 25.

  Here, when the wave breaker plate 24 is kept lowered, the wave breaker plate 24 pushes the mud in the field and mud covers or pushes off the seedlings already planted in the field. A wave-breaking plate arm 25 is attached to the plate 24 so as to be rotatable, and the wave-breaking plate arm 25 is turned up and down by pushing up mud.

  Then, the wave-breaking plate arm rotation sensor 29 indicates that the wave-breaking plate arm 25 has rotated more than a predetermined value (for example, a predetermined number of times at an angle of 5 to 8 degrees for 2 to 5 seconds). When detected, a control structure is provided for operating the rotor elevating motor 63 to elevate and lower the leveling devices 27a and 27b. An example of this control is shown in FIG. 14 as a flowchart.

  Further, for example, when the wave-breaking plate arm 25 rotates within a predetermined time of 3 to 7 seconds by a predetermined rotation angle of, for example, 5 to 8 degrees, the rotation frequency is, for example, 4 to 6 times. , The leveling accuracy may be affected because there are too many irregularities in the field. Therefore, when the wave-breaking plate arm 25 moves too much in this way, it is necessary to have a control configuration in which the rotor lifting / lowering motor 63 is operated to raise the entire leveling devices 27a and 27b. An example of this control is shown in FIG. 15 as a flowchart.

  Further, in the flowchart shown in FIG. 16, the wave-breaking plate arm 25 is rotated by a predetermined angle (eg, 5 degrees) or more, and the movement distance detected by the rear wheel rotation speed sensor 22 is a predetermined distance (eg, 1-1). .5 m) or more, the rotor raising / lowering motor 63 is operated to raise the leveling devices 27a and 27b.

  Further, as shown in the partially enlarged view of the rear surface of the machine body in FIG. 17, a base portion of a rotatable wave-breaking plate arm 25 is attached to both lower ends of the seedling stage 51, and You may employ | adopt the structure which attached the corrugated sheet 24. FIG. In this case, as shown in the flowchart of FIG. 18, since the wave preventing plate 24 is pushed by mud in the field and the wave preventing plate arm 25 moves up and down, the number of times of the vertical movement of the wave preventing plate arm 25 is, for example, three times or more. Then, the leveling rotors 27a and 27b are raised. For example, the number of times the base side end of the wave breaker arm 25 contacts the contact sensor 80 provided in the lower part of the seedling stage 51 is counted, and if the value is 3 times or more, the leveling devices 27a and 27b are raised. Make the configuration to be.

  When the wave preventing plate 24 is rotatably provided on the seedling stage 51 via the wave preventing plate arm 25, and the wave preventing plate arm rotation sensor 29 detects the rotation more than a predetermined value (example 5 degrees), When the rotation speed of the rear wheel rotation speed sensor 22 is less than a predetermined value (for example, 0.1 to 1 rotation), the leveling rotor lifting / lowering motor 63 may not be operated.

  Thus, even if the wave-breaking arm rotation sensor 29 detects a rotation greater than or equal to a predetermined value, if the rotation speed of the rear wheel rotation speed sensor 22 is less than the predetermined value, that is, if the traveling speed is low, the leveling rotor is raised or lowered. By not operating the motor 63, it is possible to prevent the vertical positions of the leveling rotors 27a and 27b from changing suddenly at short intervals, thereby preventing leveling errors and loads on the leveling rotors 27a and 27b and the wave breaker plate 24. Durability is improved than before.

  A float 55 for detecting the height of the seedling planting device 52 is provided at the lower part of the working device (the seedling planting unit 4), and the operation of the lifting cylinder 46 for raising and lowering the seedling planting unit 4 as shown in the flowchart of FIG. Every time, the expansion / contraction amount sensor 81 for detecting the expansion / contraction amount and the detection value of the expansion / contraction amount sensor 81 are stored, the traveling speed is calculated from the rotational speed of the rear wheel rotational speed sensor 22, and the traveling speed becomes a predetermined value or more. Then, the raising / lowering (hydraulic) cylinder 46 is operated to raise the seedling planting unit 4, and when the raising of the seedling planting unit 4 is completed, the expansion / contraction amount sensor 81 stores the expansion / contraction amount of the raising / lowering (hydraulic) cylinder 46. The control device 100 is provided.

  By calculating the traveling speed from the rotational speed of the rear wheel rotational speed sensor 22 and slightly raising the raising / lowering (hydraulic) cylinder 46 at which the traveling speed exceeds a predetermined value, the seedling planting part 4 is slightly raised. Since a slight gap can be generated between the float 55 provided at the lower part of the seedling planting portion 4 and the ground, the float 55 is prevented from pushing up the soil on the ground during high-speed work, and the leveling of the field can be improved. Kept.

  When a camera is installed on each of the left and right sides of the rear part of the traveling vehicle body 2 or on both the upper left and right sides of the seedling planting part 4, the planting strips of seedlings already planted in the field are photographed, and the image becomes white ( A configuration in which the leveling rotors 27a and 27b are raised by a predetermined height may be employed. If the leveling rotors 27a, 27b are too strongly applied to a farm scene in a place with many irregularities, the mud is caught in the water flow generated by the leveling rotors 27a, 27b and becomes a mud flow, which makes it easy to push down the seedlings. Therefore, the leveling rotors 27a, 27b This is to prevent the mud from mixing with the waves.

  Moreover, there are many unevenness | corrugations in a farm field, and when it is rough, an image will become white. Therefore, when a white image is more than a certain area due to unevenness or roughness in the field, the lifting motor 63 is operated to raise the leveling rotors 27a, 27b by a predetermined amount to prevent mud pushing by the leveling rotors 7a, 27b, The planting strips of the seedlings photographed with the camera should not be covered with mud.

DESCRIPTION OF SYMBOLS 1 Riding type seedling transplanter with fertilizer device 2 Traveling vehicle body 3 Elevating link device 4 Seedling planting part 10 Front wheel 11 Rear wheel 11a Rear wheel drive shaft 12 Mission case 13 Front wheel final case 15 Main frame 16 Engine speed sensor 17 Engine torque sensor 18 Rear wheel gear case 18a, 18c Transmission shaft 18b Universal joint 19 畦 Clutch lever 19a 畦 Clutch lever sensor 20 Engine 23 Hydrostatic continuously variable transmission (HST)
24 Wave-breaking plate 25 Wave-breaking plate arm 26 Planting transmission shaft 27 (27a, 27b) Leveling rotor 31 Seat 32 Front cover 34 Handle 35 Floor step 36 Rear step 37 Rotor cover 38 Spare seedling stage 40 Upper link 41 Lower link 42 Link base frame 43 Vertical link 44 Connecting shaft 46 Elevating hydraulic cylinder 50 Transmission case 51 Seedling stage 51a Seedling outlet 52 Seedling planting device 53 Blower electric motor 54 Seedling feed belt 55 Center float 56 Side float 58 Blower 59 Air chamber 60 Fertilizer hopper 61 Feeding part 62 Fertilization hose 63 Motor for raising and lowering rotor 64 Groove body 65 Seedling planting part support frame body 65a Support roller 65b Both side members 66 Beam member 67 Support arm 68 Rotor support frame 69 Rotor height adjustment lever 70 (70a, 7 0b) Rotor drive shaft 70a Drive shaft 70v Bevel gear 70c Leveling input transmission case 71 Connecting member 72 Leveling transmission shaft 72a Input side transmission shaft 72a1 Claw clutch 72b Output side transmission shaft 72c1 Claw clutch 72c Spline member 72d Spring 72v Rotor input bevel gear 73 Rotor drive Shaft case 73a Drive chain 74 Reinforcement member 74a Mounting piece 76 First link member 77 Second link member 78 Spring 94 Float inclination angle detection sensor (elevating link switch)
100 Control device

Claims (6)

In a working vehicle provided with a traveling vehicle body (2) having a front wheel (10) and a rear wheel (11), an engine (20), and a hydraulic continuously variable transmission (23),
An engine speed sensor (16) provided for measuring the rotational speed of the engine (20), a torque sensor (17) for detecting the driving torque provided to the engine (20), said hydraulic stepless transmission (23) the provided HST servo actuators for adjusting the opening degree (30),
A virtual line having appropriate engine output characteristics is set from the driving torque of the engine speed sensor (16) and the engine (20),
The driving torque of the engine (20) detected by the torque sensor (17) exceeds the imaginary line, and the rotational speed of the engine (20) detected by the engine rotational speed sensor (16) is below a set peak value. When the HST servo actuator (30) is operated to increase the opening of the hydraulic continuously variable transmission (23),
When the driving torque of the engine (20) detected by the torque sensor (17) falls below the imaginary line, and the rotational speed of the engine (20) detected by the engine rotation sensor (16) falls below a set peak value. Operates the HST servo actuator (30) to reduce the opening of the hydraulic continuously variable transmission (23);
The driving torque of the engine (20) detected by the torque sensor (17) is lower than the set peak value, and the peak value of the engine (20) detected by the engine speed sensor (16) is set. When exceeding, the HST servo actuator (30) is operated to lower the opening of the hydraulic continuously variable transmission (23) to increase the torque value. When the drive torque and the engine speed reach the maximum values set, the hydraulic pressure is increased. A work vehicle comprising a control device (100) for performing control to return the opening of the variable continuously variable transmission (23) to a set opening . The traveling vehicle body (2) is provided with a rear wheel rotational speed sensor (22) for detecting the rotational speed of the rear wheel (11), and a GPS receiver (23) for acquiring position information from satellite information is provided.
The control device (100) calculates a moving distance based on the detected rotational speed of the rear wheel rotational speed sensor (22) within a predetermined section and information from the GPS receiver (23), respectively.
If the two travel distances are both within the set value, the current HST opening is maintained,
When the rear wheel speed is greater than the moving distance, it is determined that slip has occurred, and the opening of the hydraulic continuously variable transmission (23) is lowered by operating the HST servo actuator (30),
When the rear wheel speed is smaller than the moving distance based on the information from the GPS receiver (23), it is determined that the field resistance is small, and the HST servo actuator (30) is operated to operate the hydraulic continuously variable transmission ( 23. The work vehicle according to claim 1, wherein control for increasing the opening degree of 23) is performed . A steering handle (34) is provided on the traveling vehicle body (2), and a handle turning angle sensor (28) for detecting a turning angle of the steering handle (34) is provided.
When the steering angle sensor (28) detects an angle greater than or equal to a predetermined value, the control device (100) stores the current opening of the hydraulic continuously variable transmission (23) and within a predetermined time. Based on the rotational speed of the rear wheel rotational speed sensor (22) and the information from the GPS receiver (23), the respective travel distances are calculated,
If the two moving distances are both within the set value, the current opening of the hydraulic continuously variable transmission (23) is maintained,
Slip occurs when the moving distance during turning obtained based on the detected value of the rear wheel rotational speed sensor (22) is larger than the moving distance during turning based on the information from the GPS receiver (23). And lowering the opening of the hydraulic continuously variable transmission (23) by operating the HST servo actuator (30),
When the moving distance during turning obtained based on the detection value of the rear wheel rotational speed sensor (22) is smaller than the moving distance during turning obtained from the GPS receiver (23), it is determined that the resistance of the field is small, While operating the HST servo actuator (30) to increase the opening of the hydraulic continuously variable transmission (23),
Claim 2, characterized in that for detecting the angle returns to the opening of predetermined becomes less than a predetermined angle is a turning hydraulic stepless transmission before the movement (23) control of the steering wheel turning angle sensor (28) The work vehicle as described in. A working device (4) is provided at the rear part of the traveling vehicle body (2) so as to be movable up and down, and a ground leveling device (27a, 27b) for leveling the field is provided on the working device (4). A leveling device lifting / lowering actuator (63) for adjusting the vertical position is provided on the traveling vehicle body (2), and a wave preventing member (25) for preventing the generation of waves is rotatably provided on both the left and right sides of the working device (4). , A wave preventing member rotation detecting device (29) for detecting the rotation of the wave preventing member (25) is provided,
When the wave preventing member rotation detecting device (29) detects the rotation of the wave preventing member (25) above a predetermined value, the control device (100) operates the leveling device lifting / lowering actuator (63) to level the road. The work vehicle according to any one of claims 1 to 3 , wherein the device (27a, 27b) is controlled to move up and down. When the wave preventing member rotation detection device (29) detects a rotation of a predetermined value or more and the rotation speed of the rear wheel rotation speed sensor (22) is less than a predetermined value, the lifting actuator (30) is The work vehicle according to claim 4 , wherein the work vehicle is not operated . A float (55) for detecting the height of the working device is provided at the lower part of the working device (4), and the amount of expansion / contraction for detecting and recording the amount of expansion / contraction of the working device lifting / lowering actuator (46) for raising and lowering the working device (4). A sensor (81) is provided;
The control device (100) calculates the traveling speed of the traveling vehicle body (2) from the rotational speed of the rear wheel rotational speed sensor (22), and when the traveling speed exceeds a predetermined value, activates the work device lifting / lowering actuator (46). The working device (4) is raised, and when the raising of the working device (4) is completed, the expansion / contraction amount sensor (81) stores the expansion / contraction amount of the working device lifting / lowering actuator (46). The work vehicle according to any one of 1 to 5 .