JP4095356B2

JP4095356B2 - Rice transplanter

Info

Publication number: JP4095356B2
Application number: JP2002179373A
Authority: JP
Inventors: 英浩幸; 悟岡田
Original assignee: Yanma Agricultural Equipment Co Ltd
Current assignee: Yanma Agricultural Equipment Co Ltd
Priority date: 2002-06-20
Filing date: 2002-06-20
Publication date: 2008-06-04
Anticipated expiration: 2022-06-20
Also published as: JP2004019892A

Description

【０００１】
【発明の属する技術分野】
本発明は例えば苗載台及び苗植付爪を備えて連続的に苗植作業を行う田植機に関する。
【０００２】
【発明が解決しようとする課題】
従来、走行速度など作業速度を変更する無段変速機と、走行速度を変速操作する変速ペダルなど変速操作部材とはロッドなどを介し機械的に連結されていて、例えば変速ペダルが増速或いは減速時に操作されるときには無段変速機の速比も一次直線の関係式で増速或いは減速側に比例制御される（ペダル操作量と速比の関係は増減・減速とも一定）。このため変速ペダルの踏み方などで操作量が増減側や減速側に変化するときには速比もこの対応分増速側或いは減速側に変化して、機体が急発進や急停止するおそれがあった。
【０００３】
【課題を解決するための手段】
請求項１に係る発明は、エンジンを搭載した走行車の後側にリンク機構を介して連結する植付部と、前記走行車の移動速度を変更する無段変速機と、前記無段変速機を変速操作する変速操作部材とを備え、前記変速操作部材の操作量と前記無段変速機の速比の関係式を増速時と減速時とで異ならせ、増速時の関係式と減速時の関係式とが非直線の関係で形成されるように構成した田植機において、前記無段変速機が増速する方向に前記変速操作部材を操作したときに、前記無段変速機が減速する方向に前記変速操作部材を操作したときよりも、前記無段変速機の出力速度が遅くなるように、前記無段変速機の変速モータを駆動制御するコントローラを備え、前記変速操作部材を増速操作して発進するときの前記無段変速機の低速出力が、前記変速操作部材を減速操作して初期位置に戻すときの前記無段変速機の低速出力よりも低くなるように構成し、前記変速操作部材を高速操作位置から減速操作して初期位置方向に戻すときの前記無段変速機の高速出力が、前記変速操作部材を増速操作して高速操作位置に移行するときの前記無段変速機の高速出力よりも高くなるように構成したもので、前記変速操作部材を増速操作して発進するときの機体の急発進を防止でき、前記変速操作部材を高速操作位置から減速操作するときの急減速を防止でき、田植作業における前記走行車の苗植付姿勢の乱れを低減して、前記植付部の苗の植付精度を向上させるものである。
【０００４】
【０００５】
【０００６】
【発明の実施の形態】
以下、本発明の実施例を図面に基づいて詳述する。図１は全体の側面図、図２は同平面図、図３は車体フレームの側面図、図４は同平面図を示し、図中１は作業者が搭乗する走行車であり、エンジン２を車体フレーム３に搭載させ、ミッションケース４側方にフロントアクスルケース５を介して水田走行用前輪６を支持させると共に、前記ミッションケース４後方のリヤアクスルケース７に水田走行用後輪８を支持させる。そして前記エンジン２等を覆うボンネット９両側に予備苗載台１０を取付けると共に、作業者が搭乗する車体カバー１１によって前記ミッションケース４等を覆い、前記車体カバー１１後側上方にシートフレーム１２を介して運転席１３を取付け、その運転席１３の前方で前記ボンネット９後部に操向ハンドル１４を設ける。
【０００７】
また、図中１５は５条植え用の苗載台１６並びに複数の苗植付爪１７などを具備する植付部であり、前高後低の合成樹脂製の前傾式苗載台１６を下部レール１８及びガイドレール１９を介して植付ケース２０に左右往復摺動自在に支持させると共に、一方向に等速回転させるロータリケース２１を前記植付ケース２０に支持させ、該ケース２１の回転軸芯を中心に対称位置に一対の爪ケース２２・２２を配設し、その爪ケース２２・２２先端に苗植付爪１７・１７を取付ける。
【０００８】
また、前記植付ケース２０前側のヒッチブラケット２３をトップリンク２４及びロワーリンク２５を含む昇降リンク機構２６を介し走行車１後側に連結させ、前記リンク機構２６を介して植付部１５を昇降させる油圧昇降シリンダ２７をロワーリンク２５に連結させ、前記前後輪６・８を走行駆動して移動すると同時に、左右に往復摺動させる苗載台１６から一株分の苗を植付爪１７によって取出し、連続的に苗を植える田植作業を行うように構成する。
【０００９】
また、図中２８は主変速レバー、２９は植付部１５の昇降・植付クラッチの入切・マーカ操作を行う植付操作レバー、３０はブレーキペダル、３１は変速ペダル、３２はデフロックペダル、３３は感度調節レバー、３４は植付部１５を任意高さ位置に停止させるストップレバー、３５はユニットクラッチレバー３５であり、操向ハンドル１４位置近傍に変速及び昇降レバー２８・２９やブレーキ及び変速ペダル３０・３１を配設すると共に、運転席１３位置近傍に感度調節及びストップ及びユニットクラッチの各レバー３３・３４・３５を配設している。
【００１０】
さらに、図中３６は１条分均平用センタフロート、３７は２条分均平用サイドフロート、３８は肥料ホッパ３９内の肥料を送風機４０の送風力でフレキシブル形搬送ホース４１を介しフロート３６・３７の側条作溝器４２に排出させる５条用側条施肥機である。
【００１１】
図３乃至図５に示す如く、前記車体フレーム３は前部フレーム４３と中間フレーム４４と後部フレーム４５とに３分割させ、左右一対の前部フレーム４３にエンジン２を、左右一対の中間フレーム４４にフロントアクスルケース５を、左右一対の後部フレーム４５にリヤアクスルケース７及びエンジン２に燃料を供給する燃料タンク４６などを設けるもので、前部フレーム４３の前側と中間に前フレーム４７とベースフレーム４８を連結させて平面視４角枠状に形成し、固定ブラケット４９とベースフレーム４８に防振ゴムを介しエンジン２を上載させる。
【００１２】
また図１０にも示す如く、前記後部フレーム４５の中間立上り部５０間をパイプフレーム５１と門形フレーム５２とで略平行に連結させると共に、リヤアクスルケース７に左右下端を固設する門形フレーム５３の後端を一体連結させ、前記の左右の立上り部５０間に燃料タンク４６を配設する。
【００１３】
さらに、前部フレーム４３後端と後部フレーム４５前端に左右中間フレーム４４の前後端をボルト５４を介して取外し自在に固定させると共に、左右中間フレーム４４の下面にボルト５５を介して左右フロントアクスルケース５を取外し自在に固定させ、前記ミッションケース４に左右フロントアクスルケース５を接続固定させる。
【００１４】
図６乃至図１０に示す如く、前記ミッションケース４の前面左側にパワーステアリングケース５６を設け、かつケース４の右側に無段油圧変速機５７を設け、油圧変速機５７の変速入力用ポンプ軸５８を車体前方向に突出させ、エンジン２下側で前後方向の伝達軸５９にポンプ軸５８を連結させると共に、エンジン２の出力軸６０に伝達ベルト６１を介して前記伝達軸５９を連結させ、エンジン２出力を油圧変速機５７に伝達する。
【００１５】
また、前記ミッションケース４とリヤアクスルケース７を車体の前後方向の中心ライン上でパイプ状の連結フレーム６２によって一体連結させ、ミッションケース４後方にリヤ出力軸６３及びＰＴＯ出力軸６４を突出させ、リヤアクスルケース７前方に突出させるリヤ入力軸６５にリヤ伝達軸６６を介し前記リヤ出力軸６３を連結させ、走行出力軸６３から左右の後輪８に動力を伝える。またリヤアクスルケース７上部の軸受６７に設ける仲介軸６８に自在継手軸６９を介して前記ＰＴＯ出力軸６４を連結させ、前記植付ケース２０の入力軸に自在継手軸を介して中介軸６８を連結させ、ＰＴＯ出力軸６４から植付部１５に動力を伝える。
【００１６】
さらに、図１１乃至図１６に示す如く、前記ミッションケース４は、本体胴部７０と、前蓋部７１と、後蓋部７２を備え、前記胴部７０の前後に各蓋部７１・７２を着脱自在にボルト固定させ、密閉箱形に形成すると共に、前記胴部７０の内部を前後に分割する仕切り壁部７３を設ける。また、前蓋部７１前面に前記油圧変速機５７を取付け、ミッションケース４内に突出させるポンプ軸５８に小径の伝達ギヤ７４を係合軸支させ、伝達ギヤ７４を前蓋部７１にベアリング軸受し、後蓋部７２後面に固定させるチャージポンプ７５に伝達ギヤ７４の動力をパイプ軸７６を介して伝える。
【００１７】
また、前記ミッションケース４内に突出させる油圧変速機５７のモータ軸７７にサンギヤ７８を係合軸支させ、サンギヤ７８を前蓋部７１にベアリング軸受すると共に、前記の小径の伝達ギヤ７４に大径のキャリヤギヤ７９を常に噛合させ、サンギヤ７８のボス部にキャリヤギヤ７９を遊転軸支させるもので、キャリヤギヤ７９に３枚のプラネタリギヤ８０を軸８１を介して回転自在に設け、サンギヤ７８にプラネタリギヤ８０を噛合させると共に、プラネタリギヤ８０に噛合させるリングギヤ８２を設け、各ギヤ７８・８０・８２によって遊星ギヤ機構８３を形成する。
【００１８】
また、前記サンギヤ７８と後蓋部７２に合成出力軸８４の前後を回転自在に軸支させ、前記リングギヤ８２を合成出力軸８４に係合軸支させるもので、油圧変速機５７の油圧ポンプ８５及び油圧モータ８６の無段油圧変速出力である正逆回転出力と、伝達ギヤ７４及びキャリヤギヤ７９の減速回転出力（一方向の一定回転）とを、遊星ギヤ機構８３のデフ作用によって合成し、ゼロ乃至最大速の一方向の回転力として合成出力軸８４に伝える。即ち、油圧変速機５７の油圧ポンプ８５の斜板１０７を変更する油圧変速操作アーム１０９の角度を、例えば図１７（１）のように−１乃至０に変化させるときのモータ軸７７の回転を−１０００乃至０とさせ、図１７（２）のように、前記アーム１０９の角度に関係なくギヤ７４側を１０００回転させるときには、図１８のように、前記アーム１０９の角度に対して合成出力軸８４の回転を０乃至１０００とさせる。
【００１９】
さらに、前記合成出力軸８４に前進ギヤ８７と後進ギヤ８８を遊転軸支させ、合成出力軸８４に各ギヤ８７・８８をスライダ８９によって選択的に係合させ、前進または中立または後進の出力に切換えると共に、仕切り壁部７３と後蓋部７２に前記リヤ出力軸６３をベアリング軸受する。また、差動ギヤ９０を介して左右の前車軸９１に動力を伝えるフロント出力軸９２と、ＰＴＯ変速ギヤ９３を係合軸支させるカウンタ軸９４を設け、前記のリヤ及びフロント出力軸６３・９２に出力ギヤ９５・９６を介して後進ギヤ８８の後進動力を伝え、前後輪６・８を後進駆動させると共に、リヤ出力軸６３に移動ギヤ９７及び植付ギヤ９８を遊転軸支させ、副変速スライダ９９によって各ギヤ９７・９８をリヤ出力軸６３に選択的に係合させる。
【００２０】
また、カウンタ軸９４の高速用ギヤ１００ａ・１００ｂを介して前進ギヤ８７に移動ギヤ９７を常に噛合させると共に、カウンタ軸９４の低速用のＰＴＯ変速ギヤ９３に植付ギヤ９８を常に噛合させ、各ギヤ１００ａ・９３・９８を介して前進ギヤ８７の動力を前記各出力軸６３・９２に伝え、前後輪６・８を苗の植付け作業速度で前進駆動する。また、移動ギヤ９７と植付ギヤ９８の両方が遊転状態となり、植付爪１７などを作業者が手で回転させて詰った苗の除去などを行えるように、ＰＴＯ出力軸６４の手動回転を可能にすると共に、前進ギヤ８７の動力を各ギヤ１００ａ・１００ｂを介して各出力軸６３・９２に伝え、圃場間の路上移動などの高速の移動速度で前後輪６・８を前進駆動する。
【００２１】
さらに、図１１のように、ＰＴＯ変速軸１０１及びＰＴＯ変速機構１０２を介してＰＴＯ変速ギヤ９３の動力をＰＴＯ出力軸６４に伝え、株間変速自在に植付部１５を駆動すると共に、ミッションケース４に内設させるチェン１０３を介してＰＴＯ出力軸６４に施肥出力軸１０４を連結させ、植付部１５と同調させて施肥機３８を駆動する。また、図１３のように、ミッションケース４にオイルゲージ１０５を設けると共に、図１４のように、前記各スライダ８９・９９を同一のシフトフォーク１０６に係止させ、変速レバー２８の５位置切換によって前後進及び副変速（低高速）の切換を行う。
【００２２】
図１６に示す如く、前記油圧ポンプ８５の斜板１０７に制御軸１０８を介して油圧変速操作アーム１０９を連結させ、該アーム１０９に変速モータ１１０を連結させて、変速モータ１１０の正逆駆動で油圧モータ８６の回転出力を増減速させるように構成している。なお、変速モータ１１０は前部フレーム４３に連結させるモータ台１１０ａに設置させている。
【００２３】
また、前車軸９１に差動ギヤ９０を介し連結させるフロント出力軸９２に走行用ブレーキ１１１を設け、ミッションケース４上部に突出させるブレーキ操作軸１１２にブレーキロッド１１３を介しブレーキペダル３０を連結させて、ブレーキペダル３０の操作でブレーキ１１１を作動させて機体の走行を停止させるように構成している。
【００２４】
図１１、図１２、図１６に示す如く、前記合成出力軸８４のリングギヤ８２と前進ギヤ８７間にボールジョイント式主クラッチ１１４を介設させ、ミッションケース４外側へ突出させたクラッチ軸１１５にクラッチアーム１１６を介し前記ブレーキペダル３０を連結させて、機体を停止させるブレーキペダル３０の足踏み操作時にクラッチ軸１１５のシフトフォーク１０６を動作させて主クラッチ１１４を切とさせるように構成している。
【００２５】
図１９乃至図２２に示す如く、前記ブレーキペダル３０の右側に変速ペダル３１を配設させるもので、ペダル軸１１８にペダルアーム１１９を介し変速ペダル３１を揺動自在に支持させ、変速ペダル３１に一体連結するアーム１２０をペダル軸１１８に設け、前記アーム１２０に足踏み解除時ペダル３１を自動的に停止（速度ゼロ）位置に復帰させるバネ１２７とオイルダンパ１２８（ガススプリングでも良い）とを対向状に連結させ、踏み込んでいたペダル３１から足を離したとき、オイルダンパ１２８の抵抗とバネ１２７の復動力によりペダル３１が緩やかな略一定速度で戻って徐々に低速となるように構成している。
【００２６】
図２２に示す如く、前記ペダルアーム１１９の他端側には検出棒１３０を固設させ、ポテンショメータ形のペダル位置センサ１３１のセンサアーム１３２に検出棒１３０を当接させて、ペダルアーム１１９の足踏み操作位置をセンサ１３１で検出するように構成している。
【００２７】
また図２に示す如く、前記変速モータ１１０を駆動制御して走行速度など作業速度を一定保持させるオートクルーズ電気制御用のオートクルーズスイッチ１４０と、変速ペダル３１の同一操作量に対し変速機５７の速度（速比）の関係を変更させて作業速度を微速に切換える微速制御用の微速スイッチ１４１と、前記オートクルーズスイッチ１４０のオン操作時に点灯表示させるオートクルーズ制御表示用のオートクルーズランプ１４３と、前記微速スイッチ１４１のオン操作時に点灯表示させる微速制御用の微速設定表示ランプ１４４を設けるもので、前記運転席１３前方で操向ハンドル１４近傍の操作コラム９ａ上面にこれらスイッチ１４０・１４１及びランプ１４３・１４４を配置させて、スイッチ１４０・１４１の容易な操作や操作の確認などを可能とさせるように構成している。
【００２８】
さらに、図１６に示す如く、前記油圧変速機５７近傍位置に電動モータ駆動式の冷却ファン１４２を設置して、冷却ファン１４２からの冷却風でもって変速機５７を外部から冷却させ変速機５７内の油温の上昇を抑制するように構成している。
【００２９】
そして、図２３に示す如く、前記エンジン２の回転数を検出するエンジン回転センサ１３３と、リヤ或いはフロント出力軸６３・９２の回転より車速を検出する車速センサ１３４と、前記ブレーキペダル３０の足踏み操作（入）を検出するブレーキペダルスイッチ１３５と、前記主変速レバー２８による植付（低速前進）位置を検出する植付位置センサ１３６と、前記操作アーム１０９の変速位置を検出する変速位置センサ１３７と、前記油圧変速機５７の油温を検出する油温センサ（サーミスタなど）１３８と、前記油圧変速機５７の油圧力を検出する変速機油圧センサ１３９と、前記オートクルーズスイッチ１４０と、微速スイッチ１４１とをコントローラ１４５に入力接続させると共に、前記変速モータ１１０の駆動回路１４６と冷却ファン１４２とオートクルーズランプ１４３と微速設定表示ランプ１４４にコントローラ１４５を出力接続させて、変速モータ１１０やファン１４２及びランプ１４３・１４４の駆動制御を行うように構成している。
【００３０】
なお、実施例にあってはブレーキペダル３０と走行用ブレーキ１１１とをブレーキロッド１１３など介し機械的に連結させる構成を示したが、走行ブレーキ１１１を電気的に作動させるブレーキ駆動機構を設けて、ペダル３０によるブレーキペダルスイッチ１３５の操作で走行ブレーキ１１１の作動や主クラッチ１１４の入切を行わせて良い。
【００３１】
本実施例は上記の如く構成するものにして、通常の変速制御にあっては、変速ペダル３１の操作量をペダル位置センサ１３１で検出し、その操作量に対応した位置（変速位置センサ１３７で検出）に変速機５７の変速操作アーム１０９が位置するように変速モータ１１０を駆動制御する一方、前記オートクルーズスイッチ１４０のオン操作によるオートクルーズ制御にあっては走行中の該スイッチ１４０操作時の車速センサ１３４の検出値を維持するように変速モータ１１０を介し変速機５７を増減速制御して車速を一定保持させるものである。
【００３２】
図２５に示す如く、変速ペダル３１の操作量と無段変速機５７の速比（速度）の関係は増速時と減速時とは分割し別個とさせ、増速及び減速用２つの関係式Ａ・Ｂを設定し、該関係式Ａ・Ｂに基づいて変速機５７の駆動制御を行うもので、関係式Ａ・Ｂは非直線形に形成し、増速用関係式Ａの制御は変速ペダル３１の踏み込み始め時は緩やかに増速させ、中間では速やかに増速させ、踏み込み終り時は緩やかに増速させる一方、減速用関係式の制御も足の離し始め（減速始め）時は緩やかに減速させ、中間では速やかに減速させ、離し終り（減速終了）時は緩やかに減速させる。また増速及び減速用の関係式Ａ・Ｂは踏み始め時及び足の離し始め時の傾斜を減速及び増速の途中よりも緩やかとさせて、変速ペダル３１の踏み始め及び離し始めの急激な速度変化を抑制し、機体の急発進や急減速を防止する。またペダルの踏みかえなどで高速走行時に変速ペダル３１より足を離したときにも急激な車速低下が防止でき安定走行を可能にできる。
【００３３】
さらに、２つの関係式Ａ・Ｂに基づく変速機５７の増速及び減速制御中にあって増速及び減速の途中で減速及び増速に制御を移行させる場合にも、緩やかな傾斜の減速及び増速関係式Ｃ・Ｄで関係式Ａ・Ｂ間を連絡して、増速及び減速途中に減速及び増速操作しても速度を急変させることのないスムーズな変速を可能とさせる。
【００３４】
しかして図２４に示す如く、関係式Ａ・Ｂ・Ｃ・Ｄを設定し、変速ペダル３１の操作及び操作量をペダル位置センサ１３１で検出し、増速操作時には関係式Ａ、減速操作時には関係式Ｂに基づく制御を行うもので、変速ペダル３１の操作量位置に対応する速度（速比）まで関係式Ａ・Ｂに沿って変速モータ１１０の駆動によって変速機５７を制御して必要とする車速を確保する。
【００３５】
上記からも明らかなように、作業速度を変速操作する変速操作部材である変速ペダル３１と、作業速度を変速させる無段変速機５７とを備え、変速ペダル３１の操作量と無段変速機５７の速比の関係式Ａ・Ｂを増減時と減速時で異ならせたことによって、変速ペダル３１の操作量に対し変速機５７の増速側及び減速側の速比を自由に設定し、変速ペダル３１の増速及び減速の操作に対し最適の速度制御を可能とさせる。
【００３６】
また、関係式Ａ・Ｂは非直線の関係で形成させたことによって、変速ペダル３１による機体の急発進・急減速・急停止など有効に防止して機体の安定走行を向上させ、例えば田植機にあっては苗植付姿勢の乱れを防止して植付精度を向上させる。
【００３７】
また、増速及び減速用関係式Ａ・Ｂの増速途中からの減速と、減速途中からの増速を緩やかに行う逆制御用の関係式Ｃ・Ｄを関係式Ａ・Ｂ間に形成させたことによって、機体の増速及び減速中の急激な減速及び増速を抑制して、機体に衝撃が発生するのを防止して、制御中の逆制御にも良好に対応させて作業の安定性を向上させる。
【００３８】
【発明の効果】
以上実施例から明らかなように、請求項１に係る発明は、エンジン２を搭載した走行車１の後側にリンク機構２６を介して連結する植付部１５と、走行車１の移動速度を変更する無段変速機５７と、無段変速機５７を変速操作する変速操作部材としての変速ペダル３１とを備え、変速ペダル３１の操作量と無段変速機５７の速比の関係式を増速時と減速時とで異ならせ、増速時の関係式Ａと減速時の関係式Ｂとが非直線の関係で形成されるように構成した田植機において、無段変速機５７が増速する方向に変速ペダル３１を操作したときに、無段変速機５７が減速する方向に変速ペダル３１を操作したときよりも、無段変速機５７の出力速度が遅くなるように、無段変速機５７の変速モータ１１０を駆動制御するコントローラ１４５を備え、変速ペダル３１を増速操作して発進するときの無段変速機５７の低速出力が、変速ペダル３１を減速操作して初期位置に戻すときの無段変速機５７の低速出力よりも低くなるように構成し、変速ペダル３１を高速操作位置から減速操作して初期位置方向に戻すときの無段変速機５７の高速出力が、変速ペダル３１を増速操作して高速操作位置に移行するときの無段変速機５７の高速出力よりも高くなるように構成したもので、変速ペダル３１を増速操作して発進するときの機体の急発進を防止でき、変速ペダル３１を高速操作位置から減速操作するときの急減速を防止でき、田植作業における走行車１の苗植付姿勢の乱れを低減して、圃場枕地で走行車１を方向転換させるときの苗植付作業の終了時又は開始時における植付部１５の苗の植付精度を向上できるものである。
【００３９】
【００４０】
【図面の簡単な説明】
【図１】田植機の全体側面図である。
【図２】田植機の全体平面図である。
【図３】走行車体の側面図である。
【図４】走行車体の平面図である。
【図５】車体フレームの側面図である。
【図６】駆動部の側面説明図である。
【図７】駆動部の平面説明図である。
【図８】サイドクラッチ操作系の側面説明図である。
【図９】サイドクラッチ操作系の平面説明図である。
【図１０】車体の斜視説明図である。
【図１１】ミッションケースの断面図である。
【図１２】同走行駆動部の説明図である。
【図１３】遊星ギヤ機構の説明図である。
【図１４】ミッションケースの部分図である。
【図１５】遊星ギヤ機構の断面図である。
【図１６】ミッションケースのギヤ配列説明図である。
【図１７】出力説明図である。
【図１８】合成出力軸の出力説明図である。
【図１９】操作部の斜視説明図である。
【図２０】操作部の側面説明図である。
【図２１】ペダル部の斜視説明図である。
【図２２】変速ペダル部の側面図である。
【図２３】制御回路図である。
【図２４】フローチャートである。
【図２５】変速ペダルと変速機の関係線図である。
【符号の説明】
１走行車
２エンジン
１５植付部
２６リンク機構
３１変速ペダル（変速操作部材）
５７無段変速機
１１０変速モータ
１４５コントローラ
Ａ増速時の関係式
Ｂ減速時の関係式[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a planting machine which continuously perform NaeUe work includes, for example, seedling mounting table and seedling planting claw.
[0002]
[Problems to be solved by the invention]
Conventionally, a continuously variable transmission that changes work speed such as travel speed and a speed change operation member such as a speed change pedal that shifts the travel speed are mechanically connected via a rod or the like. For example, the speed change pedal is increased or decreased. When operated sometimes, the speed ratio of the continuously variable transmission is also proportionally controlled to increase or decrease by a linear relationship (the relationship between the pedal operation amount and the speed ratio is constant for both increase and decrease). For this reason, when the amount of operation changes to the increase / decrease side or the deceleration side due to the way of depressing the speed change pedal, the speed ratio also changes to the corresponding increase / decrease side, which may cause the aircraft to start or stop suddenly. .
[0003]
[Means for Solving the Problems]
According to a first aspect of the present invention, there is provided a planting portion connected to a rear side of a traveling vehicle equipped with an engine via a link mechanism, a continuously variable transmission that changes a moving speed of the traveling vehicle, and the continuously variable transmission. the a shift operating member for shifting operation, the varied in the amount of operation of the shift operating member and the and the deceleration and at acceleration a relationship in speed ratio of the continuously variable transmission, the deceleration speed increasing time relationship In a rice transplanter configured such that the relational expression of time is formed in a non-linear relationship, the continuously variable transmission decelerates when the shift operation member is operated in a direction in which the continuously variable transmission increases. A controller for driving and controlling the transmission motor of the continuously variable transmission so that the output speed of the continuously variable transmission is slower than when the transmission operating member is operated in the direction in which the transmission is operated. The low-speed output of the continuously variable transmission when starting at high speed is When the speed control member is configured to be lower than the low-speed output of the continuously variable transmission when the speed control member is decelerated and returned to the initial position, and the speed control member is decelerated from the high speed operation position and returned to the initial position. The high-speed output of the continuously variable transmission is configured to be higher than the high-speed output of the continuously variable transmission when the speed change operating member is operated to increase speed and shift to the high speed operation position. The vehicle can be prevented from suddenly starting when the operation member is accelerated to start, and the speed reduction operation member can be prevented from decelerating from a high speed operation position. It reduces posture disturbance and improves the planting accuracy of seedlings in the planting part.
[0004]
[0005]
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below in detail with reference to the drawings. 1 is a side view of the whole, FIG. 2 is a plan view of the same, FIG. 3 is a side view of a vehicle body frame, FIG. 4 is a plan view of the body, and 1 is a traveling vehicle on which an operator rides. Mounted on the vehicle body frame 3, the front wheel 6 for paddy field traveling is supported on the side of the transmission case 4 via the front axle case 5, and the rear wheel 8 for paddy field traveling is supported on the rear axle case 7 behind the transmission case 4. The spare seedling stage 10 is attached to both sides of the bonnet 9 that covers the engine 2 and the like, and the mission case 4 and the like are covered by a vehicle body cover 11 on which an operator rides, and a seat frame 12 is disposed on the rear upper side of the vehicle body cover 11 via a seat frame 12. A driver's seat 13 is attached, and a steering handle 14 is provided at the rear of the bonnet 9 in front of the driver's seat 13.
[0007]
In the figure, reference numeral 15 denotes a planting part having a seedling mounting table 16 for five-row planting and a plurality of seedling planting claws 17. The planting case 20 is supported by the planting case 20 through the lower rail 18 and the guide rail 19 so as to be slidable in the left and right directions, and a rotary case 21 that rotates at a constant speed in one direction is supported by the planting case 20. A pair of nail cases 22 and 22 are arranged at symmetrical positions around the axis, and seedling planting nails 17 and 17 are attached to the tips of the nail cases 22 and 22.
[0008]
Further, the hitch bracket 23 on the front side of the planting case 20 is connected to the rear side of the traveling vehicle 1 through an elevating link mechanism 26 including a top link 24 and a lower link 25, and the planting unit 15 is moved up and down via the link mechanism 26. The hydraulic lifting cylinder 27 is connected to the lower link 25, and the front and rear wheels 6 and 8 are driven to move, and at the same time, the seedlings 16 are slid back and forth, and one seedling is planted by the planting claws 17. It is configured to carry out rice transplanting work to take out and plant seedlings continuously.
[0009]
In the figure, 28 is a main speed change lever, 29 is a planting operation lever for raising and lowering the planting part 15, planting clutch on / off, and marker operation, 30 is a brake pedal, 31 is a speed change pedal, 32 is a diff lock pedal, 33 is a sensitivity adjusting lever, 34 is a stop lever for stopping the planting portion 15 at an arbitrary height position, and 35 is a unit clutch lever 35. The shift and elevating levers 28 and 29, brakes and shifts are located near the steering handle 14 position. The pedals 30 and 31 are disposed, and the sensitivity adjustment and stop and unit clutch levers 33, 34, and 35 are disposed in the vicinity of the position of the driver's seat 13.
[0010]
Further, in the figure, 36 is a center float for leveling of one strip, 37 is a side float for leveling of two strips, 38 is a float 36 through the flexible conveying hose 41 by using the blowing force of the blower 40 for fertilizer in the fertilizer hopper 39. -It is a 5-way side strip fertilizer machine which makes it discharge to 37 side strip groover 42.
[0011]
3 to 5, the vehicle body frame 3 is divided into a front frame 43, an intermediate frame 44, and a rear frame 45. The engine 2 is connected to the pair of left and right front frames 43, and the pair of left and right intermediate frames 44. A front axle case 5, a pair of left and right rear frames 45 are provided with a rear axle case 7 and a fuel tank 46 for supplying fuel to the engine 2. A front frame 47 and a base frame 48 are provided between the front side and the middle of the front frame 43. Are connected to form a quadrangular frame shape in plan view, and the engine 2 is mounted on the fixed bracket 49 and the base frame 48 via vibration-proof rubber.
[0012]
Further, as shown in FIG. 10, the intermediate rising portion 50 of the rear frame 45 is connected in a substantially parallel manner by a pipe frame 51 and a portal frame 52, and a portal frame 53 in which the left and right lower ends are fixed to the rear axle case 7. The fuel tank 46 is disposed between the left and right rising portions 50 by connecting the rear ends of the rear ends.
[0013]
Further, the front and rear ends of the left and right intermediate frame 44 are detachably fixed to the rear end of the front frame 43 and the front end of the rear frame 45 via bolts 54, and the left and right front axle cases are fixed to the lower surface of the left and right intermediate frames 44 via bolts 55. The left and right front axle case 5 is connected and fixed to the transmission case 4.
[0014]
As shown in FIGS. 6 to 10, a power steering case 56 is provided on the left side of the front surface of the transmission case 4 and a continuously variable hydraulic transmission 57 is provided on the right side of the case 4. And the pump shaft 58 is connected to the transmission shaft 59 in the front-rear direction at the lower side of the engine 2, and the transmission shaft 59 is connected to the output shaft 60 of the engine 2 via the transmission belt 61. Two outputs are transmitted to the hydraulic transmission 57.
[0015]
Further, the transmission case 4 and the rear axle case 7 are integrally connected by a pipe-like connecting frame 62 on the longitudinal center line of the vehicle body, and the rear output shaft 63 and the PTO output shaft 64 are projected to the rear of the transmission case 4 so that the rear axle is The rear output shaft 63 is connected via a rear transmission shaft 66 to a rear input shaft 65 that protrudes forward of the case 7, and power is transmitted from the traveling output shaft 63 to the left and right rear wheels 8. Further, the PTO output shaft 64 is connected to an intermediate shaft 68 provided on the bearing 67 at the upper part of the rear axle case 7 via a universal joint shaft 69, and the intermediate shaft 68 is connected to the input shaft of the planting case 20 via a universal joint shaft. Power is transmitted from the PTO output shaft 64 to the planting unit 15.
[0016]
Further, as shown in FIGS. 11 to 16, the mission case 4 includes a main body barrel 70, a front lid 71, and a rear lid 72, and the lids 71 and 72 are provided on the front and rear sides of the trunk 70. A partition wall portion 73 is provided that is detachably bolted and formed in a sealed box shape and that divides the inside of the body portion 70 into the front and the rear. Further, the hydraulic transmission 57 is attached to the front surface of the front lid portion 71, a small-diameter transmission gear 74 is supported on the pump shaft 58 that protrudes into the transmission case 4, and the transmission gear 74 is attached to the front lid portion 71 as a bearing bearing. Then, the power of the transmission gear 74 is transmitted via the pipe shaft 76 to the charge pump 75 that is fixed to the rear surface of the rear lid portion 72.
[0017]
Further, a sun gear 78 is supported on the motor shaft 77 of the hydraulic transmission 57 projecting into the transmission case 4, and the sun gear 78 is bearing-supported on the front lid portion 71, and the small-diameter transmission gear 74 is large. The carrier gear 79 having a diameter is always meshed with the boss of the sun gear 78 and the carrier gear 79 is supported on the free rotation shaft. And a ring gear 82 that meshes with the planetary gear 80 is provided, and the planetary gear mechanism 83 is formed by the gears 78, 80, and 82.
[0018]
Further, the sun gear 78 and the rear cover 72 are rotatably supported on the front and rear of the combined output shaft 84, and the ring gear 82 is engaged and supported on the combined output shaft 84. A hydraulic pump 85 of the hydraulic transmission 57 is provided. And the forward / reverse rotation output, which is a continuously variable hydraulic shift output of the hydraulic motor 86, and the decelerated rotation output (constant rotation in one direction) of the transmission gear 74 and the carrier gear 79 are combined by the differential action of the planetary gear mechanism 83 to obtain zero. Or transmitted to the combined output shaft 84 as a rotational force in one direction at the maximum speed. That is, the rotation of the motor shaft 77 when the angle of the hydraulic speed change operation arm 109 for changing the swash plate 107 of the hydraulic pump 85 of the hydraulic transmission 57 is changed from −1 to 0 as shown in FIG. When the gear 74 side is rotated 1000 times regardless of the angle of the arm 109 as shown in FIG. 17 (2), the combined output shaft with respect to the angle of the arm 109 as shown in FIG. The rotation of 84 is set to 0 to 1000.
[0019]
Furthermore, a forward gear 87 and a reverse gear 88 are supported on the combined output shaft 84 as idle shafts, and the gears 87 and 88 are selectively engaged with the combined output shaft 84 by a slider 89 to output forward, neutral or reverse. In addition, the rear output shaft 63 is bearing-bearing on the partition wall portion 73 and the rear lid portion 72. Further, a front output shaft 92 that transmits power to the left and right front axles 91 via a differential gear 90 and a counter shaft 94 that supports the PTO transmission gear 93 are provided, and the rear and front output shafts 63 and 92 are provided. The rear power of the reverse gear 88 is transmitted to the rear output shaft 95 through the output gears 95 and 96 to drive the front and rear wheels 6 and 8 in reverse, and the rear output shaft 63 is supported by the movable gear 97 and the planting gear 98 for rotation. The gears 97 and 98 are selectively engaged with the rear output shaft 63 by the speed change slider 99.
[0020]
Further, the moving gear 97 is always meshed with the forward gear 87 via the high-speed gears 100a and 100b of the counter shaft 94, and the planting gear 98 is always meshed with the low-speed PTO transmission gear 93 of the counter shaft 94. The power of the forward gear 87 is transmitted to the output shafts 63 and 92 via the gears 100a, 93 and 98, and the front and rear wheels 6 and 8 are driven forward at the seedling planting work speed. In addition, the PTO output shaft 64 is manually rotated so that both the moving gear 97 and the planting gear 98 are in an idle state, and the planting claw 17 and the like can be manually rotated by the operator to remove the seedling clogged. In addition, the power of the forward gear 87 is transmitted to the output shafts 63 and 92 via the gears 100a and 100b, and the front and rear wheels 6 and 8 are driven forward at a high moving speed such as road movement between fields. .
[0021]
Further, as shown in FIG. 11, the power of the PTO transmission gear 93 is transmitted to the PTO output shaft 64 via the PTO transmission shaft 101 and the PTO transmission mechanism 102 to drive the planting portion 15 so as to be able to shift between the stocks. The fertilizer output shaft 104 is connected to the PTO output shaft 64 via the chain 103 installed in the plant, and the fertilizer machine 38 is driven in synchronization with the planting unit 15. Further, as shown in FIG. 13, the transmission case 4 is provided with an oil gauge 105, and as shown in FIG. 14, the sliders 89 and 99 are locked to the same shift fork 106, and the shift lever 28 is switched by five positions. Switch between forward / reverse and sub-shift (low / high speed).
[0022]
As shown in FIG. 16, a hydraulic speed change operation arm 109 is connected to the swash plate 107 of the hydraulic pump 85 via a control shaft 108, and a speed change motor 110 is connected to the arm 109. The rotational output of the hydraulic motor 86 is configured to increase / decrease. The transmission motor 110 is installed on a motor base 110 a that is connected to the front frame 43.
[0023]
Further, a traveling brake 111 is provided on the front output shaft 92 that is connected to the front axle 91 via the differential gear 90, and the brake pedal 30 is connected to the brake operation shaft 112 that protrudes from the upper part of the transmission case 4 via the brake rod 113. The brake 111 is actuated by operating the brake pedal 30 to stop the vehicle from traveling.
[0024]
As shown in FIGS. 11, 12, and 16, a ball joint type main clutch 114 is interposed between the ring gear 82 and the forward gear 87 of the composite output shaft 84, and the clutch shaft 115 protrudes outward from the transmission case 4. The brake pedal 30 is connected via an arm 116 so that the main clutch 114 is disengaged by operating the shift fork 106 of the clutch shaft 115 during the stepping operation of the brake pedal 30 for stopping the airframe.
[0025]
As shown in FIGS. 19 to 22, a shift pedal 31 is provided on the right side of the brake pedal 30. The shift pedal 31 is swingably supported on a pedal shaft 118 via a pedal arm 119. An arm 120 to be integrally connected is provided on the pedal shaft 118, and a spring 127 and an oil damper 128 (which may be a gas spring) that automatically return the pedal 31 to a stop (zero speed) position when the foot is released are opposed to the arm 120. When the foot is released from the pedal 31 that has been stepped on, the pedal 31 returns to a moderately constant speed and gradually decreases due to the resistance of the oil damper 128 and the return force of the spring 127. .
[0026]
As shown in FIG. 22, the detection rod 130 is fixed to the other end of the pedal arm 119, and the detection rod 130 is brought into contact with the sensor arm 132 of the potentiometer-type pedal position sensor 131 so that the pedal arm 119 is stepped on. The operation position is detected by the sensor 131.
[0027]
Further, as shown in FIG. 2, the auto cruise switch 140 for auto cruise electric control for driving and controlling the speed change motor 110 to keep a constant work speed such as the running speed, and the transmission 57 for the same operation amount of the speed change pedal 31. A slow speed switch 141 for slow speed control that changes the speed (speed ratio) relationship to switch the working speed to a slow speed, an auto cruise lamp 143 for auto cruise control display that is turned on when the auto cruise switch 140 is turned on, A slow speed setting display lamp 144 for slow speed control that is turned on when the slow speed switch 141 is turned on is provided, and these switches 140 and 141 and the lamp 143 are provided on the upper surface of the operation column 9a near the steering handle 14 in front of the driver's seat 13.・ Easy operation and operation of switches 140 and 141 by arranging 144 It is configured so as to allow for such confirmation.
[0028]
Further, as shown in FIG. 16, an electric motor driven cooling fan 142 is installed in the vicinity of the hydraulic transmission 57, and the transmission 57 is cooled from the outside by the cooling air from the cooling fan 142. It is configured to suppress an increase in oil temperature.
[0029]
As shown in FIG. 23, an engine rotation sensor 133 that detects the rotation speed of the engine 2, a vehicle speed sensor 134 that detects the vehicle speed from the rotation of the rear or front output shafts 63 and 92, and a stepping operation of the brake pedal 30. A brake pedal switch 135 for detecting (on), a planting position sensor 136 for detecting a planting (low-speed forward) position by the main transmission lever 28, and a shift position sensor 137 for detecting the shift position of the operation arm 109; , An oil temperature sensor (such as a thermistor) 138 for detecting the oil temperature of the hydraulic transmission 57, a transmission oil pressure sensor 139 for detecting the oil pressure of the hydraulic transmission 57, the auto cruise switch 140, and a fine speed switch 141. Are connected to the controller 145 and the drive circuit 146 of the transmission motor 110 is cooled. Output connected so the controller 145 to § emission 142 and the auto cruise ramp 143 and slow-speed setting display lamp 144 is configured to perform drive control of the shift motor 110 and the fan 142 and the lamp 143, 144.
[0030]
In the embodiment, the configuration in which the brake pedal 30 and the traveling brake 111 are mechanically coupled via the brake rod 113 or the like is shown, but a brake drive mechanism that electrically operates the traveling brake 111 is provided, The operation of the travel brake 111 and the on / off of the main clutch 114 may be performed by operating the brake pedal switch 135 by the pedal 30.
[0031]
The present embodiment is configured as described above, and in normal shift control, the operation amount of the shift pedal 31 is detected by the pedal position sensor 131, and the position corresponding to the operation amount (by the shift position sensor 137). Detection), the shift motor 110 is driven and controlled so that the shift operation arm 109 of the transmission 57 is positioned. On the other hand, in the auto cruise control by turning on the auto cruise switch 140, the switch 140 during driving is operated. The speed change of the transmission 57 is controlled via the speed change motor 110 so that the detection value of the vehicle speed sensor 134 is maintained, and the vehicle speed is kept constant.
[0032]
As shown in FIG. 25, the relationship between the operation amount of the speed change pedal 31 and the speed ratio (speed) of the continuously variable transmission 57 is divided into the speed-up time and the speed-down time. A and B are set, and the drive control of the transmission 57 is performed based on the relational expressions A and B. The relational expressions A and B are formed in a non-linear form, and the control of the speed increasing relational expression A is a shift. When the pedal 31 starts to be depressed, the speed is gradually increased, while in the middle, the speed is increased quickly. At the end of the depression, the speed is increased gradually. , Decelerate quickly, and gradually decelerate at the end of separation (deceleration end). The inclined by gentle than the middle of the deceleration and the speed increasing a time relation A · B of accelerating and deceleration beginning away during and feet started stepping, rapid stepping beginning and release the beginning of the shift pedal 31 Suppress the speed change and prevent sudden start and deceleration of the aircraft. Further, even when the foot is released from the speed change pedal 31 during high-speed running, such as by changing the pedal, it is possible to prevent a sudden drop in the vehicle speed and to enable stable running.
[0033]
Further, when the control is shifted to the deceleration and the acceleration in the middle of the acceleration and deceleration during the acceleration and deceleration control of the transmission 57 based on the two relational expressions A and B, the deceleration of the gentle slope and By connecting the relational expressions A and B with the speed increase relational expression C and D, a smooth speed change that does not cause a sudden change even if the speed reduction and speed increase operations are performed during the speed increase and deceleration is made possible.
[0034]
Accordingly, as shown in FIG. 24, relational expressions A, B, C, and D are set, and the operation and the operation amount of the shift pedal 31 are detected by the pedal position sensor 131. The control based on the formula B is performed, and the transmission 57 is controlled by the driving of the speed change motor 110 along the relational expressions A and B up to the speed (speed ratio) corresponding to the operation amount position of the shift pedal 31. Ensure vehicle speed.
[0035]
As is clear from the above, the shift pedal 31 that is a shift operation member that shifts the work speed and the continuously variable transmission 57 that shifts the work speed are provided. The operation amount of the shift pedal 31 and the continuously variable transmission 57 are provided. By making the relational expressions A and B of the speed ratio different between when increasing and decreasing and when decelerating, the speed ratio on the speed increasing side and speed reducing side of the transmission 57 can be freely set with respect to the operation amount of the speed change pedal 31, and the speed change Optimum speed control is enabled for the operation of increasing and decreasing the speed of the pedal 31.
[0036]
Further, the relational expressions A and B are formed in a non-linear relationship, so that the aircraft can be effectively prevented from suddenly starting, suddenly decelerating, or suddenly stopping by the shift pedal 31 to improve the stable traveling of the aircraft. In this case, the seedling planting posture is prevented from being disturbed to improve planting accuracy.
[0037]
In addition, a relational expression C / D for reverse control, in which the deceleration from the middle of the speed increase in the relational expressions A and B for speed increase and deceleration and the speed increase from the middle of the deceleration is gently formed between the relational expressions A and B. As a result, sudden deceleration and acceleration during the acceleration and deceleration of the aircraft are suppressed, impacts are prevented from occurring on the aircraft, and the reverse control during the control can be handled well to stabilize the operation. Improve sexiness.
[0038]
【The invention's effect】
As is apparent from the above embodiments, the invention according to claim 1 is directed to the planting portion 15 connected to the rear side of the traveling vehicle 1 on which the engine 2 is mounted via the link mechanism 26, and the traveling speed of the traveling vehicle 1. A continuously variable transmission 57 to be changed and a shift pedal 31 as a shift operation member for shifting the continuously variable transmission 57 are provided, and the relational expression between the operation amount of the shift pedal 31 and the speed ratio of the continuously variable transmission 57 is increased. varied when fast and at the time of deceleration, in the configuration with the rice transplanter such that the relational expression B during deceleration and relationship a at acceleration is formed in relation to non-linear, the continuously variable transmission 57 is accelerated Continuously variable transmission 57 so that the output speed of continuously variable transmission 57 is slower when variable speed pedal 31 is operated in the direction in which it is operated than in the case where variable speed pedal 31 is operated in the direction in which continuously variable transmission 57 decelerates. A controller 145 for driving and controlling 57 transmission motors 110; The low speed output of the continuously variable transmission 57 when the speed pedal 31 is started to increase the speed is lower than the low speed output of the continuously variable transmission 57 when the speed pedal 31 is decelerated and returned to the initial position. The high-speed output of the continuously variable transmission 57 when the speed change pedal 31 is decelerated from the high speed operation position and returned to the initial position direction is the speed change operation of the speed change pedal 31 and shifts to the high speed operation position. It is configured to be higher than the high-speed output of the continuously variable transmission 57, and can prevent the vehicle from suddenly starting when the shift pedal 31 is operated to increase speed, and the speed change pedal 31 can be decelerated from the high-speed operation position. At the time of completion or start of seedling planting work when turning the traveling vehicle 1 in the field headland by reducing disturbance of the seedling planting posture of the traveling vehicle 1 in rice transplanting work Planting seedlings in the planting part 15 Degrees are those that can be improved.
[0039]
[0040]
[Brief description of the drawings]
FIG. 1 is an overall side view of a rice transplanter.
FIG. 2 is an overall plan view of a rice transplanter.
FIG. 3 is a side view of a traveling vehicle body.
FIG. 4 is a plan view of a traveling vehicle body.
FIG. 5 is a side view of the vehicle body frame.
FIG. 6 is an explanatory side view of a drive unit.
FIG. 7 is an explanatory plan view of a drive unit.
FIG. 8 is an explanatory side view of a side clutch operation system.
FIG. 9 is an explanatory plan view of a side clutch operation system.
FIG. 10 is an explanatory perspective view of a vehicle body.
FIG. 11 is a cross-sectional view of a mission case.
FIG. 12 is an explanatory diagram of the traveling drive unit.
FIG. 13 is an explanatory diagram of a planetary gear mechanism.
FIG. 14 is a partial view of a mission case.
FIG. 15 is a cross-sectional view of a planetary gear mechanism.
FIG. 16 is an explanatory diagram of a gear arrangement of a mission case.
FIG. 17 is an explanatory diagram of output.
FIG. 18 is an output explanatory diagram of a composite output shaft.
FIG. 19 is a perspective explanatory view of an operation unit.
FIG. 20 is an explanatory side view of an operation unit.
FIG. 21 is a perspective explanatory view of a pedal portion.
FIG. 22 is a side view of the shift pedal unit.
FIG. 23 is a control circuit diagram.
FIG. 24 is a flowchart.
FIG. 25 is a relationship diagram between a shift pedal and a transmission.
[Explanation of symbols]
1 traveling vehicle
2 Engine
15 planting department
26 Link mechanism 31 Speed change pedal (speed change operation member)
57 continuously variable transmission
110 Variable speed motor
145 Relational expression for controller A acceleration B Relational expression for deceleration B

Claims

A planting portion connected to a rear side of a traveling vehicle equipped with an engine via a link mechanism; a continuously variable transmission that changes a moving speed of the traveling vehicle; and a speed change operation member that performs a speed change operation on the continuously variable transmission; wherein the shift operation amount of operation of member and the allowed different between the deceleration and at acceleration a relationship in speed ratio of the continuously variable transmission, equation and non-linear during deceleration speed increasing time relationship In the rice transplanter configured to be formed in the relationship of
When the speed change operation member is operated in the direction in which the continuously variable transmission increases, the output speed of the continuously variable transmission is greater than when the speed change operation member is operated in the direction in which the continuously variable transmission decelerates. A controller for controlling the drive of the transmission motor of the continuously variable transmission,
The low-speed output of the continuously variable transmission when starting the operation by increasing the speed of the speed change operation member is lower than the low speed output of the continuously variable transmission when the speed change operation member is decelerated and returned to the initial position. Configured to be
The high-speed output of the continuously variable transmission when the speed change operation member is decelerated from the high speed operation position and returned to the initial position direction is the speed change output when the speed change operation member is speeded up and shifted to the high speed operation position. A rice transplanter characterized in that it is configured to be higher than the high-speed output of the step transmission .