JP5682886B2 - Rice transplanter - Google Patents

Description

  The present invention relates to rice transplanter technology.

  Conventionally, with respect to rice transplanters, a technique for accelerating and decelerating by operating a shift operation tool (shift pedal) is known (for example, Patent Document 1).

  A general rice transplanter has an actuator for changing the vehicle speed (acceleration / deceleration control). The rice transplanter calculates the target drive amount of the actuator based on the depression amount of the shift pedal when the shift pedal is depressed, and drives the actuator so that the drive amount of the actuator becomes the target drive amount. Then, acceleration / deceleration is performed by changing the vehicle speed to a size corresponding to the target drive amount of the actuator. However, in general rice transplanters, when the shift pedal is depressed, the drive amount of the actuator is always increased or decreased constantly. That is, the general rice transplanter is configured such that the ratio of the change in the target drive amount of the actuator to the change in the depression amount of the shift pedal is always a constant value (the same value). As a result, when the operator accelerates or decelerates the rice transplanter by depressing the shift pedal, fine acceleration / deceleration control cannot be performed, which is disadvantageous in that the shift feeling is lowered.

JP 2000-236714 A

  The present invention has been made in view of the problems as described above. When acceleration / deceleration is performed by depressing a shift pedal, acceleration / deceleration can be performed with gradual acceleration corresponding to the depression amount of the shift pedal. The purpose is to provide rice transplanters that can contribute to the improvement of the ring.

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

2. The engine according to claim 1, an actuator for changing the rotational speed of the engine, an actuator drive amount detection device for detecting the drive amount of the actuator, a shift pedal for operating the actuator, and depression of the shift pedal. A pedal operation amount detection device that detects an amount and outputs a pedal signal indicating the depression amount, calculates a target drive amount of the actuator based on a pedal signal output by the pedal operation amount detection device, and A rice transplanter that drives the actuator so that the detection value of the actuator drive amount detection device becomes the target drive amount, and changes the vehicle speed to a magnitude corresponding to the target drive amount of the actuator, The operation range is divided into a plurality of shift areas, and the shift pedal is depressed for each of the plurality of shift areas. Set the rate of change of the target driving amount of the actuator relative to the amount of change, the rate of the change is different for each of the plurality of transmission regions, the shift pedal is other from one shift regions of said plurality of transmission regions When the stepping operation is performed in the shift region, the ratio of the change in the target drive amount of the actuator to the change in the stepping amount of the shift pedal is set to a constant value .

According to a second aspect of the present invention, in the operation range of the shift pedal, the detected value of the actuator drive amount detection device is held at a constant value even before the shift pedal is depressed before the plurality of shift regions. After the region or the plurality of shift regions, a region in which the detection value of the actuator drive amount detection device is held at a constant value even when the depression amount of the shift pedal is increased is set .

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

According to the present invention, when accelerating or decelerating by depressing a shift pedal, acceleration / deceleration can be performed with a gradual increase / decrease corresponding to the depressing amount of the shift pedal, which can contribute to improving the shifting feeling of the rice transplanter. .
Further, when the shift pedal is depressed from one shift region to another shift region among the plurality of shift regions, the ratio of the change in the target drive amount of the actuator to the change in the shift amount of the shift pedal By setting to a constant value , the rice transplanter can accelerate smoothly.

In addition, since the detection value of the actuator drive amount detection device is maintained at a constant value even when the shift pedal depression amount is increased before the plurality of shift regions, the shift pedal is depressed. Even in this case, the engine speed is constant, the vehicle speed of the rice transplanter is maintained at 0, and a region where the rice transplanter does not travel is provided for the depressing operation of the shift pedal.

1 is an overall side view of a rice transplanter according to an embodiment of the present invention. It is the schematic when the rice transplanter shown in FIG. 1 is seen from upper direction. In the rice transplanter shown in FIG. 1, it is a figure which shows the power transmission structure to a front wheel and a rear wheel. In the rice transplanter shown in FIG. 1, it is a figure which shows the power transmission structure to a planting part. It is a figure which shows the dashboard periphery of the rice transplanter shown in FIG. It is a block diagram which shows the control apparatus of the rice transplanter shown in FIG. (A) is a figure which shows a map, (b) is a figure which shows the movement range at the time of a motor following in the said map. It is a figure which shows the relationship between the rotation angle of a shift pedal, the rotation angle of the detection shaft of a pedal potentiometer, the rotation angle of a motor potentiometer, the rotation speed of an engine, and the vehicle speed of a rice transplanter.

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

  As shown in FIG. 1 and FIG. 2, the rice transplanter 1 has a traveling unit 10 and a planting unit 40, so that the planting unit 40 can plant seedlings in the field while traveling by the traveling unit 10. Configured. The planting part 40 is arrange | positioned behind the traveling part 10, and is connected with the rear part of this traveling part 10 via the raising / lowering mechanism 30 so that raising / lowering is possible.

  In the traveling unit 10, the engine 14 is provided at the front portion of the vehicle body frame 11 and is covered with a bonnet 15. The transmission case 20 is supported by the front portion of the vehicle body frame 11 and is disposed behind the engine 14. As shown in FIG. 3, a hydraulic-mechanical continuously variable transmission (HMT) 21, a main transmission mechanism 22, a clutch 23, and a braking device 24 are mounted inside the mission case 20.

  The HMT 21 is a hydraulic continuously variable transmission (HST) 21a capable of steplessly changing the power from the engine 14, and a planetary gear mechanism capable of combining the power from the engine 14 and the power from the HST 21a. 21b.

  The main speed change mechanism 22 can change the power from the HMT 21 to a plurality of stages by changing the combination of gears to be engaged.

  The clutch 23 switches whether power is transmitted from the HMT 21 to the main transmission mechanism 22 by being disconnected or connected. The braking device 24 can brake the rotation of the output shaft of the main transmission mechanism 22.

  As shown in FIGS. 1 and 3, the front axle case 6 is supported by the front portion of the vehicle body frame 11, and the front wheels 12 are attached to the left and right sides of the front axle case 6. The rear axle case 7 is supported on the rear portion of the vehicle body frame 11, and the rear wheels 13 are attached to both the left and right sides of the rear axle case 7.

  The power of the engine 14 is transmitted to the mission case 20, and is transmitted to the left and right front wheels 12 and the left and right rear wheels 13 via the HMT 21 and the main transmission mechanism 22 inside the mission case 20, respectively. 12 and the rear wheel 13 are configured to rotate. Thereby, the traveling unit 10 can travel forward or backward.

  As shown in FIGS. 1 and 2, in the traveling unit 10, a driving operation unit 60 is provided in the middle part of the vehicle body frame 11 before and after. A dashboard 61 is disposed in front of the driving operation unit 60. A steering handle 64 is disposed at the center of the left and right of the dashboard 61, and a main transmission lever 65, a key switch 66 (see FIG. 5), and the like are further disposed on the dashboard 61. A driver's seat 62 is arranged behind the steering handle 64 at the rear of the driving operation unit 60.

  Further, there are a shift pedal 67, a brake pedal 68 (see FIG. 5), a vehicle body cover 63 having a part for getting on and off, and other levers and switches around the steering handle 64 and the driver seat 62 of the driving operation unit 60. Etc. are arranged. With these operating tools, it is possible to perform appropriate operations on the traveling unit 10 and the planting unit 40. The detailed configuration of the operation tool will be described later.

  In the traveling unit 10, the preliminary seedling stage 17 is attached to each mounting frame 16 erected from the left and right sides of the front portion of the vehicle body frame 11, and is arranged on both the left and right sides of the bonnet 15. And a reserve seedling is mounted in the reserve seedling mounting stand 17, and the seedling supply to the planting part 40 is attained.

  As shown in FIGS. 1, 2, and 4, in the planting unit 40, the planting mission case 50 is supported near the center of the lower part of the planting frame 49, and the transmission shaft 51 is connected to the planting mission case 50. It extends on both the left and right sides. The four planting transmission cases 46 are respectively extended rearward from the transmission shaft 51 and arranged at appropriate intervals in the left-right direction.

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

  A seedling stand 41 is disposed above the planting transmission case 46 in a front and rear inclined state, and is attached to the rear portion of the planting frame 49 so as to be reciprocally movable in the left and right directions via upper and lower guide rails (not shown). It is done. The seedling table 41 can be reciprocated horizontally by the lateral feed mechanism 52.

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

  A seedling vertical feed belt 47 according to the number of strips is provided on the seedling mount 41. The seedling vertical feed belt 47 can be operated so that the seedling mat on the seedling stage 41 is vertically fed by the vertical feeding mechanism 53 every time the seedling stage 41 reaches the stroke end of the left and right reciprocating horizontal feed. It is said.

  The power of the engine 14 is transmitted to each rotary case 44 via the mission case 20, the inter-company transmission case 54, the planting mission case 50, etc., and the rotary case 44 is configured to rotate. Thereby, with the rotation operation of the rotary case 44, the two planting claws 45 can alternately take out the seedlings from the seedling mat on the seedling mount 41 and plant them in the field.

  At the same time, the power of the engine 14 is transmitted to the lateral feed mechanism 52 and the vertical feed mechanism 53 via the transmission case 20, the inter-strain shifting case 54, the planting mission case 50, etc. It is configured such that it is reciprocated horizontally and the seedling mat on the seedling table 41 is vertically fed downward by the vertical feed mechanism 53 via the seedling vertical feed belt 47 in accordance with the left and right reciprocating horizontal feed of the seedling table 41. Is done. Thereby, the seedling mat on the seedling placing table 41 is moved to an appropriate position with respect to the planting claws 45.

  As shown in FIGS. 1 and 2, in the planting part 40, the drawing marker 48 is rotatably supported on both the left and right sides of the planting frame 49. Each of the left and right line drawing markers 48 is stored by being rotated upward with the base end side as a rotation fulcrum, and the tip side is left or left by being rotated downward from this stored state. It is configured so that it can be drawn to the field by protruding rightward.

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

  Here, the power transmission mechanism for transmitting power from the engine 14 to the rotary case 44, the lateral feed mechanism 52, and the vertical feed mechanism 53 includes the planting clutch 55 shown in FIG. Accordingly, the power of the engine 14 is transmitted to the seedling vertical feed belt 47 and the rotary case 44 or is not transmitted.

  Next, the structure regarding control of the rice transplanter 1 which concerns on this embodiment is demonstrated.

  The shift pedal 67 shown in FIGS. 2, 5, and 6 is an operating tool for changing the vehicle speed (traveling speed) of the rice transplanter 1, and more specifically, the rotational speed of the engine 14 and the gear ratio of the HMT 21. It is an operation tool for changing. The transmission pedal 67 is disposed on the lower right side of the dashboard 61.

  A pedal potentiometer (pedal operation amount detection device) 67a shown in FIG. 6 is for detecting the depression amount (rotation angle) of the shift pedal 67. The pedal potentiometer 67a is connected to the shift pedal 67 via a link mechanism, and can detect the amount of depression of the shift pedal 67. More specifically, the detection shaft of the pedal potentiometer 67a is rotated according to the depression amount (rotation angle) of the shift pedal 67, and the rotation angle can be detected as the depression amount of the transmission pedal 67. When the shift pedal 67 is depressed, the pedal potentiometer 67a outputs a pedal signal indicating the depression amount of the shift pedal 67.

  A maximum speed setting dial 69 shown in FIGS. 5 and 6 is an operation tool for changing the maximum speed of the rice transplanter 1. The maximum speed setting dial 69 is disposed at a substantially central portion of the dashboard 61 (in front of the steering handle 64).

  The main transmission lever 65 shown in FIGS. 2, 5, and 6 is an operating tool for changing the gear position (transmission ratio) of the main transmission mechanism 22. The main transmission lever 65 is disposed at the left end portion of the dashboard 61 (to the left of the steering handle 64). The main transmission lever 65 is connected to the main transmission mechanism 22 in the mission case 20 via a link mechanism. The main speed change lever 65 can be changed to a road running position, a planting position, a seeding position, a reverse position or a neutral position. When the main transmission lever 65 is switched to the road traveling position, the gear position of the main transmission mechanism 22 is changed to high speed. In this case, the rice transplanter 1 can travel at high speed. When the main transmission lever 65 is switched to the planting position, the gear position of the main transmission mechanism 22 is changed to a low speed. In this case, the rice transplanter 1 can travel at a lower speed than when the gear stage of the main transmission mechanism 22 is at a high speed. When the main transmission lever 65 is switched to the seeding position, the gear position of the main transmission mechanism 22 is changed to neutral. In this case, the rice transplanter 1 cannot travel. Further, in this case, it is detected that the main transmission lever 65 has been switched to the seeding position by a seeding position detection switch 65a described later, and predetermined control such as changing the number of revolutions of the engine 14 by a control device 100 described later is performed. It can be carried out. When the main transmission lever 65 is switched to the reverse position, the gear position of the main transmission mechanism 22 is changed to reverse rotation. In this case, the rice transplanter 1 can move backward. When the main transmission lever 65 is switched to the neutral position, the gear position of the main transmission mechanism 22 is changed to neutral. In this case, the rice transplanter 1 cannot travel.

  The seedling joining position detection switch 65a shown in FIG. 6 is for detecting that the main transmission lever 65 is in the seedling joining position. A micro switch is used as the seedling joining position detection switch 65a. The seedling joining position detection switch 65 a is disposed in the vicinity of the seedling joining position of the main transmission lever 65. The seedling joining position detection switch 65a can detect that the main transmission lever 65 is in the seedling joining position by contacting the main transmission lever 65 that has been changed to the seedling joining position. When the main transmission lever 65 is operated to the joining position, the joining position detection switch 65a outputs a joining position signal indicating that the main transmission lever 65 is at the joining position.

  The key switch 66 shown in FIGS. 2, 5, and 6 is an operation tool for starting or stopping the engine 14. The key switch 66 is disposed at the right rear end of the dashboard 61 (right rear of the steering handle 64). When the key switch 66 is started (when switched from OFF to ON), the engine 14 is started. At this time, the key switch 66 outputs a start signal indicating that the start operation has been performed. When the key switch 66 is in the ON state, the engine 14 continues to drive. When the key switch 66 is stopped (when switched from ON to OFF), the engine 14 stops. At this time, the key switch 66 outputs a stop signal indicating that the stop operation has been performed. When the key switch 66 is OFF, the engine 14 continues to stop.

  The speed fixing lever 70 shown in FIGS. 5 and 6 is an operation tool for fixing the vehicle speed of the rice transplanter 1 (maintaining the set vehicle speed) or releasing the fixed speed. The speed fixing lever 70 is attached to the shaft of the steering handle 64 and extends toward the right. The speed fixing lever 70 can be rotated to a speed fixing position, a speed fixing release position, or a neutral position. The speed fixing position is a position when the speed fixing lever 70 is rotated backward. The speed fixing release position is a position when the speed fixing lever 70 is rotated forward. The neutral position is a position approximately between the speed fixing position and the speed fixing release position. Even when the speed fixing lever 70 is operated to either the speed fixing position or the speed fixing release position, the speed fixing lever 70 is always urged so as to return to the neutral position again.

  The speed fixing switch 70a shown in FIG. 6 is for detecting that the speed fixing lever 70 has been operated to the speed fixing position. A micro switch is used as the speed fixing switch 70a. The speed fixing switch 70a can detect that the speed fixing lever 70 is operated to the speed fixing position by contacting the speed fixing lever 70 operated to the speed fixing position.

  The speed fixing release switch 70b is for detecting that the speed fixing lever 70 has been operated to the speed fixing release position. A micro switch is used as the speed fixing release switch 70b. The speed fixing release switch 70b can detect that the speed fixing lever 70 is operated to the speed fixing release position by contacting the speed fixing lever 70 operated to the speed fixing release position.

  The brake pedal 68 shown in FIGS. 3 and 6 is an operating tool for braking the rice transplanter 1. The brake pedal 68 is disposed on the lower right side of the dashboard 61 and on the left side of the speed change pedal 67. The brake pedal 68 is connected to the braking device 24 via a link mechanism. When the brake pedal 68 is depressed, the braking device 24 is activated, and the rotation of the front wheels 12 and the rear wheels 13 of the rice transplanter 1 is braked.

  The brake operation detection switch 68a shown in FIG. 6 is for detecting that the brake pedal 68 has been operated. A micro switch is used as the brake operation detection switch 68a. The brake operation detection switch 68a can detect that the brake pedal 68 has been depressed by contacting the brake pedal 68 that has been depressed.

  The seedling stand end detection switch 49a shown in FIG. 6 detects that the seedling placing stand 41 has reached a predetermined position (terminal position in the left-right direction). A micro switch is used as the seedling end detection switch 49a. The seedling end detection switch 49a is arranged on the planting frame 49 and can detect that the seedling mounting base 41 has reached a predetermined position by contacting a pressing portion provided on the seedling mounting base 41. it can.

  A motor (actuator) 71 shown in FIG. 4 is an actuator for changing the rotational speed of the engine 14, changing the gear ratio of the HMT 21, switching the connection / disconnection of the clutch 21c, and switching the operation of the braking device 21d. The motor 71 is connected to the engine 14, the HMT 21 (specifically, the HST 21a), the clutch 21c, and the braking device 21d through a link mechanism.

  More specifically, the output shaft of the motor 71 is connected to the speed governor 14a of the engine 14 via a link mechanism. The speed control device 14a is driven by the motor 71, and the rotation speed of the engine 14 can be changed. The output shaft of the motor 71 is connected to the movable swash plate of the HST 21a through a link mechanism. The inclination angle of the movable swash plate is changed by the motor 71, and the gear ratio of the HST 21a can be changed. The output shaft of the motor 71 is connected to the clutch 21c through a link mechanism. The clutch 71c is disconnected or connected by the motor 71. The output shaft of the motor 71 is connected to the braking device 21d through a link mechanism. When the braking device 21d is operated by the motor 71, the power output to the front wheel 12 and the rear wheel 13 can be braked.

  The motor potentiometer 71a is for detecting the drive amount (rotation angle) of the output shaft of the motor 71. The motor potentiometer 71a is connected to the motor 71 via a link mechanism, and can detect the rotation angle of the output shaft of the motor 71. More specifically, the detection shaft of the potentiometer 71a for the motor is rotated according to the drive amount (rotation angle) of the output shaft of the motor 71, and the rotation angle is detected as the drive amount of the output shaft of the motor 71. Can do.

  The cell motor 72 is an actuator for starting the engine 14.

  The meter panel 73 shown in FIGS. 2, 5, and 6 is for displaying various information related to the operation of the rice transplanter 1, the engine, an abnormality alarm, and the like. The meter panel 73 is disposed at the approximate center of the left and right of the dashboard 61 and in front of the steering handle 64.

  The control device 100 inputs a detection signal and transmits a control signal to the motor 71, the cell motor 72, the meter panel 73, and the like based on the input detection signal and program. Specifically, the control device 100 may be configured such that a CPU, ROM, RAM, HDD, and the like are connected by a bus, or may be configured by a one-chip LSI or the like.

  The control device 100 is connected to the pedal potentiometer 67a, and can obtain a detection signal (pedal signal) indicating the amount of depression of the shift pedal 67 by the pedal potentiometer 67a. The control device 100 is connected to the maximum speed setting dial 69 and can acquire a detection signal related to the operation position of the maximum speed setting dial 69. The control device 100 is connected to the seedling position detection switch 65a, and can acquire a detection signal (the above-mentioned seedling position detection signal) indicating that the main transmission lever 65 is at the seedling position from the seedling position detection switch 65a. The control device 100 is connected to the key switch 66, and obtains a detection signal (start signal) indicating that the start operation has been performed by the key switch 66 and a detection signal (stop signal) indicating that the stop operation has been performed. it can. The control device 100 is connected to the speed fixing switch 70a, and can acquire a detection signal indicating that the speed fixing lever 70 by the speed fixing switch 70a has been operated to the speed fixing position. The control device 100 is connected to the speed fixing release switch 70b, and can acquire a detection signal indicating that the speed fixing lever 70 by the speed fixing release switch 70b has been operated to the speed fixing release position. The control device 100 is connected to the brake operation detection switch 68a, and can acquire a detection signal indicating that the brake pedal 68 has been depressed by the brake operation detection switch 68a. The control device 100 is connected to the seedling end detection switch 49a, and can acquire a detection signal indicating that the seedling placement base 41 has reached a predetermined position by the seedling end detection switch 49a.

  The control device 100 is connected to the motor 71 and can transmit a control signal to the motor 71 to drive the motor 71. The control device 100 is connected to a motor potentiometer 71a, and can acquire a detection signal of the rotation angle of the motor 71 by the motor potentiometer 71a. The control device 100 can drive the motor 71 to a desired rotation angle by transmitting a control signal to the motor 71 until the detection signal from the motor potentiometer 71a reaches a desired rotation angle (target drive amount). it can.

  The control device 100 is connected to the cell motor 72 and can transmit a control signal to the cell motor 72 to drive the cell motor 72. The control device 100 is connected to the meter panel 73, and can display the information when an operation state or abnormality of the engine or the work machine is detected.

  The control device 100 also has a relationship between the depression amount of the speed change pedal 67 and the target drive amount of the motor 71 (more specifically, the rotation angle β of the detection shaft of the pedal potentiometer 67a and the motor potentiometer 71a. A map showing the relationship with the rotation angle γ of the detection axis) is stored.

  FIG. 7A and FIG. 7B show the map. 7A and 7B, the horizontal axis represents the rotation angle β of the detection shaft of the pedal potentiometer 67a, and the vertical axis represents the rotation angle γ of the detection shaft of the motor potentiometer 71a. Yes.

  Note that the detection shaft of the pedal potentiometer 67a is configured to rotate within a range of rotation angles β1 to βmax. The rotation angle β1 is the rotation angle of the detection shaft of the pedal potentiometer 67a when the shift pedal 67 is not depressed. The rotation angle βmax is the rotation angle of the detection shaft of the pedal potentiometer 67a when the shift pedal 67 is depressed to the limit.

  In the rotation angle β on the horizontal axis of the map, the region from β1 to βmax further includes a play region (β1 or more and less than β2), a connection region (β2), a speed change region (greater than β2 and less than β3), and the highest speed. It is divided into holding regions (β3 or more and βmax or less).

  In the play area of the map (between β1 and less than β2), the rotation angle γ of the motor potentiometer 71a is held at a constant value (γ1). In the map connection region (β2), the rotation angle γ of the motor potentiometer 71a is held at a constant value (γ2). In the shift region of the map (greater than β2 and less than β3), the rotation angle γ of the motor potentiometer 71a increases from γ2 corresponding to the rotation angle β2 as the rotation angle β of the pedal potentiometer 67a increases. , Increase to γmax corresponding to the rotation angle β3. In the maximum speed holding region (β3 to βmax) of the map, the rotation angle γ of the motor potentiometer 71a is held at a constant value (γmax).

  In the shift region (greater than β2 and less than β3) of the map, the region from β2 to β3 is further divided into a plurality of shift regions. That is, the shift region includes a first shift region (greater than β2 and less than β21), a second shift region (β21 and less than β22), a third shift region (β22 and less than β23), and a fourth shift region (β23 and more and β3). Less). However, in this embodiment, although divided into four shift regions, the number of divisions is not limited. Further, the width to be divided (the size of the angle between the boundary angle) is not limited.

  In the first speed change region (greater than β2 and less than β21) of the map, the rotation angle γ of the motor potentiometer 71a corresponds to the rotation angle β2 in proportion to the increase in the rotation angle β of the pedal potentiometer 67a. Increases from γ2 to γ21 corresponding to the rotation angle β21. Regarding the first shift region, the ratio of the change in the target drive amount of the motor 71 with respect to the change in the depression amount of the shift pedal 67 (the ratio of the change in the rotation angle γ with respect to the change in the rotation angle β) (X1) is It becomes a constant value (γ21−γ2) / (β21−β2).

  In the second speed change region (between β21 and β22) of the map, the rotation angle γ of the motor potentiometer 71a corresponds to the rotation angle β21 in proportion to the increase in the rotation angle β of the pedal potentiometer 67a. It increases from γ21 to γ22 corresponding to the rotation angle β22. Regarding the second speed change region, the ratio (X2) of the change in the rotation angle γ to the change in the rotation angle β is a constant value (γ22−γ21) / (β22−β21).

  In the third speed change region (β22 or more and less than β23) of the map, the rotation angle γ of the motor potentiometer 71a corresponds to the rotation angle β22 in proportion to the increase in the rotation angle β of the pedal potentiometer 67a. It increases from γ22 to γ23 corresponding to the rotation angle β23. Regarding the third speed change region, the ratio (X3) of the change in the rotation angle γ to the change in the rotation angle β is a constant value (γ23−γ22) / (β23−β22).

  In the fourth shift region (β23 or more and less than β3) of the map, the rotation angle γ of the motor potentiometer 71a corresponds to the rotation angle β23 in proportion to the increase in the rotation angle β of the pedal potentiometer 67a. It increases from γ23 to γmax corresponding to the rotation angle β3. Regarding the fourth speed change region, the ratio (X4) of the change in the rotation angle γ to the change in the rotation angle β is a constant value (γmax−γ23) / (β3-β23).

  The above (X1) to (X4) are different with respect to the first shift region to the fourth shift region. That is, in the map, the ratio of the change in the target drive amount of the motor 71 to the change in the depression amount of the shift pedal 67 for each of the shift regions in the first to fourth shift regions is (X1) to ( X4). In the present embodiment, the magnitude relationship of (X1) to (X4) is configured such that (X2) <(X1) <(X3) <(X4).

  In the rice transplanter 1 configured as described above, when the control device 100 acquires a detection signal (start signal) indicating that the key switch 66 has been started, the cell motor 72 is driven to start the engine 14. In addition, when the control device 100 acquires a detection signal (stop signal) indicating that the key switch 66 has been stopped, the control device 100 drives the motor 71 to cut off the fuel supply by the speed governor 14a (in this embodiment). In the case of a diesel engine or a gasoline engine, the ignition device is stopped), and the engine 14 is stopped.

  Further, when the control device 100 acquires the pedal signal indicating the depression amount of the shift pedal 67, the motor corresponding to the acquired pedal signal (the rotation angle β of the detection shaft of the pedal potentiometer 67a) in the map. The target drive amount 71 (the rotation angle γ of the detection shaft of the motor potentiometer 71a) is calculated. Then, the control device 100 drives the motor 71 so that the rotation angle of the detection shaft of the motor potentiometer 71a becomes the target drive amount. The control device 100 drives the motor 71 to change the rotation speed of the engine 14, change the speed ratio of the HMT 21, change the connection / disconnection of the clutch 21c, and change the operation of the braking device 21d. By changing the rotational speed of the engine 14, changing the speed ratio of the HMT 21, etc., the vehicle speed of the rice transplanter 1 changes and acceleration / deceleration is performed.

  Hereinafter, relationships (i) to (v) between the depression amount of the shift pedal 67 and the target drive amount of the motor 71 will be described.

  (I) As shown in FIG. 7A, the shift pedal 67 is depressed within the first shift region (greater than β2 and less than β21), and the depression amount of the shift pedal 67 (the rotation angle β of the pedal potentiometer 67a) ) Increases from β2 to β21, the target drive amount of the motor 71 (the rotation angle γ of the motor potentiometer 71a) is proportional to the increase in the rotation angle β from γ2 corresponding to the rotation angle β2. It increases to γ21 corresponding to the rotation angle β21.

  (Ii) As shown in FIG. 7A, when the shift pedal 67 is depressed in the second shift range (between β21 and less than β22), and the rotation angle β of the pedal potentiometer 67a increases from β21 to β22. The target drive amount of the motor 71 (the rotation angle γ of the motor potentiometer 71a) is proportional to the increase in the rotation angle β, from γ21 corresponding to the rotation angle β21 to γ22 corresponding to the rotation angle β22. To increase.

  (Iii) As shown in FIG. 7A, when the speed change pedal 67 is depressed within the third speed change region (between β22 and less than β23), the rotation angle β of the pedal potentiometer 67a increases from β22 to β23. The target drive amount of the motor 71 (the rotation angle γ of the motor potentiometer 71a) is proportional to the increase in the rotation angle β from γ22 corresponding to the rotation angle β22 to γ23 corresponding to the rotation angle β23. To increase.

  (Iv) As shown in FIG. 7A, when the shift pedal 67 is depressed in the fourth shift region (β23 or more and less than β3), and the rotation angle β of the pedal potentiometer 67a increases from β23 to β3. The target drive amount of the motor 71 (the rotation angle γ of the motor potentiometer 71a) is proportional to the increase in the rotation angle β from γ23 corresponding to the rotation angle β23 to γmax corresponding to the rotation angle β3. To increase.

  (V) When the shift pedal 67 is stepped on from one shift region to another shift region in the first shift region to the fourth shift region, the target drive amount of the motor 71 (motor potentiometer) The rotation angle γ of 71a increases in proportion to the increase of the rotation angle β. That is, when the shift pedal 67 is stepped on from one shift region to another shift region in the first shift region to the fourth shift region, the control device 100 changes the depression amount of the shift pedal 67. The rate of change in the target drive amount of the motor 71 with respect to is set to a constant value. For example, as shown by an arrow A in FIG. 7B, the rotation angle β of the pedal potentiometer 67a increases at a stretch from the rotation angle βa in the third speed change region to the rotation angle βb in the fourth speed change region. When the target drive amount of the motor 71 (the rotation angle γ of the motor potentiometer 71a) is proportional to the increase of the rotation angle β, the target drive amount is γa corresponding to the rotation angle βb and γb corresponding to the rotation angle βb. Increase to. Therefore, as shown in FIG. 7B, in the shift region (greater than β2 and less than β3) of the map, the region Z is configured as a movement range when the motor 71 follows.

  Below, basic operation | movement of the rice transplanter 1 when the shift pedal 67 is depressed is demonstrated using FIG.7 (b) and FIG. For convenience of explanation, it is assumed that the main transmission lever 65 is operated to the planting position. Further, it is assumed that the shift pedal 67 of the rice transplanter 1 is depressed in the following order (1) to (5). Further, as indicated by an arrow B in FIG. 7B, the speed change pedal 67 is operated at a stroke from the first speed change area to the fourth speed change area, and the rotation angle β of the pedal potentiometer 67a is changed from β2 to β3. It is assumed that it is operated so as to increase at a stretch (see (v) above).

  (1) As shown in FIG. 8, the rotation angle α of the shift pedal 67 when the shift pedal 67 is not depressed is α1 (degrees). In this case, the rotation angle β of the detection shaft of the pedal potentiometer 67a is β1 (degrees). In this case, the control device 100 uses the rotation angle γ1 (degree) of the detection shaft of the motor potentiometer 71a corresponding to the rotation angle β1 of the pedal potentiometer 67a as the target drive amount in the map shown in FIG. 7B. calculate. Then, the control device 100 drives the motor 71 so that the rotation angle γ of the motor potentiometer 71a becomes γ1.

  When the motor 71 is driven so that the rotation angle γ of the motor potentiometer 71a becomes γ1, the clutch 21c is disconnected through the link mechanism. As a result, the power of the engine 14 is not transmitted to the front wheels 12 and the rear wheels 13, and the vehicle speed V of the rice transplanter 1 becomes 0 (m / sec). In this case, the braking device 21d is operated via the link mechanism. Thereby, the front wheel 12 and the rear wheel 13 are braked, and the rice transplanter 1 can be prevented from moving forward or backward unexpectedly.

  When the motor 71 is driven so that the rotation angle γ of the motor potentiometer 71a becomes γ1, the rotational speed N of the engine 14 is set to N1 (rpm) via the link mechanism (see FIG. 8). In this case, the inclination angle of the movable swash plate of the HST 21a is set to be maximum via the link mechanism. Thus, the power from the engine 14 and the power from the HST 21a are combined so as to cancel each other out by the planetary gear mechanism 21b, and the power is not transmitted to the main transmission mechanism 22.

  (2) When the shift pedal 67 is depressed and the rotation angle α gradually increases, the rotation angle β of the detection shaft of the pedal potentiometer 67a also increases with the increase of the rotation angle α.

  When the rotation angle α of the shift pedal 67 increases from α1 to α2 (less than α2), the rotation angle β of the pedal potentiometer 67a increases from β1 to β2 (less than β2). During this time, the control device 100 does not drive the motor 71 in order to maintain the rotation angle γ of the motor potentiometer 71a at γ1 regardless of the value of the rotation angle β of the pedal potentiometer 67a (FIG. 7B). reference).

  When the rotation angle γ of the motor potentiometer 71a is held at γ1, the clutch 23 is maintained in a disconnected state. Similarly, when the rotation angle γ of the motor potentiometer 71a is held at γ1, the braking device 24 is maintained in an activated state.

  When the rotation angle γ of the motor potentiometer 71a is held at γ1, the rotational speed N of the engine 14 is maintained at N1 (see FIG. 8). Similarly, when the rotation angle γ of the motor potentiometer 71a is held at γ1, the inclination angle of the movable swash plate of the HST 21a is maintained at the maximum.

  Therefore, even when the shift pedal 67 is depressed and the rotation angle β of the pedal potentiometer 67a increases from β1 to β2 (less than β2), the rotational speed N of the engine 14 remains constant at N1, The vehicle speed V of the rice transplanter 1 is maintained at 0. In this manner, an area (so-called “play”) in which the rice transplanter 1 does not travel with respect to the depression operation of the shift pedal 67 is provided.

  (3) When the speed change pedal 67 is depressed and the rotation angle α of the speed change pedal 67 becomes α2, that is, when the rotation angle β of the pedal potentiometer 67a becomes β2, the control device 100 controls the motor potentiometer. The motor 71 is driven so that the rotation angle γ of 71a increases from the rotation angle γ1 to the rotation angle γ2 corresponding to the rotation angle β2 of the pedal potentiometer 67a (see FIG. 7B).

  When the motor 71 is driven so that the rotation angle γ of the motor potentiometer 71a increases from γ1 to γ2, the speed governor 14a of the engine 14 is driven via the link mechanism, and the rotational speed N of the engine 14 is increased from N1. It increases to N2 (see FIG. 8).

  When the rotation angle γ of the motor potentiometer 71a becomes γ2 (exceeds γ2), the clutch 23 is connected. As a result, the power of the engine 14 can be transmitted to the front wheels 12 and the rear wheels 13. Similarly, when the rotation angle γ of the motor potentiometer 71a becomes γ2, the braking device 24 is released. Thereby, braking of the front wheel 12 and the rear wheel 13 is released, and the rice transplanter 1 can move forward or backward.

  (4) As indicated by arrow B in FIG. 7B, when the shift pedal 67 is depressed and the rotation angle α of the shift pedal 67 increases from α2 to α3 at once, the rotation angle of the pedal potentiometer 67a. β increases from β2 to β3 all at once. In the control device 100, the rotation angle γ of the motor potentiometer 71a is from the rotation angle γ2 corresponding to the rotation angle β2 of the pedal potentiometer 67a to the rotation angle γmax corresponding to the rotation angle β3 of the pedal potentiometer 67a. The motor 71 is driven so as to increase. At this time, as indicated by an arrow B in FIG. 7B, the controller 100 determines that the ratio of the change in the rotation angle γ to the change in the rotation angle β is a constant value (γmax−γ2) / (β3− The motor 71 is driven so that β2). That is, at this time, the control device 100 sets the ratio of the change in the target drive amount of the motor 71 to the change in the depression amount of the speed change pedal 67 to a constant value (γmax−γ2) / (β3-β2).

  When the motor 71 is driven so that the rotation angle γ of the motor potentiometer 71a increases from γ2 to γmax, the speed governor 14a of the engine 14 is driven via the link mechanism, and the rotational speed N of the engine 14 is increased from N1. It increases to Nmax (see FIG. 8).

  Similarly, when the motor 71 is driven so that the rotation angle γ of the motor potentiometer 71a increases from γ2 to γmax, the tilting angle of the movable swash plate of the HST 21a is driven to decrease via the link mechanism. As a result, the power of the engine 14 is transmitted to the front wheels 12 and the rear wheels 13 via the HMT 21, and the rice transplanter 1 starts to travel. Then, the rice transplanter 1 is accelerated, and the vehicle speed V increases from 0 corresponding to the rotation angle γ2 of the motor potentiometer 71a to Vmax corresponding to the rotation angle γmax. At this time, as indicated by an arrow B in FIG. 7B, the control device 100 determines that the ratio of the change in the rotation angle γ to the change in the rotation angle β is a constant value (γmax−γ2) / (β3-β2). The motor 71 is driven so that. Thereby, the rice transplanter 1 can be smoothly accelerated.

  (5) When the shift pedal 67 is depressed to increase the rotation angle α of the shift pedal 67 from α3 to αmax, the rotation angle β of the pedal potentiometer 67a increases from β3 to βmax. During this time, the control device 100 does not drive the motor 71 in order to maintain the rotation angle γ of the motor potentiometer 71a at γmax regardless of the value of the rotation angle β of the pedal potentiometer 67a (FIG. 7B). reference). Therefore, the rotational speed N of the engine 14 is maintained at Nmax, and the vehicle speed V of the rice transplanter 1 is maintained at Vmax. In this way, an area (so-called “margin”) in which the rice transplanter 1 does not accelerate or decelerate with respect to the depression operation of the shift pedal 67 is provided (see FIG. 8).

  As described above, the rice transplanter 1 according to the present embodiment can increase (accelerate) the vehicle speed V of the rice transplanter 1 by depressing the shift pedal 67. Contrary to the above description, the vehicle speed V of the rice transplanter 1 can be reduced (decelerated) by returning the stepped-on shift pedal 67 to the original position.

  Hereinafter, regarding the operation of the shift pedal 67, when the stepping operation is performed in the first shift region, when the stepping operation is performed within the second shifting region, when the stepping operation is performed within the third shifting region, When the stepping operation is performed in the area, the accelerations of the rice transplanter 1 are compared (see FIG. 7A).

  As described above, in the map, the ratio of the change in the target drive amount of the motor 71 to the change in the depression amount of the shift pedal 67 (X1) to (X1) to ( X4) is different. Thereby, the acceleration of the rice transplanter 1 differs for every shift area.

  In the present embodiment, as described above, the magnitude relationship of (X1) to (X4) is configured to satisfy (X2) <(X1) <(X3) <(X4). As a result, the acceleration of the rice transplanter 1 is greatest when the shift pedal 67 is depressed within the fourth shift region (β23 or more and less than β3) (see (iv) above), and the shift pedal 67 is shifted to the third shift. The time when the pedal is depressed in the region (β22 or more and less than β23) is the second largest (see (iv) above), and the shift pedal 67 is depressed in the first gear region (greater than β2 and less than β21). The third largest (see (i) above), and the fourth largest time when the shift pedal 67 is depressed within the second speed change region (between β21 and less than β22) (see (ii) above).

  Thus, when the rice transplanter 1 accelerates / decelerates by depressing the shift pedal 67, the rate of change (the ratio of the change in the target drive amount of the motor 71 with respect to the change in the depressing amount of the shift pedal 67) is obtained in the low speed range. Make small. Thereby, in the low speed range, for example, fine adjustment of the traveling speed (vehicle speed) at the time of planting work can be easily performed. Further, the rate of change is configured to be larger in the high speed range than in the low speed range. As a result, in the high speed range, the rice transplanter 1 reacts quickly when the traveling speed is increased. In this way, when the rice transplanter 1 accelerates / decelerates by depressing the shift pedal 67, it can perform acceleration / deceleration with gradual acceleration corresponding to the depressing amount of the shift pedal 67 in a low speed range or a high speed range. It is possible to contribute to improvement. In addition, the rice transplanter 1 divides the shift area into a plurality of shift areas, and sets a change rate for each of the divided shift areas. Thus, when changing the change rate according to the planting condition, the field condition, the operator's preference, etc., it is not necessary to change the change rate as a whole, and the change rate in the corresponding shift region is set to a desired value. Change to Thereby, the change rate can be easily changed. In addition, since the change ratios are constant (X1) to (X4) in each shift region, the traveling speed can be easily brought close to a desired speed when the speed is fixed by the speed fixing lever 70. It becomes easy to fix the speed at the running speed.

  As described above, the rice transplanter 1 has the engine 14, the motor 71 for changing the rotational speed of the engine 14, the motor potentiometer 71 a for detecting the drive amount of the motor 71, and the motor 71 for operating the motor 71. A shift pedal 67; and a pedal potentiometer 67a that detects a depression amount of the shift pedal 67 and outputs a pedal signal indicating the depression amount. The pedal 71 of the motor 71 is based on the pedal signal output by the pedal potentiometer 67a. A rice transplanter that calculates a target drive amount, drives the motor 71 so that the detection value of the motor potentiometer 71a becomes the target drive amount, and changes the vehicle speed to a magnitude corresponding to the target drive amount of the motor 71. 1 and the operation range of the shift pedal 67 is divided into a first shift region to a fourth shift region, and a first shift region to a fourth shift region. In, and sets the rate of change of the target drive quantity of the motor 71 relative to the depression amount of change of the change pedal 67 (X1) ~ (X4).

  Thereby, when the rice transplanter 1 accelerates / decelerates by depressing operation of the shift pedal 67, it becomes possible to perform acceleration / deceleration with gradual acceleration corresponding to the depressing amount of the shift pedal 67 in the low speed range and the high speed range. It can contribute to the improvement of the ring.

  In the rice transplanter 1, when the shift pedal 67 is stepped on from one shift region to another shift region in the first shift region to the fourth shift region, the amount of depression of the shift pedal 67 is reduced. The ratio of the change in the target drive amount of the motor 71 with respect to the change is set to a constant value.

  Thereby, the rice transplanter 1 can be smoothly accelerated.

1 Rice transplanter 14 Engine 21 HMT
21a HST
67 Shift pedal 67a Pedal potentiometer 71 Motor 100 Control device

Claims (2)

An engine, an actuator for changing the number of revolutions of the engine, an actuator drive amount detection device for detecting the drive amount of the actuator, a shift pedal for operating the actuator, and detecting the depression amount of the shift pedal A pedal operation amount detection device that outputs a pedal signal indicating the depression amount;
Calculate the target drive amount of the actuator based on the pedal signal output by the pedal operation amount detection device, drive the actuator so that the detection value of the actuator drive amount detection device becomes the target drive amount, A rice transplanter that changes the vehicle speed to a size corresponding to the target drive amount of the actuator,
Dividing the operation range of the shift pedal into a plurality of shift regions;
For each of the plurality of shift regions, a ratio of a change in the target drive amount of the actuator with respect to a change in the amount of depression of the shift pedal is set.
When the shift pedal is depressed from one shift region of the plurality of shift regions to another shift region, the ratio of the change in the target drive amount of the actuator to the change in the shift amount of the shift pedal is a constant value. Rice transplanter characterized by setting to . In the operation range of the shift pedal, before the plurality of shift areas, even if the amount of depression of the shift pedal increases, the detection value of the actuator drive amount detection device is held at a constant value, or the plurality 2. The rice transplanter according to claim 1, wherein an area in which the detection value of the actuator drive amount detection device is held at a constant value is set after the shift area is set, even if the amount of depression of the shift pedal increases .

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