JP7170114B2 - rice transplanter - Google Patents

Description

The present invention is based on a self-propellable traveling machine body having a drive unit, a transmission that receives the power of the drive unit, changes the speed of the input power, and outputs a variable speed power for work, and a variable speed power for work. The present invention relates to a rice transplanter provided with a seedling planting device having a seedling loading table that reciprocates in the left-right direction.

For example, in Patent Document 1, a transmission device (mission case in the document) receives power from a drive unit (engine in the document), changes the speed of the input power, and outputs a variable speed power for running and a variable speed power for work, A rice transplanter provided with a seedling planting device (planting section in the document) having a seedling loading table that reciprocates in the left-right direction based on working speed change power is disclosed. This rice transplanter is provided with an actuator (a variable speed motor in the literature) that changes the moving speed of the seedling mounting table, and a control device that drives and controls the actuator. When the seedling loading table is moved to the seedling loading position (seedling loading end position in the literature) for supplying seedlings, the control device drives and controls the actuator based on the signal for moving the seedling loading stage to the seedling loading position. The seedling mounting table is moved at a predetermined speed. Further, the control device is configured to be able to detect the position of the seedling mounting table, and when the seedling mounting table reaches a predetermined position in front of the seedling replenishment position, the control device drives and controls the actuator to move the seedling mounting table at a moving speed. to slow down.

JP 2015-37431 A

However, in the rice transplanter of Patent Literature 1, the shift state of the transmission changes as the drive control of the actuator changes. Since this transmission outputs a transmission power for running and a transmission power for work, when the transmission state of the transmission changes, the transmission state related to running also changes. For this reason, the traveling speed of the traveling body may change before and after replenishment of seedlings against the will of the operator, and the operator may feel annoyed.

SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a rice transplanter capable of accurately moving a seedling mounting table to a seedling replenishment position without changing the speed change state regarding running.

A rice transplanter according to the present invention includes a self-propelled traveling machine body having a drive section, and a second section that receives the power of the drive section, shifts the input power, and outputs a variable speed power for running and a variable speed power for work. a first speed change device, a second speed change device to which the work speed change power is input, a second speed change device for outputting a second work speed change power by shifting the input power, and a reciprocating movement in the left and right direction by the second work speed change power. a seedling planting device having a seedling loading table, operating speed detecting means capable of detecting the reciprocating speed of said seedling loading table; a seedling planting device control unit that performs a seedling replenishment position moving work to be moved and controls the output rotation speed of the second transmission so that the reciprocating speed becomes a preset speed. It is characterized by

According to this invention, a transmission is comprised by the 1st transmission and the 2nd transmission, and seedling replenishment position moving work is implemented based on the power output from the 2nd transmission. In addition, since the power for the running body to run is output from the first transmission, which is separate from the second transmission, the reciprocating speed can be adjusted by simply controlling the second transmission. No change occurs in the shift state of the single transmission. For this reason, it is possible to adjust the reciprocating operation speed regardless of the shift state of the first transmission, and the traveling speed of the traveling body before and after the seedling replenishment position moving work is performed against the operator's will. never change. As a result, a rice transplanter capable of accurately moving the seedling mounting table to the seedling replenishment position without changing the speed change state regarding running is realized.

In the present invention,
It is preferable that the operating speed detecting means can detect the reciprocating operating speed by detecting the output rotation speed.

Since the seedling mounting table reciprocates in the left and right direction by the power of the second gear shift, when the output speed of the second transmission changes, the reciprocating speed of the seedling mounting base also interlocks with the output speed of the second transmission. change by With this configuration, the seedling planting device control section can easily control the output rotation speed of the second transmission by detecting the output rotation speed.

In the present invention,
It is preferable that the seedling planting device control unit sets at least one of the upper limit and the lower limit of the output rotation speed so that the reciprocating speed is within a preset range.

By setting the upper limit of the output rotation speed, it is possible to suitably prevent the occurrence of overrun due to the reciprocating speed of the seedling loading table being too high. By setting the lower limit of the output rotation speed, the seedling replenishment position moving work can be completed quickly without becoming redundant. That is, with this configuration, the seedling planting device control section can suitably control the output rotation speed of the second transmission.

In the present invention,
When the reciprocating speed is out of the preset range, it is preferable that the seedling planting device control section instructs the shift operation of the second transmission.

According to this configuration, a dead zone is provided with respect to the speed change operation command of the second speed change device by the seedling planting device control section. When the reciprocating speed is within the set range, the speed change operation command for the second speed change device by the seedling planting device control unit is not implemented, and hunting of the output speed can be prevented. Therefore, the reciprocating speed in the seedling replenishment position moving work is stabilized.

In the present invention,
A first shift state detection means capable of detecting a shift state of the first transmission is provided,
It is preferable that the seedling planting device control section instructs a shift operation of the second transmission based on the shift state of the first transmission.

The output rotation speed of the second transmission is adjusted based on the rotation speed of the work shifting power output from the first transmission. From this, with this configuration, for example, by a configuration in which the shift state of the first transmission is fedforward input to the seedling planting device control unit, the shift state of the first transmission can be detected quickly, and the seedling A planting apparatus control part can control the output rotation speed of a 2nd transmission with sufficient precision.

In the present invention,
It is preferable that the output speed can be interlocked with a change in the shift state of the first transmission within a preset range.

According to this configuration, when the output rotation speed is within the set range, the seedling planting device control unit does not control the output rotation speed of the second transmission, so the output rotation speed of the second transmission is the same as that of the first transmission. It becomes possible to interlock with the shift state. Therefore, for example, by operating the first transmission, it is possible to finely adjust the output rotation speed of the second transmission while minimizing changes in the transmission state related to running.

In the present invention,
a state information acquisition unit that acquires state information regarding at least one state of the traveling machine body and the seedling planting device;
and a notification unit that provides guidance for prompting an operation necessary for making the seedling replenishment position moving work operable based on the state information acquired by the state information acquisition unit. is.

With this configuration, it is possible to provide the operator with guidance on the operation necessary to enable the seedling replenishment position moving work, with appropriate content and timing according to the progress of the work.

It is a side view of a rice transplanter concerning the present invention. 1 is a schematic diagram of power transmission in a rice transplanter according to the present invention; FIG. 1 is a schematic diagram of a control system in a rice transplanter according to the present invention; FIG. It is a flowchart figure which shows control of the output rotation speed of a 2nd reduction gear. It is a graph chart showing the relationship between the input rotation speed and the output rotation speed of the second reduction gear. It is a graph chart which shows the relationship between the reduction gear ratio of a 1st reduction gear, and the reduction ratio of a 2nd reduction gear.

An embodiment of a rice transplanter according to the present invention will be described with reference to FIGS. 1 to 6. FIG. A rice transplanter 100 according to this embodiment includes a traveling body 1 , a seedling planting device 2 , and a control section 3 .

[Mechanical configuration of rice transplanter 100]
First, the mechanical configuration of the rice transplanter 100 will be described. As shown in FIG. 1, the traveling body 1 includes an engine 11 (an example of a drive unit), wheels 12 each comprising a pair of left and right front wheels 12a and rear wheels 12b, brakes 13 for braking the wheels 12, and a worker. A driver's seat 14 in which a user can sit and perform various driving operations is provided, and the traveling machine body 1 is configured to be self-propelled. A meter panel 15 including a monitor 15 a (an example of a notification unit) and an operation unit 16 are provided in front of the driver's seat 14 . The traveling machine body 1 also includes a main transmission 17 (first transmission) and an auxiliary transmission 18, as well as a second transmission 19a and a planted clutch 19b. As shown in FIG. 2, the power of the engine 11 is branched from the main transmission 17 to the auxiliary transmission 18 and the second transmission 19a. The power transmitted from the main transmission 17 to the sub-transmission 18 is transmitted to the wheels 12 as transmission power for running. In addition, the power output from the main transmission 17 is transmitted to the second transmission 19a as work speed change power, and the power output from the second transmission 19a is planting power (second work speed change power). is transmitted to the seedling planting device 2 via the planting clutch 19b. The second transmission 19a makes it possible to change the distance between plants when the seedling planting device 2 plants seedlings. In the following description, the front direction of the worker is "forward", the back direction of the worker is "rear", and the right hand side of the worker is "right side" with reference to the worker seated in the driver's seat 14. , and the operator's left hand side is defined as "left".

The main transmission 17 and the second transmission 19a are hydraulic continuously variable transmissions. A main transmission lever 16a provided on the operating portion 16 allows the main transmission 17 to be steplessly geared between a neutral position, a forward side, and a reverse side. On the other hand, the sub-transmission device 18 is a gear-shift type transmission device, and is shifted to a neutral position, a running position (high-speed running), and a working position (low-speed running) by means of a sub-transmission lever 16b provided on the operation unit 16. configured as possible.

As shown in FIG. 1, the seedling planting apparatus 2 includes a seedling planting unit 21 for planting seedlings in a field, and a seedling platform 22 for placing the seedlings planted in the field by the seedling planting unit 21. , and is connected to the traveling body 1 via a lifting hydraulic cylinder 23 and a link mechanism 24 for lifting and lowering the seedling planting device 2 . The seedling mounting base 22 is laterally driven to reciprocate by planting power transmitted from the engine 11 via the main transmission 17 . In other words, the seedling mounting table 22 reciprocates in the left-right direction by the planting power. In addition, the seedling planting unit 21 operates in conjunction with the reciprocating lateral feed drive of the seedling mounting table 22 to plant the seedlings in the field. The seedling planting device 2 is configured to rise when the lifting hydraulic cylinder 23 is retracted, and to descend toward the field when the lifting hydraulic cylinder 23 is extended. , the link mechanism 24 takes a horizontal posture. Further, when the seedling planting device 2 is lowered and the float 21a of the seedling planting unit 21 is in contact with the field, the seedling planting work can be carried out.

The planting clutch 19b is configured so that a connected state or a disconnected state can be selected. In the connected state, the power of the engine 11 is transmitted to the seedling planting device 2 as planting power via the main transmission 17, the second transmission 19a, and the planting clutch 19b. On the other hand, no power is transmitted to the seedling planting device 2 in the cutting state. The connection state or disconnection state of the planting clutch 19b can be selected by manual operation on the operation unit 16 or by signal input from the seedling planting device control unit 31 of the control unit 3.

[Control system of rice transplanter 100]
Next, a control system of the rice transplanter 100 will be described. As shown in FIG. 3, the control unit 3 includes a seedling planting device control unit 31 that controls the operation of the seedling planting device 2, and state information that acquires state information regarding the states of the traveling body 1 and the seedling planting device 2. and an acquisition unit 32 .

The state information acquisition unit 32 includes an engine state information acquisition unit 32a that acquires information on the number of revolutions of the engine 11, a brake state information acquisition unit 32b that acquires information on whether the brake 13 is operating, and a seedling planting unit. A seedling planting device state information acquisition unit 32c that acquires information about the attitude of the device 2, a planting power state information acquisition unit 32d (operation speed detection means) that acquires information about the rotation speed of the planting power, and the wheels 12 It includes a speed information acquisition unit 32e that acquires information about the speed of the traveling body 1 based on the number of revolutions. Specifically, the seedling planting device state information acquiring unit 32c determines whether or not the seedling planting unit 21 of the seedling planting device 2 is deployed, and whether the link mechanism 24 is in the horizontal position by retracting the lifting hydraulic cylinder 23. Information such as whether or not the float 21a is arranged and whether or not the float 21a is in contact with the ground is acquired as information about the posture of the seedling planting device 2. FIG. The planting power state information acquisition unit 32d is, for example, a rotation pulse counter or a rotary encoder, and is capable of detecting the lateral feeding speed of the seedling mounting table 22, that is, the reciprocating speed, based on the number of rotations of the planting power. is configured to

[About seedling supply position movement work]
The seedling replenishing position moving work is a work of moving the seedling mounting table 22 to a seedling replenishing position, which is a reciprocating position for replenishing seedlings, within the reciprocating lateral feed drive range of the seedling mounting table 22 . In order to carry out seedling planting work by the rice transplanter 100 , it is necessary for an operator to place the seedlings on the seedling mounting table 22 . The seedlings placed on the seedling mounting table 22 are mat-like seedlings formed in a rectangular mat shape corresponding to the shape of the seedling mounting table 22 . In order to collect the seedlings in order from one of the left and right ends of the lower end of the mat-like seedling to the other end, the seedling mounting table 22 is moved to either the left or right end of the reciprocating lateral feed driving range. In this state, the mat-like seedling is placed on the seedling mounting table 22.例文帳に追加Therefore, before placing the mat-shaped seedlings on the seedling mounting table 22, it is necessary to move the seedling mounting table 22 to either the left or right end. That is, since the seedling replenishment position is generally at either the left or right end of the reciprocating lateral feed drive range of the seedling loading table 22, the seedling replenishment position moving work in this embodiment is referred to as "end moving work". . The seedling replenishing position may be in the middle of the reciprocating lateral feeding drive range, and the "end gathering work" referred to here means that the seedling replenishing position is in the middle of the reciprocating lateral feeding driving range. Replenishment position moving work is also included. The seedling planting device control unit 31 has a guide mode, and the guide mode is a mode having a function of guiding the end-pulling work.

When a screen operation tool (not shown) is operated to display a guidance mode screen on the monitor 15a, the characters "enter" are displayed along with the characters "align". When the screen operation tool is operated to move the cursor to the word "Enter", the guide mode starts. When the guide mode is started, first, in order to determine whether the edge alignment work can be started, it is determined whether or not the condition group for performing the edge alignment work is satisfied.

In order to drive the seedling mounting table 22 in the end gathering work, power (planting power) from the engine 11 needs to be transmitted to the seedling planting device 2 . Also, the power to be transmitted must be within a proper range. Therefore, in the guidance mode, the seedling planting device 2 and the traveling body 1 are connected based on the attitude information of the seedling planting device 2 acquired by the seedling planting device state information acquiring section 32c. determine whether or not Further, based on the information about the rotation speed of the engine 11 acquired by the engine state information acquiring section 32a, it is determined whether the engine 11 is activated. Furthermore, it is determined whether the rotation speed of the planting power acquired by the planting power state information acquisition unit 32d is within a predetermined appropriate range. Then, the seedling planting device 2 and the traveling machine body 1 are connected (condition A1), and the engine 11 is started (condition A2), which are predetermined as conditions for performing the end gathering work. A part of the predetermined condition group.

Further, in the end gathering work, if the traveling body 1 advances or retreats, the workability of placing the mat-like seedlings on the seedling placement table 22 is impaired. Therefore, when carrying out the end-to-end work, the auxiliary transmission 18 is set so that the power (running power) from the engine 11 is not transmitted to the wheels 12 so as not to move the running body 1. - 特許庁However, since the traveling machine body 1 does not have a sensor for detecting the state of the subtransmission 18 , the state information acquiring section 32 cannot directly acquire information regarding the state of the subtransmission 18 . Therefore, in the guidance mode, it is determined whether or not the traveling machine body 1 is moving based on the information about the speed of the traveling machine body 1 acquired by the speed information acquisition unit 32e. Also, based on the information acquired by the brake state information acquisition unit 32b, it is determined whether the brake 13 is operating. Then, it is one of a group of predetermined conditions that are set in advance as conditions under which the moving body 1 is not moving (condition A3) and that the brake 13 is not actuated (condition A4). part. This is because, when these conditions are satisfied at the same time, it can be determined that the auxiliary transmission 18 is set so as not to transmit the power from the engine 11 to the wheels 12 .

In addition, the seedling planting device 2 needs to be in a posture suitable for the operator to place the mat-like seedlings on the seedling placement table 22 in the end gathering work. Therefore, in the guidance mode, it is determined whether or not the seedling planting device 2 is in a predetermined proper posture based on the information about the posture of the seedling planting device 2 acquired by the seedling planting device state information acquisition unit 32c. to judge. Then, the proper posture of the seedling planting device 2 (condition A5) is set as one of the predetermined condition groups predetermined as the conditions under which the end gathering work can be performed.

Each of the conditions A1 to A5 described above is a group of knowable conditions A1 to A5 that can determine whether or not they have been achieved based on the state information that the state information acquisition unit 32 can acquire. The seedling planting device control unit 31 determines whether or not the recognizable condition groups A1 to A5 have been achieved, and if there is a condition that has not been achieved, provides guidance to prompt an operation necessary to achieve the condition. is displayed on the monitor 15a. For example, when the engine 11 is not started (condition A2 is not satisfied), the message "Please start the engine" is displayed on the monitor 15a.
Alternatively, when the brake 13 is operating (condition A4 is not satisfied), the message "Release the brake pedal" is displayed on the monitor 15a.

On the other hand, as the conditions under which the end-pulling work can be performed, there is a group of unknown conditions that cannot be determined whether or not they have been achieved, depending on the state information that the state information acquisition unit 32 can acquire. The unknown condition group includes, for example, that the auxiliary transmission 18 is set to a state in which the power from the engine 11 is not transmitted to the wheels 12 (unknown condition B1). The seedling planting device control unit 31 displays on the monitor 15a guidance prompting an operation necessary to achieve the unknown condition B1. For example, the monitor 15a displays the message "Set the sub-transmission lever to 'N'" as the guidance prompting the operation necessary to satisfy the unknown condition B1. At this time, the seedling planting device control unit 31 displays on the monitor 15a that it is waiting for an input by the operator indicating that the operation according to the guidance is completed, and when the input is made, the unknown condition B1 is achieved. be deemed to have been made.

By operating as described above, the seedling planting device control section 31 can determine whether or not the recognizable condition group A1 to A5 and the ignorant condition B1 are satisfied. When all of these conditions are met, a button that allows you to select "Yes" or "No" is displayed along with the message "Do you want to start edge alignment? Press 'Yes' to turn the claws." is displayed on the monitor 15a. At this time, if the cursor is moved to "yes" and determined, a signal for controlling the second transmission 19a and a signal for connecting the planting clutch 19b are transmitted, and the seedling loading table 22 is driven. End gathering work is started. Control of the second transmission 19a will be described later.

While the end gathering work is being performed, the row clutch (not shown) provided on the terminal side of the planting clutch 19b is in a disengaged state, and the seedling planting section 21 does not operate. Therefore, only the lateral feeding of the seedling mounting table 22 is performed by the rotation output from the second transmission 19a. In addition, when the seedling planting device control unit 31 determines that the group of recognizable conditions A1 to A5 and the unknowable condition B1 are not satisfied during the end-pulling work, the planting clutch 19b is disconnected. At the same time, it displays on the monitor 15a that the end gathering work has been stopped.

In addition, it is also possible to stop the end gathering work by manual operation of the operator. In this case, the input device that receives the manual operation is not limited to the screen operation tool described above, and may be a separate device independent of the screen operation tool. Such a separate device includes, for example, a lever-like operation tool (not shown) arranged on the handle portion of the traveling body 1 . In addition, while the edge gathering work is being performed, the monitor 15a displays that the edge gathering work can be stopped by operating the lever-like operation tool.

At least one of the following processes is executed when the end alignment work is stopped halfway.
(Process 1) The row clutch (not shown) is disengaged.
(Process 2) The main transmission 17 is controlled to approach the neutral position.
(Process 3) The planting clutch 19b is disconnected.
(Process 4) The second transmission 19a is controlled to approach the neutral position.
(Process 5) The engine 11 is stopped.

When the seedling mounting table 22 moves to either the left or right end of the reciprocating lateral feed driving range, the seedling planting device control unit 31 detects that the seedling mounting table 22 has reached the end by a seedling mounting table position sensor (not shown). to detect. Then, the seedling planting device control unit 31 disengages the planting clutch 19b, notifies that the seedling mounting table 22 has reached the seedling replenishment position, and performs the operation of placing the mat-like seedlings on the seedling mounting table 22. is displayed on the monitor 15a.

By configuring as described above, it is possible to appropriately guide the operator on the operation necessary for enabling the end-alignment work to be performed. Further, when the conditions for carrying out the edge jogging work are not satisfied, the edge jogging work may not be started, or the once started edge jogging work may be automatically stopped.

The reciprocating motion speed of the seedling loading table 22 in the end gathering work depends on the speed change state of the main transmission 17 and the speed change state of the second transmission 19a. However, if the reciprocating speed of the seedling mounting base 22 is too fast, even if the planting clutch 19b is disengaged, the rotation output from the second transmission 19a continues due to inertia, and the seedling mounting base 22 separates from the end. There is a risk that the motor will stop when it is overrun, that is, an overrun will occur. Further, if the reciprocating speed of the seedling mounting table 22 is too slow, it takes time to laterally feed the seedling mounting table 22 in the end gathering work, and the end gathering work becomes redundant. In order to avoid such inconveniences, the reciprocating speed of the seedling mounting table 22 must be appropriately controlled. Therefore, the seedling planting device control section 31 controls the reciprocating speed of the seedling mounting table 22 .

As shown in FIGS. 4 and 5, the seedling planting device control unit 31 sets an upper limit rotation speed R1 and a lower limit rotation speed R2 to the output rotation speed Ro of the second transmission 19a. And the seedling planting apparatus control part 31 increases/decreases the 2nd reduction gear ratio Rb of the 2nd transmission 19a so that the output rotation speed Ro may be in the range more than upper limit rotation speed R1 and lower limit rotation speed R2. The rotation speed between the upper limit rotation speed R1 and the lower limit rotation speed R2 is within a range in which the seedling mounting base 22 can be accurately stopped at the end without overrunning after the planting clutch 19b is disengaged. is the number of revolutions. As shown in FIG. 4, when the output rotation speed Ro exceeds the upper limit rotation speed R1 (step #01: Yes), the seedling planting device control unit 31 executes a command to increase the second speed reduction ratio Rb (step # 11). Moreover, when the output rotation speed Ro exceeds the lower limit rotation speed R2 (step #02: Yes), the seedling planting device control section 31 executes a decrease command for the second speed reduction ratio Rb. When the output rotation speed Ro is within the range of the upper limit rotation speed R1 or lower and the lower limit rotation speed R2 or higher, the increase/decrease command for the second reduction gear ratio Rb is not executed.
In this way, the seedling planting device control unit 31 commands the shift operation of the second transmission 19a when the reciprocating speed of the seedling mounting table 22 based on the output rotation speed Ro is out of the preset range. .

The input rotation speed Ri shown in FIG. 5 is the rotation speed input from the main transmission 17 to the second transmission 19a. If the process shown in FIG. 4 is executed when the input rotation speed Ri is within the range between the first rotation speed threshold R3 and the second rotation speed threshold R4, even if the input rotation speed Ri changes, The output rotation speed Ro remains within the range of the upper limit rotation speed R1 or lower and the lower limit rotation speed R2 or higher without increasing or decreasing the second speed reduction ratio Rb. That is, when the input rotation speed Ri is within the range between the first rotation speed threshold value R3 and the second rotation speed threshold value R4, the seedling planting device control unit 31 does not execute the command to increase or decrease the second reduction ratio Rb, and outputs The rotation speed Ro is proportional to the input rotation speed Ri. In other words, when the input revolution speed Ri is within the range between the first revolution speed threshold value R3 and the second revolution speed threshold value R4, the output revolution speed Ro can be interlocked with the change in the shift state of the main transmission 17 .

Since the input rotation speed Ri changes in conjunction with the first speed reduction ratio Ra of the main transmission 17, as shown in FIG. A command to increase or decrease the second speed reduction ratio Rb is executed so that the second speed reduction ratio Rb is inversely proportional to the ratio Rb. A region S is shown in FIG. 6 as a range in which the output rotation speed Ro can be interlocked with changes in the shift state of the main transmission 17 . In region S, even if the input speed Ri changes, the second speed reduction ratio Rb is not increased or decreased, and the output speed Ro remains within the range of the upper limit speed R1 or lower and the lower limit speed R2 or higher. Therefore, in the region S, only the input rotation speed Ri, that is, the first reduction gear ratio Ra changes, and the second reduction gear ratio Rb does not change. As a result, as shown in FIG. 5, when the input revolution speed Ri is within the range between the first revolution speed threshold value R3 and the second revolution speed threshold value R4, the output revolution speed Ro changes with the input revolution speed Ri. changes in conjunction with

In this way, the seedling planting device control unit 31 controls the second reduction ratio so that the output rotation speed Ro is within the range of the upper limit rotation speed R1 or lower and the lower limit rotation speed R2 or higher depending on the state of the input rotation speed Ri. Since the Rb increase/decrease command is executed, the operator can desirably carry out the end-positioning work without worrying about the position of the main shift lever 16a. Further, when the input revolution speed Ri is within the range between the first revolution speed threshold value R3 and the second revolution speed threshold value R4, the output revolution speed Ro can be interlocked with the change in the shift state of the main transmission 17. A fine adjustment of the output rotation speed Ro can be performed by a person operating the main shift lever 16a.

[Another embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

(1) In addition to the above-described embodiment, a configuration may be provided in which a first shift state detection means capable of detecting the shift state of the main transmission 17 is provided. As the first shift state detection means, for example, a rotation pulse counter similar to the planting power state information acquisition unit 32d is provided in the main transmission 17, and the rotation speed of the work shift power output by the main transmission 17 is the first. It may be configured to be detected by a shift state detecting means. Since the output rotation speed Ro of the second transmission 19a is adjusted based on the rotation speed of the work shifting power output from the main transmission 17, this configuration makes it possible to quickly detect the shift state of the main transmission 17. As a result, the seedling planting device control unit 31 can accurately control the output rotation speed Ro of the second transmission 19a. That is, in this configuration, the seedling planting device control section 31 commands the shift operation of the second transmission 19 a based on the shift state of the main transmission 17 .

(2) In the above-described embodiment, the planting power state information acquisition unit 32d as the operating speed detection means is configured to acquire information about the number of rotations of the planting power. Not limited. For example, the operating speed detection means may be a linear scale sensor capable of detecting the reciprocating speed of the seedling mounting table 22 .

(3) In the above-described embodiment, the seedling planting device control unit 31 sets the upper limit rotation speed R1 and the lower limit rotation speed R2 to the output rotation speed Ro of the second transmission 19a. Not limited. For example, the seedling planting device control unit 31 may be configured to set only the upper limit rotation speed R1 without setting the lower limit rotation speed R2. Even with this configuration, it is possible to suitably prevent the occurrence of overrun due to the reciprocating speed of the seedling loading table 22 being too high.

(4) In the above-described embodiment, when the input rotation speed Ri is within the range between the first rotation speed threshold value R3 and the second rotation speed threshold value R4, the seedling planting device control unit 31 increases or decreases the second reduction ratio Rb. Commands are configured not to be executed, but are not limited to the embodiments described above. For example, the seedling planting device control unit 31 may execute processing to increase or decrease the second speed reduction ratio Rb so that the output rotation speed Ro is always constant. Moreover, multiple target values of the output rotational speed Ro may be provided, and the seedling planting device control section 31 may use the multiple target values for each mode.

(5) In the above-described embodiment, whether or not the seedling replenishment position moving work can be performed is determined based on the recognizable condition groups A1 to A5. The monitor 15a is configured to display a guidance prompting a user to perform an appropriate operation. The knowable condition groups A1 to A5 are examples and are not limited to the above-described embodiment. For example, the condition that the seedling replenishment position moving work can be performed may include that the number of rotations of the planting power, that is, the output number of rotations Ro is within an appropriate range. In this case, the seedling planting device control section 31 may be configured to command the shift operation of the second transmission 19a before the seedling replenishment position moving work is performed.

Furthermore, the fact that the main transmission 17 is in a predetermined proper position may be included as a condition for executing the seedling replenishment position moving work. In this case, the monitor 15a may display the message "Move the main shift lever forward to the sounding position" as guidance for prompting the operation necessary to satisfy this condition.

(6) In the above-described embodiment, when performing the seedling replenishment position moving work, the seedling planting device control unit 31 controls the output of the second transmission 19a so that the reciprocating speed approaches a preset speed. Although the rotation speed Ro is controlled, it is not limited to this embodiment. For example, when the reciprocating position of the seedling placement table 22 is away from the seedling supply position during the seedling supply position movement work, the seedling planting device control unit 31 sets the output rotation speed Ro of the second transmission 19a to the maximum. It may be configured to be set to the number of revolutions. Then, when the reciprocating position of the seedling mounting table 22 approaches the seedling replenishing position within a certain distance, the seedling planting device control section 31 controls the second transmission 19a so that the reciprocating speed approaches a preset speed. may be configured to control the output rotation speed Ro.

(7) The above-described embodiment is not limited to the riding-type rice transplanter 100, and can also be applied to a walking-type rice transplanter or the like.

INDUSTRIAL APPLICABILITY The present invention is applicable to a rice transplanter having a seedling mount.

1: Traveling body 2: Seedling planting device 11: Engine (driving unit)
15a: monitor (notification unit)
17: First transmission 19a: Second transmission 22: Seedling platform 31: Seedling planting device control unit 32: State information acquisition unit 32d: Planting power state information acquisition unit (operating speed detection means)
Ro: Output speed

Claims (5)

a self-propellable traveling body having a drive unit;
a first transmission that is a hydrostatic continuously variable transmission that receives the power of the drive unit and outputs the input power after changing the speed;
a second transmission, which is a hydrostatic continuously variable transmission that receives power from the first transmission and outputs the input power after changing the speed;
a seedling planting device having a seedling mounting base that reciprocates in the left-right direction by power from the second transmission;
an operating speed detecting means capable of detecting the reciprocating operating speed of the seedling mounting table;
a first shift state detection means capable of detecting a shift state of the first transmission;
A seedling replenishment position moving work for moving the seedling loading table to a seedling replenishment position, which is a reciprocating position for replenishing seedlings, is performed, and when the seedling replenishment position moving work is performed, the reciprocation speed is set in advance. a seedling planting device control unit that controls the output rotation speed of the second transmission by performing a speed change operation of the second transmission based on the speed change state of the first transmission so as to achieve a set speed; ,
The seedling planting device control unit moves the seedling loading base to the seedling replenishment position, which is a reciprocating position for replenishing seedlings, by operating an operation unit that is different from the operation unit that performs the speed change operation of the first transmission. A rice transplanter that moves the seedling supply position to be moved. The seedling planting device control unit moves the seedling loading table to the seedling replenishment position, which is a reciprocating position for replenishing the seedlings, by operating an operation unit different from the operation unit that performs the shift operation of the first transmission. The rice transplanter for carrying out the seedling replenishment position moving work according to claim 1 . equipped with a monitor,
The rice transplanter according to claim 1 or 2, wherein the operation unit is a button displayed on the monitor, and the operation of moving the seedling supply position is performed by operating the button. When a predetermined condition set in advance as a condition under which the seedling supply position moving work can be performed is achieved, a button for starting the seedling supply position moving work and the seedling supply position moving work are displayed on the monitor. A button to the effect that it will not start is displayed,
4. The rice transplanter according to claim 3, wherein the operation for the button is an operation for selecting a button for starting the seedling replenishment position moving work. a self-propellable traveling body having a drive unit;
a first transmission that is a hydrostatic continuously variable transmission that receives the power of the drive unit and outputs the input power after changing the speed;
a second transmission, which is a hydrostatic continuously variable transmission that receives power from the first transmission and outputs the input power after changing the speed;
a seedling planting device having a seedling mounting base that reciprocates in the left-right direction by power from the second transmission;
an operating speed detecting means capable of detecting the reciprocating operating speed of the seedling mounting table;
a first shift state detection means capable of detecting a shift state of the first transmission;
A seedling replenishment position moving work for moving the seedling loading table to a seedling replenishment position, which is a reciprocating position for replenishing seedlings, is performed, and when the seedling replenishment position moving work is performed, the reciprocation speed is set in advance. a seedling planting device control unit that controls the output rotation speed of the second transmission by performing a speed change operation of the second transmission based on the speed change state of the first transmission so as to achieve a set speed; A rice transplanter equipped with .

Images