JP7246535B2 - work machine - Google Patents

Description

The present invention provides a riding-type rice transplanter for planting seedlings (equivalent to agricultural materials) in a field, a riding-type seeding machine for supplying seeds (equivalent to agricultural materials) to a field, fertilizers, chemicals, etc. (equivalent to agricultural materials) to a field. It relates to a working machine such as a riding type working machine to be supplied to.

2. Description of the Related Art A ride-on rice transplanter, which is an example of a working machine, has a configuration as disclosed in Patent Document 1. In Patent Document 1, the power of the engine (corresponding to the driving unit) is transmitted to the transmission, the power of the transmission is branched in parallel, and transmitted to the wheels for traveling and the seedling planting device (corresponding to the working device). It is

As a result, seedlings are planted on the surface of the field by the seedling planting device at intervals (equivalent to the feeding interval) set in advance along the running direction of the machine, and the machine's running speed is changed by operating the transmission. However, since the power transmitted to the seedling planting device is the power of the transmission, the seedling planting device maintains the interval between plants at a constant interval.

In Patent Document 1, the power of the transmission is transmitted to the seedling planting device through the inter-plant transmission, and by operating the inter-plant transmission, the seedling planting device can set the spacing between plants at a desired interval. can be done. By changing the distance between plants, it is possible to change the amount of seedlings to be planted (the total amount of seedlings to be planted in one paddy field, the amount of seedlings used per unit traveling distance, etc.).

JP 2014-70653 A

In Patent Literature 1, the inter-share transmission is a gear shift type transmission having a plurality of gear shift positions. In recent years, the supply interval and amount of agricultural materials (the total amount of agricultural materials supplied in one field, the amount of agricultural materials used per unit traveling distance, etc.) There is a growing demand to set

SUMMARY OF THE INVENTION An object of the present invention is to make it possible to appropriately set the supply interval and supply amount of agricultural materials in a working machine equipped with a working device that supplies agricultural materials to a field along the traveling direction of the machine body. there is

The working machine of the present invention includes a transmission to which the power of a driving part is transmitted, and a working device that supplies agricultural materials to a field along the traveling direction of the machine body, and the power of the transmission is transmitted to a traveling transmission system and a working machine. The work transmission system is branched in parallel, the power of the traveling transmission system is transmitted to the wheels for traveling, the power of the work transmission system is transmitted to the work device through the continuously variable transmission, and the continuously variable An operating portion for operating the transmission is provided at a position overlapping with the continuously variable transmission in plan view.
Further, an operating mechanism for operating the operating portion may be provided, and the operating mechanism may be provided at a position overlapping with the continuously variable transmission.
Further, an operating mechanism for operating the operating portion may be provided, and the operating mechanism may be provided at a position not overlapping with the continuously variable transmission.
Further, the working machine of the present invention includes a transmission to which the power of the driving part is transmitted, and a working device that supplies agricultural materials to the field along the running direction of the machine body, and the power of the transmission is transmitted to travel. power from the travel transmission system is transmitted to wheels for traveling, power from the work transmission system is transmitted to the work device through a continuously variable transmission, and the An operating portion for operating the continuously variable transmission is provided on an upper surface portion of the continuously variable transmission, and an operating mechanism for operating the operating portion is provided at a position higher than the continuously variable transmission in the vertical direction. there is

According to the present invention, the power of the work transmission system is transmitted to the working device through the continuously variable transmission. , many supply intervals and supply amounts (the total amount of agricultural materials supplied in one field, the amount of agricultural materials used per unit traveling distance, etc.) can be set.
As a result, it becomes possible to finely and appropriately set the supply interval and the supply amount according to the conditions of the farm field and the agricultural materials, so that the working accuracy of the working machine can be improved.

When an operating mechanism for operating the above-described continuously variable transmission is provided, according to the present invention, an operating portion for operating the continuously variable transmission is provided on the upper surface of the continuously variable transmission, and an operating mechanism for operating the operating portion is provided. It is provided at a position higher than the continuously variable transmission in the vertical direction.
As a result, the operation mechanism and the operation portion of the continuously variable transmission are arranged at a position higher than the field. Therefore, even if mud or the like in the field is thrown away by the wheels for traveling, the mud or the like will be removed from the operation mechanism and the continuously variable transmission. Since the possibility of adhesion to the operating portion of the device is low, malfunction of the operating mechanism due to adhesion of mud or the like and malfunction of the operating portion of the continuously variable transmission can be reduced.

In the present invention,
The continuously variable transmission is provided on one of the right and left lateral sides of the mission case,
It is preferable that the operating mechanism is arranged so as to overlap with the transmission case or the continuously variable transmission in plan view.

According to the present invention, the transmission case or the continuously variable transmission is positioned below the operating mechanism. Since it is likely to be blocked by the transmission, the possibility that mud or the like adheres to the operating mechanism is low.

In the present invention,
It is preferable that the operating mechanism is arranged on the rear side of the continuously variable transmission.

According to the present invention, even if the position of the operating mechanism is lowered while the operating mechanism is maintained at a position higher than the continuously variable transmission in the vertical direction, the lower portion of the operating mechanism is positioned above the continuously variable transmission. do not interfere.
As a result, for example, when a floor or the like is arranged above the operating mechanism, the position of the floor or the like can be lowered by lowering the position of the operating mechanism as described above. This reduces the need to modify the floor or the like to avoid interference with the operating mechanism.

In the present invention,
The continuously variable transmission is provided on one of the right and left lateral sides of the mission case,
It is preferable that the transmission is provided on the other of the right or left lateral side of the transmission case.

When a transmission and a continuously variable transmission are provided, according to the present invention, the transmission and the continuously variable transmission are distributed to the right and left lateral sides of the transmission case, so that the left and right weight balance of the work machine can be balanced. can be made good.

In the present invention,
wherein the operating portion is an operating shaft that projects upward from an upper surface portion of the continuously variable transmission and is operated to rotate about a first axial core in the vertical direction;
an operating arm swingably supported around a second vertical axis of the operating mechanism and operated to swing by the operating mechanism;
a linking member extending horizontally from the operating shaft and connected to the operating arm,
It is preferable that the operating mechanism swings the operating arm and rotates the operating shaft via the linking member.

When the operating shaft of the continuously variable transmission and the operating arm of the operating mechanism are connected by a linking member so that the operating mechanism operates the operating shaft of the continuously variable transmission, according to the present invention, Since the operating shaft of the device and the operating arm of the operating mechanism can be arranged at substantially the same height in the vertical direction, the operation of the operating arm of the operating mechanism can be efficiently performed in the continuously variable transmission via the linking member. The force is transmitted to the operating shaft, and the operating shaft of the continuously variable transmission is operated without difficulty.

In the present invention,
It is preferable that the operating mechanism is provided with an actuator that generates an operating force for operating the operating section.

According to the present invention, the operating portion of the continuously variable transmission is operated by the actuator, so that the operating portion of the continuously variable transmission can be easily operated.
When performing various controls in the continuously variable transmission, the actuator makes it possible to easily operate the operating portion of the continuously variable transmission in accordance with the control.

In the present invention,
The continuously variable transmission is preferably a hydrostatic continuously variable transmission.

According to the present invention, since the continuously variable transmission is a hydrostatic continuously variable transmission, by operating the hydrostatic continuously variable transmission, the power transmitted to the working device is slightly shifted to the high speed side. It is possible to perform fine shifts without difficulty, such as shifting to a lower speed or slightly shifting to a lower speed.

In the present invention,
It is preferable that the working device is a seedling planting device that intermittently plants seedlings in a field at a supply interval set in advance along the traveling direction of the machine body.

The riding-type rice transplanter, which is a working machine, uses a seedling planting device (equivalent to a working device) to intermittently feed seedlings (equivalent to agricultural materials) to the field at preset feeding intervals along the machine's traveling direction. plant in

According to the present invention, in a riding-type rice transplanter, which is a working machine, power is transmitted to a seedling planting device via a continuously variable transmission, so that the seedling supply interval and the amount of seedlings can be finely and appropriately controlled by the continuously variable transmission. can be set.

In the present invention,
It is preferable that the working device is a sowing device that supplies seeds to a field along the traveling direction of the machine body.

A riding seeder, which is a work machine, intermittently supplies seeds (equivalent to agricultural materials) to the field at predetermined feeding intervals along the machine's traveling direction by means of a sowing device (equivalent to a working device). or continuously feed the field with seeds.

According to the present invention, in a riding seeding machine, which is a work machine, power is transmitted to the seeding device via the continuously variable transmission, so that the seed supply interval and the amount of seed are finely and appropriately set by the continuously variable transmission. be able to.

It is a side view of a riding-type rice transplanter. It is a top view of a riding-type rice transplanter. FIG. 4 is a cross-sectional plan view showing the vicinity of the travel transmission system in the transmission case; FIG. 4 is a cross-sectional plan view showing the vicinity of the work transmission system in the transmission case; It is a figure which shows the cooperation state of a control apparatus and each part. It is a top view near a continuously variable transmission and an operation mechanism. FIG. 7 is a cross-sectional view viewed from the VII direction of FIG. 6; FIG. 10 is a plan view of the vicinity of the continuously variable transmission and the operating mechanism in the first alternative embodiment of the invention; FIG. 11 is a longitudinal side view of the operating mechanism in the first alternative embodiment of the invention; FIG. 8 is a plan view of the vicinity of the continuously variable transmission and the operating mechanism in the second alternative embodiment of the invention; FIG. 11 is a longitudinal side view of a continuously variable transmission and an operating mechanism in a second alternative embodiment of the invention;

In an embodiment of the present invention, a ride-on rice transplanter is shown as an example of a working machine that performs planting work in a field (paddy field).
1 to 11, F indicates the forward direction, B indicates the rearward direction, U indicates the upward direction, and D indicates the downward direction. R indicates the right direction and L indicates the left direction.

(Overall configuration of ride-on rice transplanter)
As shown in FIGS. 1 and 2, the riding rice transplanter has right and left front wheels 1 (corresponding to wheels for running) and right and left rear wheels 2 (corresponding to wheels for running). A link mechanism 3 and a hydraulic cylinder 4 for vertically driving the link mechanism 3 are provided at the rear of the body 11 , and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3 .

The seedling planting device 5 includes a planting transmission case 6 arranged at a predetermined interval in the left-right direction, a rotating case 7 rotatably supported on the rear right and left sides of the planting transmission case 6, and a rotating case. 7, a pair of planting arms 8, a float 9, a seedling platform 10, and the like.

Right and left markers 12 are provided on the right and left lateral sides of the seedling planting device 5 . The marker 12 can be changed between an operating posture (see FIG. 1) in contact with the paddy field G (see FIG. 5) and a stored posture away from the paddy G (see FIG. 5). supported by In the operating posture of the marker 12, the rotating body 12a of the marker 12 is in contact with the paddy field G, and as the machine body 11 travels, the rotating body 12a of the marker 12 forms an index on the paddy field G while rotating.

(Structure near the driving section)
As shown in FIGS. 1 and 2, the airframe 11 is provided with a driver's seat 13 and a steering wheel 14 for steering the front wheels 1 .

Right and left support frames 16 are provided on the right and left front parts of the machine body 11 , and the support frames 16 support a preliminary seedling tray 15 . A support frame 17 is connected over the upper portions of the right and left support frames 16 .

A measuring device 18 is attached to a portion of the support frame 17 positioned at the center CL of the fuselage 11 in plan view. The measuring device 18 includes a receiving device (not shown) that acquires position information from a satellite positioning system, and an inertial measuring device (not shown) that detects the inclination (pitch angle, roll angle) of the airframe 11. The measuring device 18 outputs positioning data indicating the position of the airframe 11 .

An inertial measurement device 19 for measuring inertial information is attached to a portion of the rear axle case 22 that supports the right and left rear wheels 2 and is located at the left-right center CL of the airframe 11 in a plan view. The inertial measurement of the inertial measurement device 19 and the measurement device 18 is configured by an IMU (Inertial Measurement Unit).

The above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System) includes GPS (Global Positioning System) as a typical example. GPS uses a plurality of GPS satellites orbiting the earth, a control station that tracks and controls the GPS satellites, and a receiving device provided in an object (airframe 11) to be positioned. It measures the position of

The inertial measurement device 19 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the body 11 and an acceleration sensor (not shown) detecting acceleration in three mutually orthogonal directions. The inertial information measured by the inertial measurement device 19 includes orientation change information detected by the gyro sensor and position change information detected by the acceleration sensor.
Thereby, the position of the airframe 11 and the orientation of the airframe 11 are detected by the measurement device 18 and the inertial measurement device 19 .

(Composition near the mission case)
As shown in FIG. 1, a transmission case 20 is supported at the front of the fuselage 11, and right and left front wheels 1 are attached to front axle cases 21 connected to right and left lateral sides of the transmission case 20. is supported. A rear axle case 22 is supported in the rear part of the fuselage 11 , and the right and left rear wheels 2 are supported by the rear axle case 22 .

As shown in FIGS. 1 and 3, the front portion of the transmission case 20 supports an engine 23 (corresponding to a driving portion). A hydrostatic type continuously variable transmission 24 (corresponding to a transmission) is connected to the left lateral side of the transmission case 20, and the power of the engine 23 is input to the continuously variable transmission 24 via a transmission belt 25. It is transmitted to the shaft 24a.

The continuously variable transmission 24 is configured to be steplessly variable between the neutral position, the forward side, and the reverse side, and the continuously variable transmission 24 is operated by a shift lever 30 provided on the left lateral side of the steering handle 14. Manipulate.

(Configuration of traveling transmission system to front wheels and rear wheels)
As shown in FIG. 3 , a pump 26 is connected to the right lateral side of the transmission case 20 and supplies hydraulic oil to the hydraulic cylinder 4 . An input shaft 24 a of the continuously variable transmission 24 is inserted into the mission case 20 , and a transmission shaft 27 is connected across the input shaft 26 a of the pump 26 and the input shaft 24 a of the continuously variable transmission 24 .

Transmission shafts 28 , 29 are supported in the left-right direction inside the transmission case 20 , and an output shaft 24 b of the continuously variable transmission 24 is connected to the end of the transmission shaft 28 . Inside the mission case 20 , a gear shift type auxiliary transmission 31 is provided across the transmission shafts 28 and 29 .

The auxiliary transmission 31 includes a low-speed gear 32 and a high-speed gear 33 connected to the transmission shaft 28, and a shift gear 34 externally fitted to the transmission shaft 29 by a spline structure so as to rotate and slide integrally. A shift gear 34 can be slid by an auxiliary shift lever (not shown) provided near the driver's seat 13 .

In the auxiliary transmission 31, when the shift gear 34 is engaged with the low speed gear 32, the power of the transmission shaft 28 is transmitted to the transmission shaft 29 at low speed, and when the shift gear 34 is engaged with the high speed gear 33, the power of the transmission shaft 28 is The power is transmitted to the transmission shaft 29 at high speed.
When planting in a paddy field, the sub-transmission device 31 is operated to the low speed state, and when traveling at high speed on the road, the sub-transmission device 31 is operated to the high speed state.

Right and left front axles 35 for transmitting power to the right and left front wheels 1 are supported across the transmission case 20 and the front axle case 21, and between the right and left front axles 35, a front wheel differential device 36 are provided. A transmission gear 37 connected to the transmission shaft 29 and a transmission gear 38 connected to the case 36a of the front wheel differential device 36 are in mesh.

An output shaft 39 is supported along the front-rear direction on the rear portion of the transmission case 20, and a bevel gear 40 connected to a case 36a of the front wheel differential device 36 and a bevel gear 39a formed on the front portion of the output shaft 39 mesh. are doing.

As shown in FIGS. 1 and 3, a transmission shaft 41 is connected to the rear portion of the output shaft 39 via a universal joint (not shown), and the rear portion of the transmission shaft 41 is connected to the universal joint (not shown). , to an input shaft (not shown) of the rear axle case 22 .

With the above configuration, the power changed by the continuously variable transmission 24 is transmitted from the output shaft 24b of the continuously variable transmission 24 to the transmission shaft 28, the auxiliary transmission 31, the transmission shaft 29, the transmission gears 37 and 38, and the front wheel differential device. 36 and the front axle 35 to the right and left front wheels 1 .
The power transmitted to the front wheel differential device 36 is transmitted to the right and left rear wheels via a bevel gear 40, an output shaft 39 (bevel gear 39a), a transmission shaft 41, and a transmission shaft (not shown) inside the rear axle case 22. 2.

A multi-plate type brake 42 is fitted on the output shaft 39, and the brake 42 can be operated in a braking state by stepping on a brake pedal 43 shown in FIG. By braking the output shaft 39 with the brake 42, the front wheels 1 and the rear wheels 2 can be braked.

A differential lock member 44 is externally fitted to the left front axle 35 by a key structure so as to be integrally rotatable and slidable. By stepping on a differential lock pedal (not shown) provided under the driver's seat 13, the differential lock member 44 is slid and engaged with the case 36a of the front wheel differential device 36, thereby locking the front wheel differential device 36. It can be operated to the differential lock state.

With the above configuration, the power of the continuously variable transmission 24 (transmission device) is branched in parallel to the traveling power transmission system and the working power transmission system, and the power of the traveling power transmission system is distributed to the front wheels 1 and rear wheels 2 (wheels for traveling). is transmitted to

(Configuration of work transmission system to seedling planting device)
As shown in FIG. 4, a hydrostatic type continuously variable transmission 45 is connected to the right side portion of the transmission case 20, and an input shaft 45a of the continuously variable transmission 45 and a transmission shaft 28 are connected. ing. An input shaft 45a of the continuously variable transmission 45 protrudes on the opposite side of the transmission case 20, and a fan 46 for sending cooling air to the continuously variable transmission 45 is connected to the projecting portion of the input shaft 45a of the continuously variable transmission 45. ing.

Transmission shafts 47 and 48 are supported in the left-right direction inside the transmission case 20 , and an output shaft 45 b of a continuously variable transmission 45 is connected to the end of the transmission shaft 47 .

A cylindrical transmission shaft 49 is rotatably fitted on the outside of the transmission shaft 47 through a needle bearing, and a transmission gear 50 having two sets of gears is rotatably outside the transmission shaft 48 through bearings. is fitted on the outside. The transmission gear 47a formed on the transmission shaft 47 and the large-diameter gear portion of the transmission gear 50 mesh, and the transmission gear 51 connected to the transmission shaft 49 and the small-diameter gear portion of the transmission gear 50 mesh. .

Inside the transmission case 20 , a non-uniform speed transmission 52 of a gear shift type is provided across the transmission shafts 48 and 49 , and a bevel gear 53 is connected to the transmission shaft 48 . An output shaft 54 is supported in the front-rear direction on the rear portion of the transmission case 20, and a bevel gear 55 is fitted onto the front portion of the output shaft 54 via a planted clutch 56, and the bevel gears 53 and 55 are engaged. .

As shown in FIGS. 1 and 4, a transmission shaft 57 is connected to the rear portion of the output shaft 54 via a universal joint (not shown), and the rear portion of the transmission shaft 57 is connected to the universal joint (not shown). It is connected to an input shaft (not shown) of the seedling planting device 5 via.

With the above configuration, the power changed by the continuously variable transmission 24 is transmitted from the output shaft 24b of the continuously variable transmission 24 to the continuously variable transmission 45 via the transmission shaft 28 and the input shaft 45a of the continuously variable transmission 45. is transmitted to

The power changed by the continuously variable transmission 45 is transmitted from the output shaft 45b of the continuously variable transmission 45 to the transmission shaft 47 (transmission gear 47a), the transmission gears 50 and 51, the transmission shaft 49, the non-uniform transmission 52, the transmission The power is transmitted to the seedling planting device 5 via the shaft 48 , the bevel gears 53 and 55 , the planting clutch 56 , the output shaft 54 and the transmission shaft 57 .

When the planting clutch 56 is operated to the transmission state, power is transmitted to the seedling planting device 5 and the seedling planting device 5 operates.
When the seedling planting device 5 operates, as shown in FIG. A set of planting arms 8 alternately takes out seedlings A (corresponding to agricultural materials) from the lower part of the seedling platform 10 and plants them on the paddy field G. - 特許庁As a result, as shown in FIG. 5, the seedlings A are intermittently planted on the paddy field G along the traveling direction F1 of the machine body 11 at a preset interval L1 (corresponding to the supply interval).
When the planting clutch 56 is operated to the disengaged state, the power to the seedling planting device 5 is cut off, the seedling planting device 5 is stopped, and the seedling tray 10 and the rotary case 7 are stopped.

With the above configuration, the power of the continuously variable transmission 24 (transmission) is branched in parallel to the travel transmission system and the work transmission system, and the power of the work transmission system is divided into the continuously variable transmission 45 and the variable speed transmission 52. through the seedling planting device 5 (working device).

(Structure of variable speed transmission)
As shown in FIG. 4, the variable speed transmission device 52 includes a constant speed gear 58 and a variable speed gear 59 connected to a transmission shaft 49, a constant speed gear 60 fitted on the transmission shaft 48 so as to be relatively rotatable, A non-uniform gear 61 is provided, and the uniform gears 58 and 60 are meshed, and the non-uniform gears 59 and 61 are meshed.

A key-shaped transmission member 62 is slidably supported inside the transmission shaft 48, and the transmission member 62 can be slidably engaged with one of the constant speed gear 60 and the non-uniform speed gear 61. As a result, the constant speed gear 60 and the non-uniform speed gear 61 engaged with the transmission member 62 can be connected to the transmission shaft 48 .

The constant velocity gears 58 and 60 are circular gears with the same diameter. As a result, when the transmission member 62 is engaged with the constant speed gear 60, the power for one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as the power for one rotation at a constant angular velocity.

The non-uniform gears 59, 61 are elliptical gears, eccentric gears or non-circular gears. Thus, when the transmission member 62 is engaged with one of the variable speed gears 61, the power for one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as the power for one rotation. Among them, the angular velocity changes to high and low.

(Arrangement of Operation Mechanism for Operating Continuously Variable Transmission)
As shown in FIGS. 6 and 7, below the floor 88 (see FIGS. 1 and 2), a frame 67 connected to the machine body 11 is continuously variable so as to overlap the continuously variable transmission 45 in plan view. The operation mechanism 74 is arranged above the transmission 45 and connected to the bracket 67 a of the frame 67 .

An operating shaft 45c (trunnion shaft) (corresponding to an operating portion) for operating a swash plate (not shown) of the continuously variable transmission 45 protrudes upward from the front portion of the upper surface of the continuously variable transmission 45, and is operated by an operating shaft 45c. The shaft 45c is rotatable around a first vertical axis P1.

As described later in (Structure of Operation Mechanism), the operation mechanism 74 and the operation shaft 45c of the continuously variable transmission 45 are connected, and the operation mechanism 74 causes the operation shaft 45c of the continuously variable transmission 45 to move to the first shaft. Rotational operation is performed around the core P1.

As a result, the operating mechanism 74 is disposed below the floor 88 (see FIGS. 1 and 2) and positioned higher than the continuously variable transmission 45 in the vertical direction. The operation mechanism 74 is arranged so as to overlap both the transmission case 20 and the continuously variable transmission 45 in plan view.

(Structure of operation mechanism)
As shown in FIGS. 6 and 7, a flat substrate 75 is provided. A cylindrical boss portion 75a and a connecting portion 75b bent into a channel shape are connected to the substrate 75, and an end portion of the substrate 75 is bent and extended to form a support portion 75c. A connecting portion 75b of the substrate 75 is connected to a bracket 67a of the frame 67 by bolts.

A small fan-shaped operating arm 76 is provided in plan view, and gear teeth 76a are formed at the end of the operating arm 76 . A support shaft 76b connected to the operation arm 76 is rotatably supported by the boss portion 75a of the substrate 75, and the operation arm 76 swings about the second vertical axis P2 on the boss portion 75a of the substrate 75. freely supported.

The gear case 77 is bolted to the lower surface of the support portion 75c of the substrate 75, and the pinion gear 77a of the gear case 77 meshes with the gear teeth 76a of the operating arm . An electric motor 78 (corresponding to an actuator) is connected to the gear case 77, and the power of the electric motor 78 rotates a pinion gear 77a of the gear case 77 via a worm gear mechanism (not shown) inside the gear case 77. be.

An arm 45d is connected to the operating shaft 45c of the continuously variable transmission 45, and a linking member 79 is connected across the upper surface of the operating arm 76 and the upper surface of the arm 45d of the continuously variable transmission 45. . The linking member 79 is rod-shaped and its length can be adjusted with a bolt and a nut.

The operating arm 76 of the operating mechanism 74 and the arm 45d of the continuously variable transmission 45 are arranged at substantially the same height in the vertical direction (side view). As a result, the linking member 79 extends from the operating shaft 45 c (arm 45 d ) of the continuously variable transmission 45 in a substantially horizontal state when viewed from the side and is connected to the operating arm 76 of the operating mechanism 74 .

A channel-shaped support member 80 is connected to the substrate 75 so as to straddle the boss portion 75 a of the substrate 75 , and a potentiometer type angle sensor 81 is attached to the upper surface of the support member 80 . A detection shaft 81 a of the angle sensor 81 is inserted into and connected to the upper end of the support shaft 76 b of the operation arm 76 .

With the above configuration, the operating mechanism 74 includes the board 75, the operating arm 76, the gear case 77, the electric motor 78, the support member 80, the angle sensor 81, and the like.

In the operation mechanism 74, when the pinion gear 77a of the gear case 77 is rotationally driven by the electric motor 78, the operation arm 76 is operated to swing about the second axis P2, and the continuously variable transmission 45 is operated via the linking member 79. The operating shaft 45c (arm 45d) is rotated around the first axis P1, and the continuously variable transmission 45 is operated.
The shift position of the continuously variable transmission 45 is detected by detecting the angle of the operating arm 76 with the angle sensor 81 .

(Configuration of control system for operating continuously variable transmission)
As shown in FIG. 5, the body 11 is provided with a control device 63 . A setting unit 64 for setting the set spacing L<b>1 is provided near the driver's seat 13 or the steering wheel 14 , and an operation signal of the setting unit 64 is input to the control device 63 .

The setting unit 64 is a type of operation lever that is manually operated by an operator, and the operator can arbitrarily and steplessly set (select) the set interval L1 between the maximum interval L11 and the minimum interval L12. can be done.

As shown in FIGS. 4 and 5, a pick-up sensor type work rotation speed detector 65 is provided for the transmission gear 47a of the transmission shaft 47, and the detection value of the work rotation speed detector 65 is detected by the controller 63. is entered in

As a result, on the upstream side of the variable speed transmission 52, the number of rotations of the transmission system (the output shaft 45b of the variable speed transmission 45) between the continuously variable transmission 45 and the variable speed transmission 52 increases to the working speed. It is detected by the number detection unit 65 and input to the control device 63 .

As shown in FIGS. 3 and 5, the transmission gear 38 is provided with a pick-up sensor type travel rotation speed detection unit 66 , and the detection value of the travel rotation speed detection unit 66 is input to the control device 63 . there is As a result, the rotational speeds of the front wheels 1 and the rear wheels 2 are detected by the running rotational speed detection unit 66 and input to the control device 63 .

The control device 63 includes a slip ratio detection section 68, a control section 69, a timer 70, a first travel distance detection section 71, a second travel distance detection section 72, and a supply interval detection section 73 as software.

(Detection of slip ratio)
When planting in a paddy field, the front wheels 1 and the rear wheels 2 slip, so the slip ratio detector 68 detects the slip ratio as described below.

In this case, the state in which the front wheels 1 and the rear wheels 2 slip means that the front wheels 1 and the rear wheels 2 are spinning, and the aircraft 11 moves forward while the front wheels 1 and the rear wheels 2 are rotating. It is in a state of not doing so.

Planting work WHEREIN: A certain 1st time and the next 2nd time when setting time passed from the 1st time are detected by the timer 70. FIG.
From the first time point to the second time point, based on the detection of the position of the airframe 11 and the orientation of the airframe 11 by the measurement device 18 and the inertial measurement device 19, the actual distance traveled by the airframe 11 is detected by the first travel distance detection unit 71. detected. In this case, the detection value of the first traveling distance detection unit 71 includes the slippage of the front wheels 1 and the rear wheels 2 .

From the first point of time to the second point of time, the second traveling distance detecting section 72 detects the outer diameter of the front wheels 1 and the rear wheels 2 and the detection value of the traveling rotation speed detecting section 66 (the rotation speed of the front wheels 1 and the rear wheels 2). Thus, the traveling distance of the body 11 is detected (calculated). In this case, the detected value of the second travel distance detector 72 does not include the slippage of the front wheels 1 and the rear wheels 2 .

The slip ratio detection unit 68 compares the detection value of the first travel distance detection unit 71 and the detection value of the second travel distance detection unit 72 .
If the front wheel 1 and the rear wheel 2 are slipping, the detected value of the first travel distance detection unit 71 becomes smaller than the detection value of the second travel distance detection unit 72, and the first travel distance detection unit As the difference between the detection values of 71 and the second travel distance detection section 72 increases, it can be determined that the front wheels 1 and the rear wheels 2 slip more frequently.

Thus, the slip ratio is detected by the slip ratio detector 68 based on the detected value of the first travel distance detector 71 and the detected value of the second travel distance detector 72 .
When the slip ratio is detected from the first point of time to the second point of time, the slip ratio is detected from the second point of time to the third point of time after the lapse of the set time. It is done repeatedly.

(Setting between plants at the start of planting work)
When planting in a paddy field, the following operations are performed.
At the start of the planting work, the operator sets (selects) the set interval L1 by the setting unit 64 as described in (Configuration of control system for operating the continuously variable transmission).

When the planting work is started in a state in which the spacing between plants L1 is set by the setting unit 64, an operation signal is output from the control unit 69 to the operating mechanism 74 (electric motor 78) corresponding to the set spacing L1, and the operating mechanism 74 The continuously variable transmission 45 is operated by (the electric motor 78 ) based on the detection value of the angle sensor 81 .

At this stage, the slip of the front wheels 1 and the rear wheels 2 is not taken into consideration, so the shift position of the continuously variable transmission 45 is uniquely determined. is manipulated.

Since hydraulic fluid may leak in the continuously variable transmission 45, the rotational speed of the output shaft 45b of the continuously variable transmission 45 becomes slightly lower than the rotational speed at the shift position corresponding to the set distance L1, The actual spacing L (corresponding to the supply interval) may be slightly larger than the set spacing L1 by this amount.

In this case, the rotation speed of the output shaft 45b of the continuously variable transmission 45 corresponds to the set spacing L1 based on the detection value of the work rotation speed detection unit 65 (the rotation speed of the output shaft 45b of the continuously variable transmission 45). The continuously variable transmission 45 is finely adjusted by the operation mechanism 74 (electric motor 78) from the transmission position corresponding to the set distance L1 so that the rotation speed is obtained.

(Adjustment between strains based on detection of slip ratio in planting work)
As the planting work progresses, the slip ratio is detected by the slip ratio detection unit 68, and the continuously variable transmission 45 is operated as described below so that the actual distance between plants L becomes the set distance between plants L1. automatically operated by

As described in the preceding section (Setting the distance between plants at the start of planting work), in a state in which the continuously variable transmission 45 is operated to the shift position corresponding to the set distance between plants L1, as the planting work progresses, The slip ratio is detected by the slip ratio detector 68 as described in the preceding paragraph (detection of slip ratio).

Based on the detection value of the working rotation speed detection unit 65 (the rotation speed of the output shaft 45b of the continuously variable transmission 45) and the detection value of the running rotation speed detection unit 66 (the rotation speed of the front wheels 1 and the rear wheels 2), The actual interval L between plants is detected by the supply interval detection unit 73 .
Specifically, the length corresponding to the slip ratio is calculated, the length corresponding to the slip is subtracted from the set spacing L1, and the actual spacing L is detected.

As a result, an operation signal is output from the control unit 69 to the operation mechanism 74 (electric motor 78) so that the actual interval L detected by the supply interval detection unit 73 becomes the set interval L1, and the operation mechanism 74 (electric motor 78) operates the continuously variable transmission 45 .

(Operation of non-constant speed transmission based on set distance between stocks)
When the set spacing L1 set by the setting unit 64 is not particularly large or not particularly small, the operator transmits the power by the constant speed gears 58 and 60 in the non-constant speed transmission 52. You can set the state.

When the set spacing L1 set by the setting unit 64 is particularly large or particularly small, the operator slides the transmission member 62 in the variable speed transmission device 52 to set the variable speed gear. Of the gears 59 and 61, the non-uniform gears 59 and 61 suitable for the set distance L1 set by the setting unit 64 may be selected (connected to the transmission shaft 48).

If the set spacing L1 set by the setting unit 64 is particularly large, the rotational speed of the rotating case 7 becomes too low.
As a result, in the area from the planting arm 8 taking out the seedling A from the seedling platform 10 to planting the seedling A onto the field surface G by the planting arm 8, the rotation case 7 is controlled by the variable speed transmission 52. The rotation speed can be slightly increased, and the seedling A can be properly planted on the paddy field G.

If the set spacing L1 set by the setting unit 64 is particularly small, the rotational speed of the rotating case 7 becomes too high.
As a result, in the area from the planting arm 8 taking out the seedling A from the seedling platform 10 to planting the seedling A onto the field surface G by the planting arm 8, the rotation case 7 is controlled by the variable speed transmission 52. The rotation speed can be made a little slower, and the seedlings A can be appropriately planted on the paddy surface G.

(Structure in which the seedling tray is automatically stopped at one end of reciprocating horizontal feeding)
For example, at the start of a day's planting work, when seedlings A are not placed on the seedling tray 10, the seedling tray 10 is reciprocated. The seedlings A are supplied to the seedling placing table 10 in a state of being stopped at one end of lateral feeding.

As shown in FIG. 5, the control device 63 is provided with an end stop portion 82 as software for automatically moving the seedling platform 10 to one end of reciprocating lateral feeding and stopping it. A start switch 83 for starting the end stop portion 82 is provided, and an operation signal of the start switch 83 is input to the control device 63 .

An engine speed detection unit 84 that detects the speed of the engine 23 and a shift position detection unit 85 that detects the shift position of the continuously variable transmission 24 (shift lever) are provided. The detected value and the detected value of the shift position detector 85 are input to the control device 63 .
With the above configuration, when the operator operates the start switch 83, the end stopper 82 performs the operation described below.

When the start switch 83 is operated, the rotation speed of the power transmitted to the input shaft 45a of the continuously variable transmission 45 is detected from the detection value of the engine speed detection section 84 and the detection value of the shift position detection section 85. .

Based on the rotational speed of the power transmitted to the input shaft 45a of the continuously variable transmission 45, the continuously variable transmission 45 is operated by the operating mechanism 74 (electric motor 78), and the detection value ( The rotation speed of the output shaft 45b of the continuously variable transmission 45) is maintained at a preset low rotation speed.

In the above-described state, the planting clutch 56 is operated to the transmission state, and the seedling tray 10 is laterally driven at a low speed. The clutch 56 is operated to the disengaged state, and the seedling tray 10 stops at one end of the reciprocating lateral feed.

(First alternative embodiment of the invention)
The operating mechanism 74 may be configured as described below.
As shown in FIGS. 8 and 9, the operating mechanism 74 includes a substrate 75, an operating arm 76, a gear case 77, an electric motor 78, a supporting member 80, an angle sensor 81, and the like similar to those shown in FIGS. .
Differences between the operating mechanism 74 shown in FIGS. 6 and 7 and the operating mechanism 74 of this section (the first alternative embodiment of the invention) will be described below.

As shown in FIGS. 8 and 9, the connection portion 75b (see FIGS. 6 and 7) of the substrate 75 is not provided, and the end portion of the substrate 75 (support portion 75c) is bent to form the connection portion 75d. formed.

Below the floor 88 (see FIGS. 1 and 2), the frame 86 connected to the machine body 11 is arranged behind the continuously variable transmission 45, and the connecting portion 75d of the board 75 is connected to the frame 86 by bolts. , and the operating mechanism 74 is arranged behind the continuously variable transmission 45 .

A support member 80 is connected to the bottom surface of the substrate 75 , and an angle sensor 81 is attached to the bottom surface of the support member 80 . A detection shaft 81 a of the angle sensor 81 is inserted into and connected to the lower end of the support shaft 76 b of the operation arm 76 .

The operating arm 76 of the operating mechanism 74 is arranged at a slightly higher position in the vertical direction (side view) with respect to the arm 45d of the continuously variable transmission 45. A linking member 79 is connected across the upper surface of the arm 45 d of the stepped transmission 45 . As a result, the linking member 79 extends from the operating shaft 45 c (arm 45 d ) of the continuously variable transmission 45 in a substantially horizontal state when viewed from the side and is connected to the operating arm 76 of the operating mechanism 74 .

With the above configuration, the operating mechanism 74 is arranged below the floor 88 (see FIGS. 1 and 2).
The upper surface portion of the operating mechanism 74 (the upper surface portion of the support portion 75c of the substrate 75) is positioned higher than the upper surface portion of the continuously variable transmission 45 in the vertical direction. ) is located at a position higher than the lower surface of the continuously variable transmission 45 in the vertical direction, and the operating mechanism 74 is provided at a position higher than the continuously variable transmission 45 in the vertical direction. there is

(Second alternative embodiment of the invention)
The operating mechanism 74 may be configured as described below.
As shown in FIGS. 10 and 11, the operating mechanism 74 includes a substrate 75, an operating arm 76, a gear case 77, an electric motor 78, a supporting member 80, an angle sensor 81, and the like similar to those shown in FIGS. .
Differences between the operating mechanism 74 shown in FIGS. 6 and 7 and the operating mechanism 74 of this section (the second alternative embodiment of the invention) will be described below.

As shown in FIGS. 10 and 11, the connecting portion 75b (see FIGS. 6 and 7) of the substrate 75 is not provided, and connecting portions 75e are formed at four locations of the substrate 75 (supporting portion 75c). there is
Below the floor 88 (see FIGS. 1 and 2), the frame 87 connected to the machine body 11 is arranged behind the continuously variable transmission 45, and the connecting portion 75e of the board 75 is connected to the frame 87 by bolts. , and the operating mechanism 74 is arranged behind the continuously variable transmission 45 .

The operation arm 76 is formed in a fan shape in a plan view, and a support shaft 76b is connected to the operation arm 76 upward. The operation arm 76 is arranged below the substrate 75, and the support shaft 76b of the operation arm 76 is supported by the boss portion 75a of the substrate 75 so as to be swingable about the second axis P2 in the vertical direction.
A gear case 77 is bolted to the upper surface of the support portion 75c of the substrate 75, and the pinion gear 77a of the gear case 77 meshes with the gear teeth 76a of the operation arm .

A support member 80 is connected to the bottom surface of the substrate 75 , and an angle sensor 81 is attached to the bottom surface of the support member 80 . A detection shaft 81 a of the angle sensor 81 is inserted into and connected to the lower end of the support shaft 76 b of the operation arm 76 .

A connection pin 76c is fixed to the upper surface of the operation arm 76 so as to face upward. A boss portion 79a is connected to an end portion of the linking member 79, and the boss portion 79a of the linking member 79 is rotatably fitted onto the connecting pin 76c of the operation arm 76. The other end portion of the linking member 79 is It is connected to the upper surface of arm 45 d of continuously variable transmission 45 . As a result, the linking member 79 extends from the operating shaft 45 c (arm 45 d ) of the continuously variable transmission 45 in a substantially horizontal state when viewed from the side and is connected to the operating arm 76 of the operating mechanism 74 .

With the above configuration, the operating mechanism 74 is arranged below the floor 88 (see FIGS. 1 and 2).
The upper surface of the operating mechanism 74 (the upper surface of the gear case 77 and the upper end of the connecting pin 76c of the operating arm 76) is positioned higher than the upper surface of the continuously variable transmission 45 in the vertical direction. (the lower surface of the angle sensor 81) is positioned higher than the lower surface of the continuously variable transmission 45 in the vertical direction, and the operating mechanism 74 is positioned higher than the continuously variable transmission 45 in the vertical direction. It is ready.

(Third alternative embodiment of the invention)
In the above-mentioned (setting of the distance between plants at the start of the planting work), the continuously variable transmission 45 is operated to the shift position corresponding to the set distance between plants L1 based on the leakage of the hydraulic oil of the continuously variable transmission 45. It is not necessary to perform the fine adjustment operation using the operation mechanism 74 (electric motor 78).

With this configuration, when the actual interval between plants L is detected by the supply interval detection unit 73 in the above-mentioned (adjustment of the interval between plants based on the detection of the slip ratio in the planting work), the hydraulic oil of the continuously variable transmission 45 The actual interval L between plants is detected by the supply interval detection unit 73 in a state in which both the leak and the slippage of the front wheels 1 and the rear wheels 2 are taken into consideration.

In this case, when the leakage of the hydraulic oil of the continuously variable transmission 45 is small and the slip of the front wheels 1 and the rear wheels 2 is large, the actual spacing L may be smaller than the set spacing L1 set by the setting unit 64. be.
Conversely, when the leakage of hydraulic oil from the continuously variable transmission 45 is large and the slip of the front wheels 1 and the rear wheels 2 is small, the actual spacing L may be larger than the set spacing L1 set by the setting section 64. .

(Fourth alternative embodiment of the invention)
The measurement device 18 and inertial measurement device 19 may be eliminated.
In this configuration, when the actual traveled distance of the body 11 is detected by the first traveled distance detection unit 71, a rotational speed sensor (not shown) is provided on the rotor 12a of the marker 12, and as the body 11 travels, The actual traveling distance of the body 11 can be detected by detecting the number of revolutions when the rotor 12a of the marker 12 touches the paddy field G and rotates.

Instead of the rotating body 12a of the marker 12, a dedicated rotating body (not shown) that is grounded on the paddy field G and rotates is provided in the body 11 or the seedling planting device 5, and the number of revolutions of this rotating body is detected. It may be configured as

(Fifth alternative embodiment of the invention)
In the setting unit 64, instead of steplessly setting (selecting) the set inter-share interval L1, a large number of set inter-share intervals L1 that differ little by little are set, and one of the multiple set inter-share intervals L1 is set. It may be configured to be set (selected) by the unit 64 .

(Sixth alternative embodiment of the invention)
Instead of the operator manually operating the variable speed transmission device 52, the variable speed transmission device 52 is automatically operated to an appropriate operating position based on the setting (selection) of the set distance L1 by the setting unit 64. may be configured to be

(Seventh alternative embodiment of the invention)
In the mission case 20 , the continuously variable transmission 24 may be provided on the right lateral side of the mission case 20 and the continuously variable transmission 45 may be provided on the left lateral side of the mission case 20 .

Instead of the continuously variable transmission 24, a transmission (not shown) having a plurality of gear shift positions of a gear transmission type may be provided. Instead of the hydrostatic type continuously variable transmission 45, a belt type continuously variable transmission 45 may be provided.

Inside the transmission case 20, the transmission shafts 28, 29, 47, 48, 49, etc. may be arranged not in the lateral direction but in the longitudinal direction.
Instead of the engine 23, an electric motor (not shown) may be used as the prime mover.

(Eighth alternative embodiment of the invention)
The electric motor 78 may be eliminated from the operating mechanism 74, and the operating mechanism 74 (operating arm 76) may be operated by a manual operating lever (not shown) operated by an operator.

The operation mechanism 74 shown in FIGS. 6 and 7 may be configured so as to overlap the transmission case 20 and not overlap the continuously variable transmission 45 in plan view. Conversely, the operation mechanism 74 may be configured so as not to overlap the transmission case 20 but to overlap the continuously variable transmission 45 in plan view.

The operating mechanism 74 shown in FIGS. 6 and 7 may be configured such that the operating arm 76 is eliminated and the pinion gear 77a of the gear case 77 directly rotates the operating shaft 45c of the continuously variable transmission 45. The output shaft (not shown) of the gear case 77 is concentrically connected to the operation shaft 45c of the continuously variable transmission 45, and the output shaft (not shown) of the gear case 77 is connected to the operation shaft of the continuously variable transmission 45. 45c may be configured to rotate.

In the continuously variable transmission 45, an operating shaft 45c (operating portion) is provided downward on the lower surface of the continuously variable transmission 45 (or laterally on the lateral surface), and an operation mechanism 74 is provided on the lower side of the continuously variable transmission 45 or It may be provided on the lateral side.

(Ninth alternative embodiment of the invention)
For example, when the total amount of seedlings A to be used in one paddy field is fixed, an operation is performed to finely adjust the actual spacing L so that the seedlings A corresponding to this total amount are planted on the paddy field G just enough. is possible.

When performing the above-mentioned work, if the data of the area of the paddy field and the data of the planting process, such as what kind of route the machine 11 is to travel to perform the planting work, are acquired in advance, these data and Based on the total amount of seedlings A, the required spacing L is calculated.

As a result, when the operator sets (selects) the set spacing L1 using the setting unit 64, and the set spacing L1 set by the setting unit 64 is greatly deviated from the required spacing L described above, the required spacing L The operator is informed that the setting unit 64 should set the set spacing L1 close to .
When the planting work is started in the above-described state, the continuously variable transmission 45 is automatically operated so that the actual spacing L becomes the required spacing L described above.

(Tenth alternative embodiment of the invention)
For example, one paddy field is divided into small areas, and in each area of the paddy field, the growth state and yield of rice in the previous year are accumulated as data.
In the aforesaid situation, when the next year's planting operation is performed in the same paddy field, based on the detection of the measuring device 18 and the inertial measurement device 19, the planting operation is performed with the appropriate actual spacing L in each area of the paddy field. It is also possible to automatically operate the continuously variable transmission 45 so that

(Eleventh alternative embodiment of the invention)
The work device intermittently supplies seeds (equivalent to agricultural materials) to the field or continuously supplies seeds to the field at predetermined supply intervals L, L1 along the traveling direction F1 of the machine body 11. A sowing machine (not shown) that can be used for paddy fields or upland farming may be used as the work machine.

The working device intermittently supplies fertilizer (equivalent to agricultural materials) to the field or continuously supplies fertilizer to the field at predetermined supply intervals L, L1 along the traveling direction F1 of the machine body 11. The working machine may be used for paddy fields or upland farming by using a fertilizer supply device (not shown) that feeds and feeds.

The work device intermittently supplies chemicals (equivalent to agricultural materials) to the field or continuously supplies chemicals to the field at predetermined supply intervals L, L1 along the traveling direction F1 of the machine body 11. The working machine may be a working machine for paddy fields or upland farming by forming a chemical supply device (not shown) that

INDUSTRIAL APPLICABILITY The present invention can be applied to a work machine that supplies agricultural materials such as seedlings, seeds, fertilizers, and chemicals to fields.

1 front wheel (wheel)
2 Rear wheel (wheel)
5 Seedling planting device (working device)
11 fuselage 20 mission case 23 engine (motive part)
24 continuously variable transmission (transmission)
45 continuously variable transmission 45c operating shaft (operating portion)
74 operation mechanism 76 operation arm 78 electric motor (actuator)
79 Linking member A Seedling (agricultural material)
F1 Traveling direction G Paddy surface (field)
Between L plants (supply interval)
L1 Set interval (supply interval)
P1 1st axis center P2 3rd axis center

Claims (3)

a transmission to which the power of the prime mover is transmitted;
and a working device for supplying agricultural materials to the field along the traveling direction of the machine body,
The power of the transmission is branched in parallel to the travel transmission system and the work transmission system, the power of the travel transmission system is transmitted to the wheels for traveling, and the power of the work transmission system passes through the continuously variable transmission. transmitted to the working device;
A working machine, wherein an operating portion for operating the continuously variable transmission is provided at a position overlapping with the continuously variable transmission in a plan view. 2. The work machine according to claim 1, further comprising an operating mechanism for operating the operating portion, wherein the operating mechanism is provided at a position overlapping with the continuously variable transmission. 2. The work machine according to claim 1, further comprising an operating mechanism for operating the operating portion, wherein the operating mechanism is provided at a position not overlapping with the continuously variable transmission.

Images