JP7477583B2 - Work Machine - Google Patents

Description

The present invention relates to a work machine, such as a riding rice transplanter or a riding direct seeding machine, that supplies agricultural materials such as seedlings, seeds, fertilizers, and chemicals to a field.

One example of a paddy field working machine, a riding rice transplanter, has a configuration as disclosed in Patent Document 1. In Patent Document 1, the power of an engine (corresponding to a driving unit) is transmitted to a transmission, and the power of the transmission is branched in parallel and transmitted to the running wheels and the seedling planting device (corresponding to a working device).

As a result, the seedlings (equivalent to agricultural materials) are planted in the rice field by the seedling planting device at a predetermined spacing (equivalent to the supply interval) along the traveling direction of the machine body, and even if the transmission is operated to change the traveling speed of the machine body, the power transmitted to the seedling planting device is the power of the transmission device, so the spacing between plants by the seedling planting device is maintained at a constant interval.
In Patent Document 1, the power of the transmission is transmitted to the seedling planting device through a spacing transmission, and the spacing between plants can be set to a desired distance by operating the spacing transmission.

JP 2014-70653 A

In Patent Document 1, the inter-row transmission is a gear-type transmission with multiple speed-changing positions. In recent years, there has been an increasing demand to set the supply interval appropriately depending on the condition of the paddy field and agricultural materials.

The present invention aims to make it possible to appropriately set the supply interval in a paddy field working machine equipped with a working device that intermittently supplies agricultural materials to a field at a supply interval that is preset along the traveling direction of the machine body.

The working machine of the present invention comprises a continuously variable transmission to which the power of a prime mover is transmitted, a transmission case in which the continuously variable transmission is mounted, a working device that intermittently supplies agricultural materials to a field , and a work rotation speed detection unit downstream of the continuously variable transmission for detecting the rotation speed of the power from the continuously variable transmission , the work rotation speed detection unit being mounted inside the transmission case.
In addition, the paddy field working machine of the present invention is equipped with a continuously variable transmission to which the power of the prime mover is transmitted, a transmission case in which the continuously variable transmission is provided, and a working device which intermittently supplies agricultural materials to the surface of the rice field at a predetermined supply interval along the traveling direction of the machine body, and inside the transmission case, the power of the work transmission system is transmitted to the working device through the continuously variable transmission, and inside the transmission case, downstream of the continuously variable transmission, a work rotation speed detection unit is provided which detects the rotation speed of the power from the continuously variable transmission, and based on the detection result of the work rotation speed detection unit, the continuously variable transmission is fine-adjusted by an actuator so that the supply interval of the agricultural materials becomes the set supply interval.
In addition, the paddy field working machine of the present invention is
A transmission to which the power of the driving part is transmitted;
and a work device that intermittently supplies agricultural materials to a rice field surface at a supply interval that is set in advance along the traveling direction of the machine body.
The power of the transmission device is branched in parallel to a traveling transmission system and a work transmission system, the power of the traveling transmission system is transmitted to wheels for traveling, and the power of the work transmission system is transmitted to the work device through a continuously variable transmission device, and a work rotation speed detection unit that detects the rotation speed of the power from the continuously variable transmission device is provided downstream of the continuously variable transmission device.

According to the present invention, the power of the work transmission system is transmitted to the work implement through a continuously variable transmission, and by operating the continuously variable transmission, many supply intervals can be set between the maximum speed position and the minimum speed position of the continuously variable transmission.
This makes it possible to set the supply interval precisely and appropriately according to the condition of the paddy field and agricultural materials, thereby improving the operating accuracy of the paddy field working machine.

According to the present invention, the work rotation speed detection unit for detecting the rotation speed of the power from the continuously variable transmission is provided downstream of the continuously variable transmission.
This allows the rotational speed of the power from the continuously variable transmission to be properly detected, so that when operating the continuously variable transmission, the working rotational speed detection unit can be used to detect (for feedback) the operating position of the continuously variable transmission.

For example, power transmission losses can occur in continuously variable transmissions compared to gear-type transmissions, such as hydraulic oil leaks in hydrostatic continuously variable transmissions and slippage of the transmission belt in belt-type continuously variable transmissions.

As in the present invention, when a work rotation speed detection unit that detects the rotation speed of the power from the continuously variable transmission is provided downstream of the continuously variable transmission, the actual rotation speed of the continuously variable transmission, including the power transmission loss, can be detected, and the work rotation speed detection unit can be used to correct the power transmission loss in the continuously variable transmission.

In the present invention,
A variable speed transmission is provided to change the angular velocity of the output power relative to the input power,
It is preferable that the power of the continuously variable transmission is transmitted to the working device through the variable speed transmission.

For example, in a riding rice transplanter, which is an example of a paddy field working machine, if the spacing (feeding interval) of the seedling planting device (working device) is set particularly large or small, the operating speed of the seedling planting device (rotation speed of the planting arm) may become too slow or too fast, making it impossible to properly plant the seedlings on the rice field surface.

According to the present invention, the power of the continuously variable transmission is transmitted to the working implement through the variable speed transmission, so that even if the operating speed of the working implement is particularly low (high), the operating speed of the working implement in the vicinity where agricultural materials are supplied to the rice field surface can be adjusted to an appropriate value by the variable speed transmission.
This makes it possible to avoid a situation in which the seedlings cannot be properly planted in the rice field surface, for example, when the spacing between plants is set particularly large or particularly small in a seedling planting device.

In the present invention,
It is preferable that the work rotation speed detection unit detects the rotation speed of a transmission system between the continuously variable transmission and the variable speed transmission downstream of the continuously variable transmission and upstream of the variable speed transmission.

As described above, in a configuration in which the power of the continuously variable transmission is transmitted to the working device through a variable speed transmission, the present invention makes it possible to appropriately detect the rotation speed of the power from the continuously variable transmission without being affected by the variable speed transmission.

In the present invention,
The power of the traveling transmission system is transmitted to the wheels through an auxiliary transmission device,
It is preferable that a traveling rotation speed detection unit be provided upstream of the sub-transmission device to detect the rotation speed of the transmission system between the sub-transmission device and a branch point of the traveling transmission system and the work transmission system.

If the power from the transmission is transmitted directly to the traveling transmission system, the rotation speed of the power transmitted to the wheels may become high, so the power of the traveling transmission system is sometimes configured to be reduced in speed by an auxiliary transmission before being transmitted to the wheels.

In the above-mentioned configuration, when detecting the rotation speed of the traveling transmission system, according to the present invention, the rotation speed of the transmission system between the branch point of the traveling transmission system and the work transmission system and the sub-transmission system is detected by the traveling rotation speed detection unit on the upstream side of the sub-transmission system.

This allows the rotation speed of the traveling transmission system to be detected at a high speed before it is decelerated by the sub-transmission device, and the rotation speed of the traveling transmission system can be detected with high accuracy. The detected rotation speed of the traveling transmission system can be effectively used to indicate the traveling speed of the machine body and to operate the continuously variable transmission device of the work transmission system.

In the present invention,
It is preferable that the continuously variable transmission is 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, it is possible to easily perform fine speed changes, such as slightly shifting the power transmitted to the working device to a higher speed or a lower speed.

FIG. 2 is a side view of a riding rice transplanter. FIG. 2 is a plan view of a riding rice transplanter. FIG. 2 is a cross-sectional plan view showing the vicinity of the traveling transmission system in the transmission case. FIG. 2 is a cross-sectional plan view showing the vicinity of the work transmission system in the transmission case. FIG. 2 is a diagram showing a linked state between the control device and each unit. FIG. FIG.

In an embodiment of the present invention, a riding rice transplanter is shown as an example of a paddy field working machine for performing planting work in paddy fields.
In the embodiments of the present invention, the front-rear direction and the left-right direction are described as follows unless otherwise specified. The forward traveling direction when the vehicle body 11 is traveling is the "forward" direction, and the backward traveling direction is the "rear" direction. With the forward posture in the front-rear direction as a reference, the direction corresponding to the right side is the "right" direction, and the direction corresponding to the left side is the "left" direction.

(Overall configuration of riding rice transplanter)
As shown in Figures 1 and 2, the riding rice transplanter is equipped with a link mechanism 3 and a hydraulic cylinder 4 for raising and lowering the link mechanism 3 at the rear of a body 11 which has right and left front wheels 1 (corresponding to the wheels for driving) and right and left rear wheels 2 (corresponding to the wheels for driving). A seedling planting device 5 (corresponding to the 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 supported for free rotation on the right and left rear parts of the planting transmission case 6, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, and a seedling stand 10.

Right and left markers 12 are provided on the right and left lateral parts of the seedling planting device 5. The markers 12 can be freely changed between an operating position (see FIG. 1) in which they are in contact with the rice field surface G (see FIG. 5) and a storage position above and away from the rice field surface G, and a rotating body 12a is rotatably supported at the tip of the marker 12. In the operating position of the marker 12, the rotating body 12a of the marker 12 is in contact with the rice field surface G, and as the machine body 11 travels, the rotating body 12a of the marker 12 forms an index on the rice field surface G while rotating.

(Configuration around the driving section)
As shown in FIGS. 1 and 2 , an aircraft body 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 body 11, and spare seedling trays 15 are supported on the support frames 16. A support frame 17 is connected across the upper parts of the right and left support frames 16.

A measuring device 18 is attached to the support frame 17 at a portion located at the center CL of the aircraft 11 in a plan view. The measuring device 18 is equipped with a receiving device (not shown) that acquires position information by a satellite positioning system, and an inertial measurement unit (not shown) that detects the inclination (pitch angle and roll angle) of the aircraft 11, and the measuring device 18 outputs positioning data indicating the position of the aircraft 11.

The inertial measurement unit 19 that measures inertial information is attached to the rear axle case 22 that supports the right and left rear wheels 2, at a portion located at the left-right center CL of the vehicle body 11 in a plan view. The inertial measurement unit 19 and the inertial measurement of the measurement unit 18 are configured using an IMU (Inertial Measurement Unit).

A representative example of the aforementioned satellite positioning system (GNSS: Global Navigation Satellite System) is the Global Positioning System (GPS). The GPS measures the position of the receiver of the measuring device 18 using multiple GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and a receiver provided in the target (aircraft 11) for which positioning is performed.

The inertial measurement unit 19 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the aircraft 11, and an acceleration sensor (not shown) that detects acceleration in three mutually orthogonal axial directions. The inertial information measured by the inertial measurement unit 19 includes orientation change information detected by the gyro sensor and position change information detected by the acceleration sensor.
As a result, the position and orientation of the aircraft 11 are detected by the measuring device 18 and the inertial measurement unit 19 .

(Configuration around the transmission case)
1, a transmission case 20 is supported at the front of the vehicle body 11, and right and left front wheels 1 are supported on a front axle case 21 connected to right and left lateral portions of the transmission case 20. A rear axle case 22 is supported at the rear of the vehicle body 11, and right and left rear wheels 2 are supported on the rear axle case 22.

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

The continuously variable transmission 24 is configured to be able to change speeds infinitely between the neutral position, forward drive, and reverse drive, and is operated by a speed change lever 30 provided on the left side of the steering handle 14.

As shown in Figures 6 and 7, multiple fins 20a extending in the up-down direction are provided on the outer surfaces of the right and left side walls of the transmission case 20. Multiple fins 20b extending in the front-rear direction are provided on the outer surface of the bottom of the transmission case 20. The fins 20a and 20b of the transmission case 20 promote heat dissipation from the transmission case 20 and suppress the temperature rise of the hydraulic oil inside the transmission case 20.

Since the fins 20a of the transmission case 20 are aligned in the vertical direction, even if mud begins to adhere to the fins 20a of the transmission case 20, the mud easily falls to the bottom. Since the fins 20b of the transmission case 20 are aligned in the front-to-rear direction, mud that is blown rearward from the front wheel 1 is less likely to remain on the fins 20b of the transmission case 20.

(Configuration of the driving transmission system for the front and rear wheels)
3, a pump 26 is connected to the right lateral side of the transmission case 20, and the pump 26 supplies hydraulic oil to the hydraulic cylinder 4. The input shaft 24a of the continuously variable transmission 24 is inserted into the transmission case 20, and a transmission shaft 27 is connected between the input shaft 26a of the pump 26 and the input shaft 24a of the continuously variable transmission 24.

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

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

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

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

An output shaft 39 is supported in the front-to-rear direction at the rear of the transmission case 20, and a bevel gear 40 connected to the case 36a of the front wheel differential device 36 meshes with a bevel gear 39a formed at the front of the output shaft 39.

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

With the above-described configuration, the power changed in speed by the continuously variable transmission 24 is transmitted from the output shaft 24b of the continuously variable transmission 24 via the transmission shaft 28, the sub-transmission device 31, the transmission shaft 29, the transmission gears 37, 38, 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 2 via the bevel gear 40, the output shaft 39 (bevel gear 39a), the transmission shaft 41, and a transmission shaft (not shown) inside the rear axle case 22.

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

The differential lock member 44 is fitted to the left front axle 35 by a key structure so that it can rotate and slide as one unit. By stepping on a differential lock pedal (not shown) provided under the driver's seat 13, the differential lock member 44 is slid to engage with the case 36a of the front wheel differential device 36, thereby operating the front wheel differential device 36 into a differential lock state.

With the above configuration, the power of the continuously variable transmission 24 (transmission) is branched in parallel to the traveling transmission system and the work transmission system, and the power of the traveling transmission system is transmitted to the front wheels 1 and rear wheels 2 (wheels for traveling).
The power of the traveling transmission system is transmitted through the auxiliary transmission 31 to the front wheels 1 and the rear wheels 2 (traveling wheels).

(Configuration of the work transmission system for the seedling planting device)
4, a hydrostatic type continuously variable transmission 45 is connected to the right lateral side of the transmission case 20, and an input shaft 45a of the continuously variable transmission 45 is connected to the transmission shaft 28. The input shaft 45a of the continuously variable transmission 45 protrudes to the opposite side of the transmission case 20, and a fan 46 that sends cooling air to the continuously variable transmission 45 is connected to the protruding portion of the input shaft 45a of the continuously variable transmission 45.

A transmission shaft 47 is connected to the output shaft 45b of the continuously variable transmission 45. Transmission shafts 48 and 49 are supported in the left-right direction inside the transmission case 20, and the end of the transmission shaft 49 is supported concentrically with the transmission shaft 47 so as to be freely rotatable relative to it.

A transmission gear 50 having two sets of gears is fitted onto the outside of the transmission shaft 48 so as to be freely rotatable.
A transmission gear 47 a formed on the transmission shaft 47 meshes with a large diameter gear portion of a transmission gear 50 , and a transmission gear 51 connected to the transmission shaft 49 meshes with a small diameter gear portion of the transmission gear 50 .

Inside the transmission case 20, a gear-type variable speed transmission 52 is provided across the transmission shafts 48, 49, and a bevel gear 53 is connected to the transmission shaft 48. An output shaft 54 is supported in the front-rear direction at the rear of the transmission case 20, and a bevel gear 55 is fitted to the front of the output shaft 54 via a mounting clutch 56, and the bevel gears 53, 55 are engaged with each other.

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

With the above configuration, the power changed in speed 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.

The power changed in speed by the continuously variable transmission 45 is transmitted from the output shaft 45b of the continuously variable transmission 45 to the seedling planting device 5 via the transmission shaft 47 (transmission gear 47a), transmission gears 50, 51, transmission shaft 49, variable speed transmission device 52, transmission shaft 48, bevel gears 53, 55, planting clutch 56, output shaft 54, and 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 is operated, as shown in Fig. 2, the seedling tray 10 is driven to reciprocate sideways to the left and right, and the rotating case 7 is driven to rotate counterclockwise in Fig. 5, and the two sets of planting arms 8 alternately take out seedlings A (corresponding to agricultural materials) from the bottom of the seedling tray 10 and plant them on the rice field G. As a result, as shown in Fig. 5, the seedlings A are intermittently planted on the rice field G at a preset spacing L1 (corresponding to the supply interval) along the traveling direction F1 of the machine body 11.
When the planting clutch 56 is operated to the disconnected state, power to the seedling planting device 5 is cut off, the seedling planting device 5 stops, and the seedling tray 10 and the rotating case 7 stop.

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

(Configuration of variable speed transmission device)
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 the transmission shaft 49, and a constant speed gear 60 and a variable speed gear 61 fitted around the transmission shaft 48 so as to be rotatable relative to each other. The constant speed gears 58, 60 are meshed with each other, and the variable speed gears 59, 61 are meshed with each other.

The speed-changing member 62 is supported inside the transmission shaft 48 so that it can slide freely. By sliding the speed-changing member 62 to engage the balls with the constant-speed gear 60 and the variable-speed gear 61, the constant-speed gear 60 and the variable-speed gear 61 with which the balls are engaged can be connected to the transmission shaft 48.

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

The variable speed gears 59, 61 are elliptical gears, eccentric gears, or non-circular gears. As a result, when the ball is engaged with one of the variable speed gears 61 by the speed change member 62, the power of one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as power of one rotation, but the angular velocity during one rotation changes from high to low.

When the variable speed gears 59, 61 are eccentric gears, multiple shifts of the gear teeth are set in one eccentric gear, and the shifts are set differently depending on the gear teeth. This reduces the variation in backlash of the variable speed gears 59, 61, and allows the variable speed gears 59, 61 to transmit power smoothly.

(Configuration of a control system for operating a continuously variable transmission)
5, a control device 63 is provided on the machine body 11. A setting unit 64 for setting the set plant spacing L1 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 operating lever that is manually operated by the operator, and the operator can freely set (select) the set plant spacing L1 steplessly between the maximum spacing L11 and the minimum spacing L12.

As shown in Figures 4 and 5, a gear-toothed rotating body 49a is connected to the transmission shaft 49 so as to rotate integrally with the transmission shaft 49. A pickup sensor type work rotation speed detection unit 65 is provided for the rotating body 49a of the transmission shaft 49, and the detection value of the work rotation speed detection unit 65 is input to the control device 63.

As a result, downstream of the continuously variable transmission 45 and upstream of the variable speed transmission 52, the rotation speed of the transmission system (transmission shaft 49) between the continuously variable transmission 45 and the variable speed transmission 52 is detected by the work rotation speed detection unit 65 as the rotation speed of the power from the continuously variable transmission 45, and is input to the control device 63.

The gear-toothed rotating body 28a is connected to the transmission shaft 28 so as to rotate integrally with the transmission shaft 28. A pickup sensor type running speed detection unit 66 is provided for the rotating body 28a of the transmission shaft 28, and the detection value of the running speed detection unit 66 is input to the control device 63.

As a result, a traveling rotation speed detection unit 66 is provided upstream of the sub-transmission device 31, which detects the rotation speed of the transmission system between the branch point (transmission shaft 28) of the traveling transmission system and the work transmission system and the sub-transmission device 31.

An electric motor type actuator 67 is provided to change the angle of the swash plate (not shown) of the continuously variable transmission 45 to operate the continuously variable transmission 45, and an operation signal is output from the control device 63 to the actuator 67.

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

(Detection of slip ratio)
When planting work is performed in a paddy field, slippage occurs in the front wheels 1 and the rear wheels 2, and the slippage detection unit 68 detects the slippage as described below.

In this case, when slippage occurs in the front wheels 1 and rear wheels 2, the front wheels 1 and rear wheels 2 are spinning freely, and the aircraft 11 does not move forward even though the front wheels 1 and rear wheels 2 are rotating.

During planting work, a certain first point in time and a subsequent second point in time that is a set time after the first point in time are detected by the timer 70.
From the first time point to the second time point, the first travel distance detection unit 71 detects the actual travel distance of the vehicle 11 based on the detection of the position and orientation of the vehicle 11 by the measurement device 18 and the inertial measurement unit 19. In this case, the detection value of the first travel distance detection unit 71 includes the slippage of the front wheel 1 and the rear wheel 2.

From the first point in time to the second point in time, the second travel distance detection unit 72 detects (calculates) the travel distance of the vehicle 11 based on the outer diameters of the front and rear wheels 1 and 2 and the detection value of the travel speed detection unit 66 (the rotation speeds of the front and rear wheels 1 and 2). In this case, the detection value of the second travel distance detection unit 72 does not include slippage of the front and rear wheels 1 and 2.

The slip ratio detection unit 68 compares the detection value of the first traveling distance detection unit 71 with the detection value of the second traveling distance detection unit 72 .
When slippage occurs at the front wheel 1 and the rear wheel 2, the detection value of the first mileage detection unit 71 becomes smaller than the detection value of the second mileage detection unit 72, and the greater the difference between the detection values of the first mileage detection unit 71 and the second mileage detection unit 72, the more slippage is occurring at the front wheel 1 and the rear wheel 2.

As a result, the slip ratio is detected by the slip ratio detection unit 68 based on the detection value of the first traveling distance detection unit 71 and the detection value of the second traveling distance detection unit 72 .
When the slip ratio from the first time point to the second time point is detected, the slip ratio from the second time point to the next third time point after a set time has elapsed is detected, and the detection of the slip ratio is continuously and repeatedly performed.

(Setting spacing at the start of planting work)
When planting in a paddy field, the following operations are carried out.
At the start of planting work, the operator sets (selects) the set plant spacing L1 using the setting unit 64, as described above (Configuration of the control system that operates the continuously variable transmission).

When planting work is started with the set plant spacing L1 set by the setting unit 64, an operation signal corresponding to the set plant spacing L1 is output from the control unit 69 to the actuator 67, and the actuator 67 operates the continuously variable transmission 45.
At this stage, slippage 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, and the continuously variable transmission 45 is operated to the shift position corresponding to the set stalk spacing L1.

Since hydraulic oil leakage may occur in the continuously variable transmission 45, the rotation speed of the output shaft 45b of the continuously variable transmission 45 may be slightly slower than the rotation speed at the speed change position corresponding to the set plant spacing L1, and the actual plant spacing L (corresponding to the supply interval) may be slightly larger than the set plant spacing L1.

In this case, 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 actuator 67 at a speed change position corresponding to the set plant spacing L1 so that the rotation speed of the output shaft 45b of the continuously variable transmission 45 becomes the rotation speed corresponding to the set plant spacing L1.

(Adjusting spacing between plants based on detection of slip rate during 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 automatically operated as described below so that the actual plant spacing L becomes the set plant spacing L1.

As described in the previous section (Setting the spacing between plants at the start of planting work), when the continuously variable transmission 45 is operated to a gear position corresponding to the set spacing between plants L1, as the planting work progresses, the slip ratio is detected by the slip ratio detection unit 68 as described in the previous section (Detecting the slip ratio).

The actual spacing L is detected by the supply interval detection unit 73 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 wheel 1 and the rear wheel 2).
Specifically, a length corresponding to the slip rate is calculated, and the actual plant spacing L is detected by subtracting the length corresponding to the slip rate from the set plant spacing L1.

As a result, an operation signal is output from the control unit 69 to the actuator 67 so that the actual plant spacing L detected by the supply interval detection unit 73 becomes the set plant spacing L1, and the actuator 67 operates the continuously variable transmission 45.

(Operation of variable speed transmission device based on set spacing)
If the set spacing L1 set by the setting unit 64 is not particularly large or is not particularly small, the operator simply sets the variable speed transmission device 52 to a state in which power is transmitted by the constant speed gears 58, 60.

When the set spacing L1 set by the setting unit 64 is particularly large or particularly small, the operator can slide the speed change member 62 in the variable speed transmission 52 to select from the variable speed gears 59, 61 the non-constant speed gear 59, 61 that is appropriate for the set spacing L1 set by the setting unit 64 (connected to the transmission shaft 48).

If the set spacing L1 set by the setting unit 64 is particularly large, the rotation speed of the rotating case 7 becomes too slow.
As a result, in the region from when the planting arm 8 removes the seedling A from the seedling support 10 to when the planting arm 8 plants the seedling A on the rice field surface G, the variable speed transmission device 52 can make the rotational speed of the rotating case 7 slightly faster, thereby enabling the seedling A to be properly planted on the rice field surface G.

If the set spacing L1 set by the setting unit 64 is particularly small, the rotation speed of the rotating case 7 becomes too high.
As a result, in the region from when the planting arm 8 removes the seedling A from the seedling support 10 to when the planting arm 8 plants the seedling A on the rice field surface G, the variable speed transmission device 52 can slightly slow down the rotational speed of the rotating case 7, thereby enabling the seedling A to be properly planted on the rice field surface G.

(First Alternative Embodiment of the Invention)
In the above-mentioned (setting the spacing between plants at the start of planting work), it is not necessary to perform fine adjustment of the continuously variable transmission 45 by the actuator 67 at a speed change position corresponding to the set spacing between plants L1 based on leakage of hydraulic oil from the continuously variable transmission 45.

When configured in this manner, in the above-mentioned (adjusting spacing between plants based on detection of slip rate during planting work), when the actual spacing between plants L is detected by the supply interval detection unit 73, the actual spacing between plants L is detected by the supply interval detection unit 73 while taking into account both leakage of hydraulic oil from the continuously variable transmission 45 and slippage of the front wheel 1 and rear wheel 2.

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

(Second Alternative Embodiment of the Invention)
The measurement unit 18 and the inertial measurement unit 19 may be eliminated.
In this configuration, when the actual running distance of the machine 11 is detected by the first running distance detection unit 71, a rotation speed sensor (not shown) is provided on the rotating body 12a of the marker 12, and the actual running distance of the machine 11 can be detected by detecting the number of rotations when the rotating body 12a of the marker 12 comes into contact with the rice field surface G and rotates as the machine 11 runs.

Instead of the rotating body 12a of the marker 12, a dedicated rotating body (not shown) that rotates while in contact with the rice field surface G may be provided on the machine body 11 or the seedling planting device 5, and the number of rotations of this rotating body may be detected.

(Third Alternative Embodiment of the Invention)
The setting unit 64 may be configured so that an operator can set (select) one set plant spacing L1 from a number of different set plant spacings L1.

(Fourth Alternative Embodiment of the Invention)
Rather than an operator manually operating the variable speed transmission device 52, the variable speed transmission device 52 may be configured to be automatically operated to an appropriate operating position based on the setting (selection) of the set plant spacing L1 by the setting unit 64.

(Fifth Alternative Embodiment of the Invention)
In the transmission case 20 , the continuously variable transmission 24 may be provided on the right side of the transmission case 20 , and the continuously variable transmission 45 may be provided on the left side of the transmission case 20 .

Instead of the continuously variable transmission 24, a gear-type transmission (not shown) with multiple speed change positions may be provided. In place of the hydrostatic 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 in the front-rear direction instead of the left-right direction.
Instead of the engine 23, an electric motor (not shown) may be used as the driving force.

(Sixth Alternative Embodiment of the Invention)
As shown in FIG. 4, inside the transmission case 20, a working rotation speed detection unit 65 may be configured to detect the rotation speed of the transmission shaft 47 (transmission gear 47a) and the rotation speed of the transmission gears 50, 51.

Inside the transmission case 20, the power of the transmission shaft 28 may be transmitted to an intermediate transmission shaft (not shown) via a transmission gear (not shown), and an auxiliary transmission device 31 may be provided between the intermediate transmission shaft and the transmission shaft 29.
In this structure, the rotation speed detector 66 may be configured to detect the rotation speed of the intermediate transmission shaft.

(Seventh Alternative Embodiment of the Invention)
For example, if the total amount of seedlings A to be used in one paddy field is decided, it is possible to fine-tune the actual spacing L so that seedlings A equivalent to this total amount are planted on the paddy field surface G without any excess or deficiency.

When carrying out the above-mentioned work, data on the area of the paddy field and data on the planting process, such as the route along which the machine 11 will travel to perform the planting work, are obtained in advance, and the required spacing L is calculated based on this data and the total amount of seedlings A.

As a result, when an operator sets (selects) the set plant spacing L1 using the setting unit 64, if the set plant spacing L1 set by the setting unit 64 deviates significantly from the required plant spacing L mentioned above, the operator is notified that he should set a set plant spacing L1 close to the required plant spacing L using the setting unit 64 (to alert the operator and prevent misunderstandings).
When planting work is started in the above-mentioned state, the continuously variable transmission 45 is automatically operated so that the actual spacing L between plants becomes the required spacing L mentioned above.

(Eighth Alternative Embodiment of the Invention)
For example, a single rice paddy may be divided into smaller areas, and data on the state of rice growth and harvest yield from the previous year may be stored for each of the smaller areas.
In the above-mentioned state, when planting work is to be carried out in the same paddy field the following year, the continuously variable transmission 45 can be automatically operated based on the detection of the measuring device 18 and the inertial measurement device 19 so that planting work is carried out at the appropriate actual spacing L in each area of the paddy field.

The present invention can be applied not only to riding rice transplanters, but also to riding direct seeding machines equipped with a sowing device (corresponding to a working device) that supplies seeds (corresponding to agricultural materials) to the rice field surface G. The present invention can also be applied to paddy field working machines equipped with a fertilizer applicator (corresponding to a working device) that supplies fertilizer (corresponding to agricultural materials) to the rice field surface G, and a chemical supplying device (corresponding to a working device) that supplies chemicals (corresponding to agricultural materials) to the rice field surface G.

1 Front wheel (wheel)
2 Rear wheels (wheels)
5. Seedling planting device (working device)
11 Airframe 23 Engine (power unit)
24 Continuously variable transmission (transmission)
31 Auxiliary speed change device 45 Continuously variable speed change device 52 Variable speed change device 65 Working rotation speed detection unit 66 Traveling rotation speed detection unit A Seedlings (agricultural materials)
G: Field surface L: Plant spacing (supply interval)
L1 Set plant spacing (feeding interval)

Claims (3)

a continuously variable transmission to which the power of the driving part is transmitted;
a transmission case in which the continuously variable transmission is provided;
A work device that intermittently supplies agricultural materials to a field ;
A work rotation speed detection unit that detects the rotation speed of the power from the continuously variable transmission is provided downstream of the continuously variable transmission ,
A work machine , wherein the work rotation speed detection unit is provided inside the transmission case . 2. The work machine according to claim 1, wherein the continuously variable transmission is adjusted by an actuator so that the feed interval of the agricultural material becomes the set feed interval based on the detection result of the work rotation speed detection section. a variable speed transmission device that changes the angular velocity of an output power relative to an input power, the variable speed transmission device being disposed downstream of the continuously variable transmission device;
3. The work machine according to claim 2, wherein the work rotation speed detection unit detects the rotation speed of a transmission system between the continuously variable transmission and the variable speed transmission upstream of the variable speed transmission.

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