KR20200001510A - Transplanting machines - Google Patents

Abstract

Provided is a rice transplanting machine, capable of moving a rice seedling loading stand to a rice seedling supply position at high accuracy without change in a transmission state for travelling. The rice transplanting machine of the present invention comprises: a self-driven travelling machine body having a driving unit (11); a first transmission device for receiving power of the driving unit (11), and shifting the input power to output a travelling transmission power and a working transmission power; a second transmission device (19a) for receiving the working transmission power, and shifting the input power to output a second working transmission power; a rice seedling transplanting device (2) having a rice seedling loading stand reciprocating in a horizontal direction by the second working transmission power; an operation speed detecting means (32d) for detecting a reciprocating operation speed of the rice seedling loading stand; and a rice seedling transplanting device control unit (31) for controlling the number of revolution of the second transmission device (19a) to allow the reciprocating operation speed to be a predetermined speed while performing a rice seedling supply position moving operation which moves the rice seedling loading stand to the rice seedling supply position which is a reciprocating operation position for supplying the rice seedling.

Description

Yianggi {TRANSPLANTING MACHINES}

According to the present invention, a traveling vehicle having a driving unit, a transmission unit in which the power of the driving unit is input, shifts the input power and outputs work shifting power, and a mother load reciprocating in the left-right direction based on the work shifting power It relates to a rice transplanter equipped with a modeling unit having a stand.

For example, the patent document 1 inputs the power of a drive part (engine of a document), shifts the input power, and outputs the shifting power for driving and the shifting power for work, and the transmission power for work. The rice transplanter which is equipped with the modeling device (planting part of literature) which has the mother loading stand which reciprocates in the left-right direction based on the is disclosed. This rice transplanter is equipped with the actuator (shifting motor of literature) which changes the moving speed of a mother loading stand, and the control apparatus which drives-controls an actuator. When moving the mother loading stand to the mother feeding position (base plate end position of a document) for replenishing a hair, a control apparatus drives and controls an actuator based on the signal which moves a mother loading stand to a mother loading position. Move at a predetermined speed. Moreover, the control apparatus is comprised so that a position of a mother loading stand can be detected, and when a mother loading stand reaches the predetermined position ahead of a mother replenishment position, a control apparatus will drive-control an actuator to reduce the moving speed of a mother loading stand.

Japanese Patent Publication No. 2015-37431

However, in the rice transplanter of patent document 1, the speed change state of a speed change apparatus changes with drive control of an actuator. Since this transmission outputs the traveling transmission power and the working transmission power, when the transmission state of a transmission changes, the transmission state regarding driving also changes. For this reason, the traveling speed of a traveling body may change contrary to the meaning of an operator before and after simulation replenishment, and a worker may feel troublesome.

In view of the above circumstances, an object of the present invention is to provide a rice transplanter capable of moving the mother loading table to the mother replenishment position with high precision without changing the shift state with respect to travel.

Rice transplanter by this invention,

Frequent possible traveling bodies with drives,

A first transmission device configured to input power of the driving unit, and shift the input power to output driving shift power and work shift power;

A second transmission device in which the work shift power is input and shifts the input power to output a second work shift power;

A model unit having a mother loading table configured to reciprocate in left and right directions by the second work shifting power,

Operating speed detecting means capable of detecting a reciprocating operating speed of the mother loading table;

While the mother feeding position moving operation for moving the mother loading table to the mother feeding position, which is the reciprocating operation position for replenishing the hair, the output rotation speed of the second transmission device is set such that the reciprocating operating speed becomes a preset speed. It is characterized by the model part control part to control.

According to this invention, a transmission is comprised by a 1st transmission device and a 2nd transmission device, and a mother replenishment position movement operation | movement is performed based on the power output from a 2nd transmission device. In addition, since the power for traveling the traveling body is output from the first transmission device separate from the second transmission device, when adjusting the reciprocating operation speed, it is only necessary to control the second transmission device. The change in the shifting state does not occur. Therefore, the reciprocating operation speed can be adjusted irrespective of the shift state of the first transmission, so that the traveling speed of the traveling body does not change contrary to the will of the operator before and after the mother replenishment position moving operation. As a result, a rice transplanter capable of moving the mother loading table to the mother replenishment position with high precision is realized without the shift state regarding running.

In the present invention,

The operation speed detecting means is suitable if the reciprocating operation speed can be detected by detecting the output rotation speed.

Since the mother loading table reciprocates in the left-right direction by the transmission power for the second work, when the output rotational speed of the second transmission is changed, the reciprocating operating speed of the mother loading table is also changed in conjunction with the output rotational speed of the second transmission. With this configuration, by detecting the output rotation speed, the model unit apparatus control section can easily control the output rotation speed of the second transmission device.

In the present invention,

The said model part apparatus control part is good to set at least any one of an upper limit and a lower limit in the said output rotation speed so that the said reciprocating operation speed may be in the preset range.

By setting an upper limit to the output rotation speed, it is possible to suitably prevent occurrence of overrun due to excessively high reciprocation operation speed of the mother loading table. By setting a lower limit to the output rotation speed, the mother replenishment position moving operation can be terminated quickly without redundancy. That is, the model part control part can control the output rotation speed of a 2nd transmission gear suitably by this structure.

In the present invention,

When the reciprocating operation speed is out of a preset range, the model unit device control unit is suitable for instructing a shift operation of the second transmission device.

According to this structure, a dead zone is provided regarding the shift operation instruction of the 2nd transmission apparatus by a model part apparatus control part. When the reciprocating operation speed is within the setting range, the shift operation command of the second transmission device by the model unit controller is not issued, and hunting of the output rotation speed can be prevented. For this reason, the reciprocating operation speed in the mother replenishment position moving operation is stabilized.

In the present invention,

A first shift state detecting means capable of detecting a shift state of the first shift device,

It is suitable for the said model part apparatus control part to command the shift operation of the said 2nd transmission apparatus based on the shift state of the said 1st transmission apparatus.

The output rotation speed of the second transmission device is adjusted based on the rotation speed of the work shift power output by the first transmission device. From this, with this configuration, for example, the shift state of the first transmission device can be detected quickly by the configuration in which the shift state of the first transmission device is feed forwarded to the model unit device control unit. The output rotation speed of the second transmission can be controlled with high accuracy.

In the present invention,

The output rotation speed is suitably within the preset range as long as the output rotation speed can be linked with a change in the shift state of the first transmission device.

According to this structure, when the output rotation speed is in a setting range, since the model part device control part does not control the output rotation speed of a 2nd transmission device, the output rotation speed of a 2nd transmission device becomes linkable with the shift state of a 1st transmission device. . From this, for example, by the operation of the first transmission device, fine adjustment of the output rotation speed of the second transmission device can be performed while minimizing the change in the transmission state with respect to the travel.

In the present invention,

A state information acquisition unit for acquiring state information relating to a state of at least one of the traveling body and the model unit;

It is suitable that a notification unit is provided that notifies the guidance of prompting an operation necessary for making the parent replenishment position movement operation possible based on the state information acquired by the state information acquisition unit.

According to this configuration, the operator can be provided with guidance on the operations necessary for making the mother replenishment position movement work possible, at appropriate contents and timing according to the progress state of the work.

1 is a side view of a rice transplanter according to the present invention.
2 is a schematic diagram of power transmission in a rice transplanter according to the present invention.
3 is a schematic diagram of a control system in a rice transplanter according to the present invention.
4 is a flowchart illustrating control of the output rotation speed of the second deceleration device.
5 is a graph showing the relationship between the input rotational speed and the output rotational speed of the second reduction gear.
6 is a graph showing the relationship between the reduction ratio of the first reduction gear and the reduction ratio of the second reduction gear.

Embodiment of the rice transplanter which concerns on this invention is described with reference to FIGS. The rice transplanter 100 which concerns on this embodiment is equipped with the traveling body 1, the model part apparatus 2, and the control part 3. As shown in FIG.

[Mechanical structure of rice transplanter 100]

First, the mechanical configuration of the rice transplanter 100 is demonstrated. As shown in FIG. 1, the traveling body 1 includes an engine 11 (an example of a driving unit), a wheel 12 made up of a pair of left and right front wheels 12a and a rear wheel 12b, and a wheel ( The brake 13 which brakes 12) and the driver's seat 14 which an operator can seat and perform various driving operations are provided, and the traveling body 1 is comprised so that it may be possible frequently. On the front side of the driver's seat 14, a meter panel 15 including a monitor 15a (example of a notification unit) and an operation unit 16 are provided. Moreover, the traveling body 1 is equipped with the main transmission 17 (1st transmission) and the sub transmission 18, the 2nd transmission 19a and the planting clutch 19b. As shown in FIG. 2, the power of the engine 11 is branched from the main transmission 17 to the sub transmission 18 and the second transmission 19a. And the power transmitted from the main transmission 17 to the sub transmission 18 is transmitted to the wheel 12 as a shift transmission power for driving. In addition, the power output from the main transmission device 17 is transmitted to the second transmission device 19a as the work transmission power, and the power output from the second transmission device 19a is planting power (the transmission power for the second work). Is transmitted to the mother planting device 2 via the planting clutch 19b. By the 2nd speed changer 19a, the space | interval at the time of modeling | planting apparatus 2 to plant a hair becomes changeable. In addition, in the following description, based on the worker seated in the driver's seat 14, the front direction of the worker is "front", the back direction of the worker is "rear", the right side of the worker "right", and the left side of the worker It is defined as "left".

The main transmission 17 and the 2nd transmission 19a are hydraulic continuously variable transmissions. By the main shift lever 16a provided in the operation part 16, the main transmission 17 is comprised so that shifting can be carried out to a neutral position, a forward side, and a retreat side steplessly. On the other hand, the sub transmission device 18 is a gear shift type transmission device, and is operated to the neutral position, the traveling position (high speed travel), and the working position (low speed travel) by the sub shift lever 16b provided on the operation unit 16. It is configured to be shiftable.

In addition, as shown in FIG. 1, the mother planting apparatus 2 has the mother planting part 21 which plantes a hair | plant with respect to a packaging, and the mother loading stand which loads the hair to be planted by a mother planting part 21 to packaging. It has 22, and is connected to the traveling body 1 via the lifting hydraulic cylinder 23 and the link mechanism 24 which perform the lifting operation of the model part apparatus 2. As shown in FIG. The mother loading table 22 is reciprocally driven to the left and right by planting power transmitted from the engine 11 via the main transmission 17. In other words, the mother loading table 22 reciprocates in the left-right direction by planting power. In addition, the model unit 21 operates in conjunction with the reciprocating transverse drive of the mother loading table 22 to plant the seed on the package. The modeling device 2 is configured to rise when the lifting and lowering hydraulic cylinder 23 is compressed, and is lowered toward the paving surface when the lifting and lowering hydraulic cylinder 23 is extended, and the modeling device 2 is most raised. In the position, the link mechanism 24 takes a horizontal position. In addition, when the modeling part 2 is lowered and the float 21a of the modeling part 21 is in contact with the pavement surface, the modeling part work can be performed.

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

[Control system of rice transplanter 100]

Next, the control system of the rice transplanter 100 is demonstrated. As shown in FIG. 3, the control part 3 relates to the model part device control part 31 which controls the operation | movement of the model part device 2, and the state of the traveling body 1 and the model part device 2. It has a status information acquisition part 32 which acquires status information.

The state information acquisition part 32 acquires the brake state information which acquires the information about the engine state information acquisition part 32a which acquires the information about the rotation speed of the engine 11, and whether the brake 13 is operating. The part 32b, the model part apparatus state information acquisition part 32c which acquires the information about the attitude | position of the model part apparatus 2, and the planting power state information acquisition part 32d which acquires the information about the rotation speed of a planting power. (Operation speed detecting means) and a speed information acquisition unit 32e for acquiring information on the speed of the traveling body 1 based on the rotation speed of the wheel 12. Specifically, the model unit device state information acquisition unit 32c compresses the lifting hydraulic cylinder 23 for whether the model unit 21 of the model unit 2 is unfolded or the link mechanism 24. Information is acquired as information on the posture of the model unit 2, such as whether is disposed at the horizontal position, whether the float 21a is grounded, and the like. The planting power state information acquisition unit 32d is, for example, a rotation pulse counter or a rotary encoder, and can detect the speed of the lateral transfer of the mother loading table 22, that is, the reciprocating operation speed, based on the rotation speed of the planting power. It is configured to.

[About parent spread position movement work]

The mother replenishment position moving operation is a task for moving the mother receptacle 22 to the mother replenishment position, which is a reciprocating operation position for replenishing the hair, among the reciprocating transverse drive ranges of the mother loading stand 22. In order to perform the modeling operation by the rice transplanter 100, it is necessary for the worker to load the wool on the mother loading table 22. The hair loaded on the mother loading table 22 is a mat-like hair formed in the shape of a rectangular mat according to the shape of the mother loading table 22. In order to ensure that the hairs are collected in order from the left and right ends of the lower end of the mat-like wool toward the other end, in the state where the mother loading table 22 is attached to the left and right ends of the reciprocating transverse drive range, Load on the parent loading table (22). For this reason, before loading the mat-like wool | bristle bundle into the mother loading stand 22, it is necessary to attach | attach the mother loading stand 22 to either end. That is, since the mother replenishment position is generally the left and right ends of the reciprocating transverse drive range of the mother loading table 22, the mother replenishment position moving operation in the present embodiment is referred to as "end waiting operation". . The mother replenishment position may be a position in the middle of the reciprocating transverse drive range, and the term "end waiting operation" as used herein means that the mother replenishment position moves when the mother replenishment position is a position in the middle of the reciprocating transverse drive range. Work is also included. The model unit controller 31 is provided with a guide mode, and the guide mode is a mode having a function of guiding the end and guiding a waiting job.

When a screen of the guide mode is displayed on the monitor 15a by operating a screen operating tool (not shown), the characters of "input" are displayed together with the characters of "end and wait". When the screen operating tool is operated to determine in the state where the cursor is aligned with the character of "input", the guide mode is started. When the guide mode is started, first, in order to determine whether or not the waiting operation can be started, a determination is made as to whether a condition group for executing the waiting operation is satisfied.

In the end waiting operation, power (planting power) from the engine 11 needs to be transmitted to the modeling device 2 in order to drive the mother loading table 22. In addition, the power to be transmitted needs to be in an appropriate range. Therefore, in the guide mode, the model unit 2 is based on the attitude information of the model unit 2 acquired by the model unit state information acquisition unit 32c, and the model unit 2 and the traveling body ( It is determined whether 1) is connected. Further, it is determined whether or not the engine 11 is started based on the information about the rotation speed of the engine 11 acquired by the engine state information acquisition unit 32a. In addition, it is determined whether the rotation speed of the planting power acquired by the planting power state information acquisition unit 32d is within a predetermined appropriate range. And the predetermined part predetermined as a condition which can hold | maintain and hold | maintain that the model part apparatus 2 and the traveling body 1 are connected (condition A1), and the engine 11 is started (condition A2). As part of the condition group.

In addition, in the end waiting operation, when the traveling body 1 advances or retreats, the workability of the operation | work which loads a mat-like wool | bristle on the mother loading stand 22 is impaired. Therefore, when carrying out waiting operation | movement at the end, in order not to move the traveling body 1, the sub transmission 18 so that power (running power) from the engine 11 may not be transmitted to the wheel 12 is carried out. Set. However, since the traveling body 1 is not equipped with the sensor which detects the state of the sub transmission 18, the state information acquisition part 32 cannot acquire the information regarding the state of the sub transmission 18 directly. . In the guide mode, therefore, it is determined whether or not the traveling body 1 is moving based on the information on the speed of the traveling body 1 acquired by the speed information acquisition unit 32e. Further, based on the information acquired by the brake state information obtaining unit 32b, it is determined whether the brake 13 is operating. Then, the traveling body 1 is not moving (condition A3) and the brake 13 is not operating (condition A4) as a part of a predetermined group of predetermined conditions as a condition capable of finishing the waiting operation. do. This is because, when these conditions are satisfied at the same time, it is possible to determine that the sub transmission device 18 is set in a state in which power from the engine 11 is not transmitted to the wheels 12.

In addition, it is necessary for the model part apparatus 2 to be a posture suitable for an operator to mount a mat-like wool | bristle on the mother loading stand 22 in the waiting operation | work to end. Therefore, in the guide mode, based on the information about the attitude of the model unit 2 acquired by the model unit device state information acquisition unit 32c, it is determined whether or not the model unit 2 is in a predetermined proper posture. To judge. Then, the condition that the modeling unit 2 takes a proper posture (condition A5) is one of the predetermined predetermined group of conditions as a condition capable of performing the end work.

Each of the conditions A1 to A5 described above is a branch condition group A1 to A5 capable of determining whether or not the state information has been achieved based on the state information obtainable by the state information acquisition unit 32. The model unit device control unit 31 determines whether the branch condition groups A1 to A5 are achieved, and when there is a condition that is not achieved, monitors the guidance for prompting an operation required to achieve the condition. (15a). For example, when the engine 11 is not started (condition A2 is not reached), the statement "Please start the engine" is displayed on the monitor 15a. Alternatively, when the brake 13 is operating (condition A4 is not reached), the statement "Please release the brake pedal" is displayed on the monitor 15a.

On the other hand, as a condition in which the waiting operation can be completed, there is also an indispensable condition group in which the state information acquisition unit 32 cannot determine whether or not it is achieved depending on the state information that can be obtained. The indispensable condition group includes, for example, that the sub transmission 18 is set in a state in which power from the engine 11 is not transmitted to the wheels 12 (unconditional condition B1). The model unit control unit 31 displays on the monitor 15a guidance for prompting an operation necessary to achieve the abortion condition B1. For example, the monitor 15a displays the phrase "Please make the sub-shift lever" N "" as a guide for urging the operation necessary to satisfy the aborted condition B1. Moreover, at this time, the model part device control part 31 displays on the monitor 15a that it waits for the input by the operator which shows that the operation according to guidance was completed, and determines that the ablative condition B1 was achieved when the said input was made. .

By operating as described above, the model unit controller 31 can determine whether branch condition groups A1 to A5 and abortion condition B1 are achieved. And when all of these condition groups are achieved, "Would you like to finish waiting? Along with the statement that "Yes" is pressed, the claw rotates, a button for selecting "Yes" or "No" is displayed on the monitor 15a. At this time, if the cursor is determined to be "Yes", a signal for controlling the second transmission 19a and a signal for bringing the planting clutch 19b into a connected state are transmitted, and the mother loading table 22 is driven. The end work is started. The control of the second transmission 19a will be described later.

While the end waiting operation is being executed, the jaw clutch (not shown) provided on the distal side of the planting clutch 19b is in a cut state, and the model portion 21 does not operate. For this reason, only the lateral feed of the mother loading table 22 is performed by the rotation output from the 2nd transmission 19a. In addition, when it determines with the branch condition group A1-A5 and the unavailability condition B1 not being achieved, the modeling-planter control part 31 cuts the planting clutch 19b during the execution of the waiting operation | work for the end. The transition to the state is carried out, and it is attached to the monitor 15a to indicate that the waiting operation is stopped.

In addition, by the man-made operation of the operator, it is also possible to end the waiting operation. In this case, the input device which accepts the said artificial operation is not limited to the above-mentioned screen operation tool, but may be a separate device independent of the said screen operation tool. As such another apparatus, the lever-shaped operation tool (not shown) arrange | positioned at the handle part of the traveling body 1 is mentioned, for example. In addition, the monitor 15a shows that the end-waiting operation can be stopped by the operation of the lever-operated tool during the end-waiting operation.

If the waiting operation is stopped midway, at least one of the following processes is executed.

(Process. 1) A jaw clutch (not shown) is cut.

(Process. 2) The main transmission 17 is controlled to approach the neutral position.

(Process. 3) The planting clutch 19b is cut.

(Process. 4) The second transmission 19a is controlled to approach the neutral position.

(Process. 5) The engine 11 is stopped.

When the mother loading table 22 moves to either end of the left and right of the reciprocating transverse drive range, the mother portion placing unit control unit 31 is the mother loading table 22 by the mother loading table position sensor (not shown). Detects that the edge reaches the end. The mother planting device control unit 31 puts the planting clutch 19b in a cut state, and notifies that the mother loading table 22 has reached the mother feeding position, and the mother loading table 22 is mated. The monitor 15a displays the guidance indicating that the work to be loaded is performed.

By the configuration as described above, the operator can be appropriately guided to the operator in order to bring the finishing operation to the state where the waiting operation can be performed. In addition, when the conditions for performing the end waiting operation are not achieved, the end waiting operation cannot be started or the end waiting operation that has been started once can be automatically stopped.

The reciprocating operation speed of the mother loading table 22 in the end waiting operation depends on the shift state of the main transmission 17 and the shift state of the 2nd transmission 19a. However, if the reciprocating operation speed of the mother loading table 22 is too fast, even if the planting clutch 19b is cut | disconnected, the rotation output from the 2nd transmission 19a will continue by inertia, and the mother loading table 22 May stop at a distance from the end, i.e., an overrun may occur. In addition, when the reciprocating operation speed of the mother loading table 22 is too slow, it will take time to transverse the mother loading table 22 in an end work and waiting, and the end work will be redundant. In order to avoid such a problem, the reciprocating operating speed of the mother loading table 22 needs to be properly controlled. For this reason, control of the reciprocating operation speed of the mother loading stand 22 is performed by the model part device control part 31. FIG.

As shown to FIG. 4 and FIG. 5, the model part apparatus control part 31 sets the upper limit rotational speed R1 and the lower limit rotational speed R2 to the output rotational speed Ro of the 2nd transmission 19a. And the model part control part 31 commands the 2nd reduction ratio Rb of the 2nd transmission 19a so that the output rotation Ro may be in the range below the upper limit rotational R1 and more than the lower limit rotational speed R2. The rotation speed between the upper limit rotational speed R1 and the lower limit rotational speed R2 is the rotation speed of the range which can stop at the edge part with high precision, without overrunning the parent loading stand 22 after the planting clutch 19b is cut | disconnected. As shown in FIG. 4, when the output rotation speed Ro exceeds the upper limit rotation speed R1 (step # 01: YES), the model part apparatus control part 31 performs the instruction | command which increases the 2nd reduction ratio Rb (step) # 11). In addition, when the output rotation speed Ro exceeds the lower limit rotation speed R2 (step # 02: YES), the model part apparatus control part 31 performs the instruction | command of the reduction of 2nd reduction ratio Rb. When the output rotational speed Ro is less than or equal to the upper limit rotational speed R1 and within the range of the lower limit rotational speed R2 or more, the increase and decrease command of the second reduction ratio Rb is not executed. In this way, the model unit controller 31 commands a shift operation of the second transmission device 19a when the reciprocating operation speed of the mother loading table 22 based on the output rotational speed Ro is out of a preset range. do.

The input rotational speed Ri shown in FIG. 5 is the rotational speed input by the 2nd transmission 19a from the main transmission 17. FIG. When the input rotational speed Ri is in the range of the 1st rotational speed threshold value R3 and the 2nd rotational speed threshold value R4, if the process shown in FIG. 4 is performed, even if an input rotational speed Ri changes, it will not be accompanied by the increase and decrease of 2nd reduction ratio Rb. Without this, the output rotational speed Ro is only within the upper limit rotating speed R1 or less and within the range of the lower limit rotating speed R2. That is, when the input rotational speed Ri is in the range of the 1st rotational speed threshold value R3 and the 2nd rotational speed threshold value R4, the increase / decrease command of the 2nd reduction ratio Rb by the model part control part 31 is not executed, but the output rotational speed Ro Is proportional to the input speed Ri. In other words, when the input rotational speed Ri is in the range of the 1st rotational speed threshold value R3 and the 2nd rotational speed threshold value R4, the output rotational speed Ro can be linked with the change of the shift state of the main transmission 17. As shown in FIG.

Since the input rotational speed Ri changes in conjunction with the 1st reduction ratio Ra of the main transmission 17, as shown in FIG. 6, the model part apparatus control part 31 has a 1st reduction ratio Ra and the 2nd reduction ratio Rb. The increase / decrease instruction of the second reduction ratio Rb is executed in inverse proportion. The area S is shown in FIG. 6 as a range in which the output rotational speed Ro is interlockable with the change of the shift state of the main transmission 17. In the area S, even if the input rotational speed Ri changes, the increase / decrease of the second reduction ratio Rb is not performed, and the output rotational speed Ro is within the range of the upper limit rotational R1 or less and the lower limit rotational speed R2 or more. For this reason, in the area S, only the input rotational speed Ri, that is, the first reduction ratio Ra, is changed, and the second reduction ratio Rb is not changed. As a result, as shown in FIG. 5, when the input rotational speed Ri is in the range of the 1st rotational speed threshold value R3 and the 2nd rotational speed threshold value R4, the output rotational speed Ro is linked with the change of the input rotational speed Ri. Is changed.

Thus, the model part control part 31 performs the increase / decrease command of the 2nd reduction ratio Rb so that the output rotation Ro may be in the range below the upper limit rotational speed R1 and more than the lower limit rotational speed R2 according to the state of the input rotational speed Ri. In order to prevent this, the worker does not care about the position of the main shift lever 16a, and the waiting operation is appropriately performed. In addition, since the input rotation speed Ri is in the range of the 1st rotation speed threshold value R3 and the 2nd rotation speed threshold value R4, since the output rotation speed Ro can be linked with the change of the shift state of the main transmission 17, for example, When the operator operates the main shift lever 16a, fine adjustment of the output rotation speed Ro becomes possible.

[Other Embodiments]

This invention is not limited to the structure illustrated by embodiment mentioned above, Hereafter, another typical embodiment of this invention is illustrated.

(1) In addition to the above-mentioned embodiment, the structure provided with the 1st shift state detection means which can detect the shift state of the main transmission 17 may be sufficient. As the first shift state detecting means, for example, a rotation pulse counter or the like similar to the planting power state information acquisition unit 32d is provided in the main transmission 17, and the shift speed for work output by the main transmission 17 is output. The number of revolutions of may be a structure detected by the first shift state detecting means. Since the output rotational speed Ro of the 2nd transmission 19a is adjusted based on the rotational speed of the work shifting power which the main transmission 17 outputs, by this structure, the speed change state of the main transmission 17 is changed. It becomes possible to detect quickly, and the model part device control part 31 can control the output rotation speed Ro of the 2nd transmission 19a with high precision. That is, in this structure, the model part apparatus control part 31 commands the shift operation of the 2nd transmission apparatus 19a based on the shift state of the main transmission apparatus 17. As shown in FIG.

(2) In the above-described embodiment, the planting power state information obtaining unit 32d as the operation speed detecting unit is configured to acquire information about the rotation speed of the planting power, but is not limited to the above-described embodiment. . For example, the linear speed sensor which can detect the reciprocating operation speed of the mother loading table 22 may be sufficient as an operation speed detection means.

(3) In the above-mentioned embodiment, although the model part control part 31 sets the upper limit rotational speed R1 and the lower limit rotational speed R2 to the output rotation speed Ro of the 2nd transmission 19a, embodiment mentioned above It is not limited to. For example, the model part apparatus control part 31 may be a structure which sets only upper limit rotational speed R1, without setting lower limit rotational speed R2. Even with this configuration, generation of overrun due to excessively high reciprocation operation speed of the mother loading table 22 can be prevented.

(4) In the above-mentioned embodiment, when the input rotational speed Ri is in the range of the 1st rotational speed threshold value R3 and the 2nd rotational speed threshold value R4, the increase / decrease instruction | command of the 2nd reduction ratio Rb by the model part control part 31 is Although it is set as the structure which is not implemented, it is not limited to embodiment mentioned above. For example, the model part device control part 31 may be the process of executing the increase / decrease command of the 2nd reduction ratio Rb so that the output rotation speed Ro will become constant at all times. In addition, a plurality of target values of the output rotational speed Ro may be provided, and the structure part apparatus control part 31 may use the said several target value separately for every mode.

(5) In the above-mentioned embodiment, it is judged based on branch condition group A1-A5 whether it is possible to perform a mother replenishment position movement operation, and when there is a condition which is not achieved, operation required in order to achieve the said condition. It is the structure which displays on the monitor 15a the guidance which prompts | requires. Branch condition group A1-A5 is an illustration and is not limited to embodiment mentioned above. For example, as a condition which can carry out the mother replenishment position movement work, the rotation speed of planting power, ie, the output rotation speed Ro, may be included in an appropriate range. In this case, the model part device control part 31 may be a structure which instructs the shift operation of the 2nd transmission apparatus 19a before the mother replenishment position movement operation | movement.

In addition, the main transmission apparatus 17 may be included as a condition which can carry out a mother replenishment position movement operation | movement in a predetermined appropriate position. In this case, it may be a structure which displays on the monitor 15a the words "Please advance the main shift lever to the blind position" as a guide for urging the operation necessary to satisfy this condition.

(6) In the above-mentioned embodiment, when carrying out a mother replenishment position movement operation, the model part device control part 31 rotates the output of the 2nd transmission apparatus 19a so that a reciprocating operation speed may approach the preset speed. Although the number Ro is controlled, it is not limited to this embodiment. For example, when the reciprocating operation position of the mother loading stand 22 is separated from the mother replenishment position at the time of the mother replenishment position moving operation, the model unit device control unit 31 rotates the output of the second transmission 19a. The configuration which sets the number Ro to the highest rotation speed may be sufficient. And when the reciprocation operation position of the mother loading stand 22 is close to a predetermined distance or less from the mother replenishment position, the model part device control part 31 will be made to the 2nd transmission apparatus 19a so that a reciprocation operation speed may approach a preset speed. The structure which controls the output rotation speed Ro of may be sufficient.

(7) The above-mentioned embodiment is not limited to the riding type rice transplanter 100, but is applicable also to a walking type rice transplanter.

This invention is applicable to the rice transplanter which has a mother loading stand.

1: the traveling body
2: seedling planting device
11: engine (drive part)
15a: monitor (notification part)
17: first transmission
19a: second transmission
22: rack mount
31: mother planting device control unit
32: status information acquisition unit
32d: Planting power state information acquisition unit (operation speed detection means)
Ro: output speed

Claims (7)

Frequent possible traveling bodies with drives,
A first transmission device configured to input power of the driving unit, and shift the input power to output driving shift power and work shift power;
A second transmission device in which the work shift power is input and shifts the input power to output a second work shift power;
A model unit having a mother loading table configured to reciprocate in left and right directions by the second work shifting power,
Operating speed detecting means capable of detecting a reciprocating operating speed of the mother loading table;
While the mother loading position moving operation for moving the mother loading table to the mother loading position, which is the reciprocating operation position for replenishing the hair, the output rotation speed of the second transmission device is set such that the reciprocating operating speed becomes a preset speed. Rice transplanter which is equipped with the model part apparatus control part to control. The method of claim 1,
The moving speed detecting means is capable of detecting the reciprocating operating speed by detecting the output rotation speed. The method according to claim 1 or 2,
The said model part apparatus control part sets at least any one of an upper limit and a lower limit in the said output rotation speed so that the said reciprocating operation speed may be in the preset range. The method according to claim 1 or 2,
When the reciprocating operation speed is out of a preset range, the modeling unit device control unit instructs a shift operation of the second transmission device. The method according to claim 1 or 2,
A first shift state detecting means capable of detecting a shift state of the first shift device,
The said model part apparatus control part is a rice transplanter which instructs a shift operation of the said 2nd transmission apparatus based on the shift state of the said 1st transmission apparatus. The method of claim 5,
The said output rotation speed is the rice transplanter which can be linked with the change of the shift state of the said 1st transmission apparatus within a preset range. The method according to claim 1 or 2,
A state information acquisition unit for acquiring state information relating to a state of at least one of the traveling body and the model unit;
The rice transplanter which is equipped with the notification part which notifies the guidance which prompts the operation required in order to make the said mother spreading position movement work | work possible based on the said state information acquired by the said state information acquisition part.

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