Paddy field operation machinery and working machinery

Abstract

The present invention relates to a paddy field working machine. In the paddy field working machine, the supply interval of the working device can be appropriately set without being affected by wheel slip. The power of the speed change device is branched in parallel to the travel transmission system and the working transmission system. The power of the travel transmission system is transmitted to the wheels for travel, and the power of the working transmission system is transmitted to the working device through a continuously variable transmission device (45). The rice transplanter or paddy field seeding machine is provided with: a slip rate detection unit (68) for detecting the slip rate of the wheel; and a control unit (69) for operating the continuously variable transmission device (45) to adjust the supply interval (L) based on the slip rate detected by the slip rate detection unit (68).

Description

[0001] This application is a divisional application of the invention patent application with application date of August 6, 2018 and application number 201810894589.2. Technical Field

[0002] The present invention relates to a paddy field working machine such as a riding rice transplanter or a riding seeder for supplying agricultural materials such as rice seedlings, seeds, fertilizers, and chemicals to a paddy field surface. Background Art

[0003] Among riding rice transplanters, which are an example of paddy field working machinery, there is a riding rice transplanter having a structure as disclosed in Patent Document 1. In Patent Document 1, power from an engine (equivalent to a power unit) is transmitted to a transmission, and the power from the transmission is branched in parallel and transmitted to wheels for travel and a rice transplanter (equivalent to a working device).

[0004] Thus, the rice transplanter plants the seedlings (equivalent to agricultural materials) on the field surface at a predetermined spacing (equivalent to the supply interval) along the direction of travel of the machine. Therefore, even if the speed of the machine changes due to the operation of the transmission, the power transmitted to the rice transplanter is the power of the transmission, so the spacing between the plants achieved by the rice transplanter is maintained at a constant interval.

[0005] In Patent Document 1, the power of the transmission device is transmitted to the rice transplanting device via the inter-row spacing transmission device, and the inter-row spacing transmission device is operated to set the inter-row spacing to a desired interval.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Laid-Open No. 2014-70653 Summary of the Invention

[0009] Problems to be solved by the invention

[0010] One of the problems in the above-mentioned background technology is as follows.

[0011] When paddy field working machines such as riding rice transplanters travel in slippery paddy fields, wheel slippage may occur. In this case, the state in which wheel slippage occurs refers to a state in which the wheels become idling, and the machine body does not move forward although the wheels rotate.

[0012] In contrast, the spacing between plants obtained by the rice transplanting device does not slip. Therefore, when wheel slip occurs, the spacing between plants obtained by the rice transplanting device will be larger or smaller depending on the size of the wheel slip.

[0013] The present invention aims to appropriately set the supply interval of the working device in a paddy field working machine having a working device for intermittently supplying agricultural materials to the field surface at a preset supply interval along the traveling direction of the machine body without being affected by wheel slip.

[0014] Another problem in the above-mentioned background technology is as follows.

[0015] In Patent Document 1, the plant spacing speed change device is a gear-shift type speed change device having multiple speed change positions. In recent years, there has been an increasing desire to appropriately set the supply interval according to the conditions of paddy fields and agricultural materials.

[0016] An object of the present invention is to appropriately set the supply interval in a paddy field working machine including a working device for intermittently supplying agricultural materials to a field surface at a preset supply interval along a traveling direction of the machine body.

[0017] Solutions to Problems

[0018] The means corresponding to the subject [1] are as follows.

[0019] The paddy field working machine of the present invention comprises:

[0020] a speed change device to which the power of the power unit is transmitted; and

[0021] The working device intermittently supplies agricultural materials to the field surface at a preset supply interval along the travel direction of the machine body.

[0022] The power of the transmission is branched in parallel to the travel transmission system and the working transmission system. The power of the travel transmission system is transmitted to the wheels for travel, and the power of the working transmission system is transmitted to the working device through the continuously variable transmission.

[0023] The rice transplanter or paddy field seeder has:

[0024] a slip ratio detecting portion that detects a slip ratio of the wheel; and

[0025] The control unit operates the continuously variable transmission device to adjust the supply interval based on the slip ratio detected by the slip ratio detection unit. Here, the working device may include at least one of a rice planting unit and a sowing unit.

[0026] In paddy field working machinery, when the slip ratio increases, the machine body's travel speed slows relative to the working device's movement, and the working device's supply interval shifts toward a smaller interval. Conversely, when the slip ratio decreases, the machine body's travel speed is not significantly slower relative to the working device's movement, and the working device's supply interval shifts toward a larger interval.

[0027] In this state, according to the present invention, the power transmitted to the working device is shifted by the continuously variable transmission based on the slip ratio. This allows the working device's supply interval to be maintained at an appropriate value without being affected by wheel slip. This improves the working accuracy of the paddy field working machine.

[0028] According to the present invention, the power transmitted to the working device is shifted by a continuously variable transmission. This allows for fine speed changes, such as slightly shifting the power transmitted to the working device toward a higher or lower speed. This improves the accuracy of maintaining the supply interval of the working device.

[0029] Thus, for example, in a field, when the total amount of agricultural materials used is fixed, the supply interval of the working device can be fine-tuned while working in the field so that agricultural materials equivalent to the total amount can be supplied to the field surface without more or less.

[0030] For example, when supplying rice seedlings or seeds to a field, the supply interval of the working device can be finely adjusted while working in the field to suppress crop disease and obtain appropriate quality and yield.

[0031] According to the present invention, if the continuously variable transmission has a large speed range, for example, as in the plant spacing speed change device of Patent Document 1, multiple speed positions can be set within the speed range of the continuously variable transmission, so that each of the multiple speed positions can be used as the supply interval of the working device. By selecting (changing) one of the multiple speed positions, the supply interval of the working device can be selected (changed).

[0032] Thus, one of the multiple shift positions of the continuously variable transmission can be selected to set the supply interval of the working device. In addition, the continuously variable transmission can be operated so as to maintain the supply interval of the working device at the set supply interval without being affected by wheel slip.

[0033] In the present invention, preferably, the rice transplanter or paddy field seed drill includes: a first travel distance detection unit for detecting an actual travel distance of the machine body, and a second travel distance detection unit for detecting a travel distance of the machine body calculated based on the rotation speed (number of rotations) of the wheels, and the slip rate detection unit detects the slip rate based on the detection value of the first travel distance detection unit and the detection value of the second travel distance detection unit.

[0034] The travel distance of the machine body detected based on the wheel rotation speed is detected by calculation based on the wheel rotation speed, the wheel outer diameter, etc., and therefore is the travel distance of the machine body in a state where no wheel slip occurs.

[0035] According to the present invention, the wheel slip ratio is detected based on the actual travel distance of the vehicle when wheel slip occurs (the detection value of the first travel distance detection unit) and the travel distance of the vehicle when wheel slip does not occur (the detection value of the second travel distance detection unit), thereby enabling appropriate detection of the slip ratio.

[0036] In the present invention, it is preferable that the rice transplanter or paddy field seeding machine includes a positioning unit that detects a position of a machine body, and the first travel distance detection unit detects an actual travel distance of the machine body based on the detection of the positioning unit.

[0037] As described above, when detecting the actual distance traveled by an aircraft, the present invention uses a positioning unit (e.g., GPS) to detect the position of the aircraft. This improves the accuracy of detecting the actual distance traveled. Consequently, the accuracy of detecting the slip ratio can be improved.

[0038] In the present invention, it is preferable that the speed change device is provided on one left or right lateral side of the transmission case, and the continuously variable transmission device is provided on the other left or right lateral side of the transmission case.

[0039] When a speed change device and a continuously variable transmission device are provided, according to the present invention, the speed change device and the continuously variable transmission device are separately provided on the left and right lateral sides of the transmission case, thereby achieving a good left and right weight balance of the paddy field working machine.

[0040] In the present invention, the transmission is preferably equipped with an unequal speed transmission device that changes the angular velocity of output power relative to input power, and the power of the continuously variable transmission device is transmitted to the working device via the unequal speed transmission device. Here, the unequal speed transmission device changes the angular velocity of the power per rotation so that it has a high portion and a low portion.

[0041] Furthermore, it is preferable that the inconstant speed transmission device includes a plurality of gear pairs and is configured to be able to switch between the plurality of gear pairs.

[0042] Furthermore, it is preferable that at least one of the plurality of gear pairs is a spur gear pair having the same diameter as each other.

[0043] For example, in a riding rice transplanter, which is an example of a paddy field working machine, when the plant spacing (supply interval) of the transplanting device (working device) is set to a particularly large plant spacing (supply interval) or a particularly small plant spacing (supply interval), the following situation sometimes occurs: the operation speed of the transplanting device (the rotation speed of the planting arm) becomes too low or too high, and the seedlings cannot be properly planted on the field surface.

[0044] According to the present invention, the power of the continuously variable transmission is transmitted to the working device through the unequal speed transmission device. Therefore, even if the operating speed of the working device is extremely low (or extremely high), the unequal speed transmission device can be used to make the operating speed of the working device near the field surface supplying agricultural materials become an appropriate value.

[0045] Thereby, for example, in a rice transplanting device, when the plant spacing is set to be particularly large or particularly small, a state in which the rice seedlings cannot be properly planted on the field surface can be avoided.

[0046] In this case, the unequal speed transmission is provided in the transmission. Therefore, both the continuously variable transmission and the unequal speed transmission are provided in the transmission, which is advantageous in terms of overall compactness.

[0047] In the present invention, it is preferable that a rotation speed detecting unit for detecting the rotation speed of a transmission system between the continuously variable transmission and the invariant speed transmission be provided on an upstream side of the invariant speed transmission.

[0048] As described above, in the structure in which the power of the continuously variable transmission is transmitted to the working device through the unequal speed transmission device, according to the present invention, the output speed of the continuously variable transmission device is detected between the continuously variable transmission device and the unequal speed transmission device on the upstream side of the unequal speed transmission device.

[0049] Thus, the output rotation speed of the continuously variable transmission can be appropriately detected without being affected by the unequal speed transmission.

[0050] In the present invention, preferably, the continuously variable transmission is a hydrostatic continuously variable transmission.

[0051] According to the present invention, since the continuously variable transmission device is a hydrostatic continuously variable transmission device, by operating the hydrostatic continuously variable transmission device, it is possible to easily perform fine speed changes such as slightly shifting the power transmitted to the working device to the high speed side or slightly shifting the power to the low speed side.

[0052] The means corresponding to topic [2] are as follows.

[0053] The paddy field working machine of the present invention comprises:

[0054] a speed change device to which the power of the power unit is transmitted; and

[0055] The working device intermittently supplies agricultural materials to the field surface at a preset supply interval along the travel direction of the machine body.

[0056] The power of the transmission is branched in parallel to a travel transmission system and a working transmission system. The power of the travel transmission system is transmitted to the wheels for travel, and the power of the working transmission system is transmitted to the working device via a continuously variable transmission. A working speed detection unit is provided downstream of the continuously variable transmission to detect the speed of the power from the continuously variable transmission. Here, the working device may include at least one of a rice planting unit and a sowing unit.

[0057] According to the present invention, the power of the working transmission system is transmitted to the working device through the continuously variable transmission device. By operating the continuously variable transmission device, a longer supply interval can be set between the highest speed position and the lowest speed position of the continuously variable transmission device.

[0058] This allows the supply interval to be finely and appropriately set according to the conditions of the paddy field or agricultural materials, and thus improves the working accuracy of the paddy field working machine.

[0059] According to the present invention, the operating rotation speed detection unit that detects the rotation speed of the power from the continuously variable transmission is provided on the downstream side of the continuously variable transmission.

[0060] This allows the rotation speed of the power from the continuously variable transmission to be appropriately detected. Therefore, when the continuously variable transmission is operated, the operating rotation speed detection unit can be used as a member for detecting (feedback) the operating position of the continuously variable transmission.

[0061] For example, a continuously variable transmission may cause power transmission loss compared to a gear-type transmission, such as leakage of hydraulic oil in a hydrostatic continuously variable transmission or slippage of a transmission belt in a belt-type continuously variable transmission.

[0062] As in the present invention, if an operating speed detection unit that detects the speed of power from a continuously variable transmission device is provided on the downstream side of the continuously variable transmission device, the actual speed of the continuously variable transmission device including the power transmission loss can be detected. Therefore, the operating speed detection unit can be used as a component for correcting the power transmission loss in the continuously variable transmission device.

[0063] In the present invention, the rice transplanter or paddy field seed drill preferably includes an unequal speed transmission device that changes the angular velocity of output power relative to input power, and the power of the continuously variable transmission device is transmitted to the working device via the unequal speed transmission device. Here, the unequal speed transmission device changes the angular velocity of the power per rotation so that it has a high portion and a low portion.

[0064] Furthermore, it is preferable that the inconstant speed transmission device includes a plurality of gear pairs and is configured to be able to switch between the plurality of gear pairs.

[0065] Furthermore, it is preferable that at least one of the plurality of gear pairs is a spur gear pair having the same diameter as each other.

[0066] For example, in a riding rice transplanter, which is an example of a paddy field working machine, when the plant spacing (supply interval) of the transplanting device (working device) is set to a particularly large plant spacing (supply interval) or a particularly small plant spacing (supply interval), the following situation sometimes occurs: the operation speed of the transplanting device (the rotation speed of the planting arm) becomes too low or too high, and the seedlings cannot be properly planted on the field surface.

[0067] According to the present invention, the power of the continuously variable transmission is transmitted to the working device through the unequal speed transmission device. Therefore, even if the operating speed of the working device is extremely low (or extremely high), the unequal speed transmission device can be used to make the operating speed of the working device near the field surface supplying agricultural materials become an appropriate value.

[0068] Thereby, for example, in a rice transplanting device, when the plant spacing is set to be particularly large or particularly small, a state in which the rice seedlings cannot be properly planted on the field surface can be avoided.

[0069] In the present invention, preferably, the operating speed detection unit detects the speed of a transmission system between the continuously variable transmission and the inconstant speed transmission, downstream of the continuously variable transmission and upstream of the inconstant speed transmission.

[0070] As described above, in a structure in which the power of the continuously variable transmission is transmitted to the working device via the unequal speed transmission, according to the present invention, the rotation speed of the power from the continuously variable transmission can be appropriately detected without being affected by the unequal speed transmission.

[0071] In the present invention, it is preferred that the power of the travel transmission system is transmitted to the wheels through a sub-transmission device, and a travel speed detection unit is provided on the upstream side of the sub-transmission device to detect the speed of the travel transmission system and the transmission system between the branch point of the working transmission system and the sub-transmission device.

[0072] When the power from the transmission is directly transmitted to the travel powertrain, the rotation speed of the power transmitted to the wheels may increase. Therefore, there is a configuration in which the power of the travel powertrain is decelerated by the auxiliary transmission before being transmitted to the wheels.

[0073] In the above configuration, when detecting the rotational speed of the travel transmission system, according to the present invention, the rotational speed detecting unit detects the rotational speed of the travel transmission system and the transmission system between the branch point of the working transmission system and the auxiliary transmission device upstream of the auxiliary transmission device.

[0074] This allows the travel transmission system's rotational speed to be detected at high speed before deceleration by the auxiliary transmission, enabling high-precision detection of the travel transmission system's rotational speed. The detected travel transmission system's rotational speed can be effectively used to display the machine's travel speed and operate the continuously variable transmission of the working transmission system.

[0075] In the present invention, preferably, the continuously variable transmission is a hydrostatic continuously variable transmission.

[0076] According to the present invention, since the continuously variable transmission device is a hydrostatic continuously variable transmission device, by operating the hydrostatic continuously variable transmission device, it is possible to easily perform fine speed changes such as slightly shifting the power transmitted to the working device to the high speed side or slightly shifting the power to the low speed side. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a side view of the riding rice transplanter.

[0078] Figure 2 It is a top view of the riding rice transplanter.

[0079] Figure 3 It is a cross-sectional top view showing the vicinity of the driving transmission system in the gearbox.

[0080] Figure 4 It is a cross-sectional top view showing the vicinity of the working transmission system in the gearbox.

[0081] Figure 5 This is a diagram showing the connection status of the control device and each component.

[0082] Figure 6 It is a side view of the riding rice transplanter.

[0083] Figure 7 It is a top view of the riding rice transplanter.

[0084] Figure 8 It is a cross-sectional top view showing the vicinity of the driving transmission system in the gearbox.

[0085] Figure 9It is a cross-sectional top view showing the vicinity of the working transmission system in the gearbox.

[0086] Figure 10 This is a diagram showing the connection status of the control device and each component.

[0087] Figure 11 It is a side view of the gearbox.

[0088] Figure 12 This is a bottom view of the gearbox.

[0089] Description of Reference Numerals

[0090] 1 front wheel

[0091] 2 rear wheels

[0092] 5. Rice transplanting device (operating device)

[0093] 11 Machine

[0094] 18 measuring device (positioning unit)

[0095] 20 gearbox

[0096] 23 Engine (Power Department)

[0097] 24Continuously variable transmission (speed transmission)

[0098] 45 continuously variable transmission

[0099] 52 Unequal speed transmission

[0100] 65 Speed detection unit

[0101] 68 Slip ratio detection unit

[0102] 69 Control Department

[0103] 71 First driving distance detection unit

[0104] 72 Second driving distance detection unit

[0105] A. Rice seedlings (agricultural supplies)

[0106] F1 driving direction

[0107] G Field surface

[0108] L Plant spacing (supply interval)

[0109] L1~L5 set plant spacing (supply interval)

[0110] 101 front wheel

[0111] 102 rear wheel

[0112] 105 rice transplanting device (operating device)

[0113] 111 body

[0114] 123 Engine (Power Department)

[0115] 124 continuously variable transmission (speed transmission)

[0116] 131 Auxiliary transmission

[0117] 145 continuously variable transmission

[0118] 152 Unequal speed transmission

[0119] 165 Operating speed detection unit

[0120] 166 Driving speed detection unit

[0121] Aa seedlings (agricultural supplies)

[0122] Ga field ground

[0123] La spacing (supply interval)

[0124] La1 sets the plant spacing (supply interval) DETAILED DESCRIPTION

[0125] [First embodiment]

[0126] In the embodiment of the present invention, a riding rice transplanter is described as an example of a paddy field work machine that performs planting work in a paddy field.

[0127] Unless otherwise specified, the front-back direction and left-right direction in the embodiments of the present invention are described as follows. The forward direction of the vehicle body 11 during travel is referred to as "front," and the backward direction is referred to as "rear." With the vehicle in a forward position in the front-back direction as a reference, the direction corresponding to the right side is referred to as "right," and the direction corresponding to the left side is referred to as "left."

[0128] (Overall structure of a riding rice transplanter)

[0129] like Figure 1 and Figure 2 As shown, the riding rice transplanter has a connecting rod mechanism 3 and a hydraulic cylinder 4 for lifting and lowering the connecting rod mechanism 3 at the rear of a body 11 having left and right front wheels 1 (equivalent to wheels for travel) and left and right rear wheels 2 (equivalent to wheels for travel), and a rice transplanting device 5 (equivalent to an operating device) is supported at the rear of the connecting rod mechanism 3.

[0130] The rice transplanting device 5 comprises: a planting transmission box 6 arranged at a predetermined interval in the left and right directions, a rotating box 7 rotatably supported on the right and left sides of the rear part of the planting transmission box 6, a pair of planting arms 8 at both ends of the rotating box 7, a floating plate 9 and a seedling loading platform 10, etc.

[0131] The left and right markers 12 are provided on the left and right lateral sides of the rice transplanting device 5. The markers 12 can be freely changed to the positions corresponding to the field surface G (see Figure 5 ) Grounding posture (refer to Figure 1 ), and in the stored position, which is upwardly away from the field surface G, the rotating body 12a is rotatably supported by the front end of the marker 12. In the active position of the marker 12, the rotating body 12a of the marker 12 is in contact with the field surface G. As the machine body 11 travels, the rotating body 12a of the marker 12 rotates, forming a mark on the field surface G.

[0132] (Structure near the driving part)

[0133] like Figure 1 and Figure 2 As shown, the vehicle body 11 includes a driver's seat 13 and a steering wheel 14 for steering the front wheels 1 .

[0134] Left and right support frames 16 are provided on the left and right front portions of the machine body 11, and a seedling loading platform 15 is supported in advance on the support frames 16. A support frame 17 is connected across the upper portions of the left and right support frames 16.

[0135] A measuring device 18 (corresponding to a positioning unit) is mounted on the support frame 17 at the left-right center CL of the body 11 when viewed from above. The measuring device 18 includes an information receiving device (not shown) that acquires position information via a satellite positioning system, and an inertial measurement unit (not shown) that detects the tilt (pitch and roll) of the body 11. The measuring device 18 outputs positioning data indicating the position of the body 11.

[0136] An inertial measurement unit 19 for measuring inertial information is mounted on the rear axle box 22, which supports the left and right rear wheels 2, at the left-right center CL of the vehicle body 11 when viewed from above. The inertial measurement unit 19 and the inertial measurement unit 18 are implemented using an IMU (Inertial Measurement Unit).

[0137] A representative example of the satellite positioning system (GNSS: Global Navigation Satellite System) is the GPS (Global Positioning System). The GPS uses multiple GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and an information receiving device on the object being positioned (machine body 11). The GPS measures the position of the information receiving device of the measuring device 18.

[0138] The inertial measurement unit 19 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle of the body 11, and an acceleration sensor (not shown) that detects acceleration in three mutually orthogonal axes. 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.

[0139] Thus, the position and orientation of the machine body 11 are detected by the measuring device 18 and the inertial measurement device 19 .

[0140] (Structure near the gearbox)

[0141] like Figure 1 As shown, a transmission 20 is supported at the front of the machine body 11, and the left and right front wheels 1 are supported by a front axle box 21 connected to the left and right lateral sides of the transmission 20. A rear axle box 22 is supported at the rear of the machine body 11, and the left and right rear wheels 2 are supported by the rear axle box 22.

[0142] like Figure 1 as well as Figure 3 As shown, an engine 23 (equivalent to the power unit) is supported at the front of the transmission 20. A hydrostatic continuously variable transmission 24 (equivalent to the transmission) is connected to the left lateral side of the transmission 20. The power of the engine 23 is transmitted to the input shaft 24a of the continuously variable transmission 24 via a transmission belt 25.

[0143] The continuously variable transmission 24 is configured to continuously shift between a neutral position, a forward direction, and a reverse direction, and is operated by a shift lever 30 provided on the left lateral side of the steering wheel 14 .

[0144] (Structure of the driving transmission system that transmits power to the front and rear wheels)

[0145] like Figure 3As shown, a pump 26 is connected to the right lateral side of the transmission 20, and the pump 26 supplies hydraulic oil to the hydraulic cylinder 4. The input shaft 24a of the continuously variable transmission 24 enters the transmission 20, and a transmission shaft 27 is connected across the input shaft 26a of the pump 26 and the input shaft 24a of the continuously variable transmission 24.

[0146] Transmission shafts 28 and 29 are supported in the left-right direction inside the transmission 20. The output shaft 24b of the continuously variable transmission 24 is connected to the end of the transmission shaft 28. A gear-shift type auxiliary transmission 31 is provided inside the transmission 20 across the transmission shafts 28 and 29.

[0147] The auxiliary transmission 31 includes a low-speed gear 32 and a high-speed gear 33 connected to the propeller shaft 28, and a shift gear 34 externally fitted to the propeller shaft 29 via a spline structure so as to rotate and slide integrally therewith. The shift gear 34 can be slid using an auxiliary transmission lever (not shown) provided near the driver's seat 13.

[0148] In the auxiliary transmission device 31, when the shift gear 34 is meshed with the low-speed gear 32, the power of the transmission shaft 28 is transmitted to the transmission shaft 29 at a low speed. When the shift gear 34 is meshed with the high-speed gear 33, the power of the transmission shaft 28 is transmitted to the transmission shaft 29 at a high speed.

[0149] When performing planting work in a paddy field, the auxiliary transmission device 31 is operated to a low speed state, and when traveling at a high speed on a road, the auxiliary transmission device 31 is operated to a high speed state.

[0150] Left and right front axles 35 for transmitting power to the left and right front wheels 1 are supported across the transmission 20 and the front axle case 21. A front wheel differential device 36 is provided between the left and right front axles 35. A transmission gear 37 connected to the propeller shaft 29 meshes with a transmission gear 38 connected to a housing 36a of the front wheel differential device 36.

[0151] An output shaft 39 is supported in the front-rear direction at the rear portion of the transmission 20 , and a bevel gear 40 connected to a case 36 a of the front wheel differential 36 meshes with a bevel gear 39 a formed at the front portion of the output shaft 39 .

[0152] like Figure 1 as well as Figure 3 As shown, a propeller shaft 41 is connected to the rear portion of the output shaft 39 via a universal joint (not shown), and the rear portion of the propeller shaft 41 is connected to an input shaft (not shown) of the rear axle box 22 via a universal joint (not shown).

[0153] Through the above structure, the power after the continuously variable transmission device 24 is changed is transmitted from the output shaft 24b of the continuously variable transmission device 24 through the transmission shaft 28, the auxiliary 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 left and right front wheels 1.

[0154] The power transmitted to the front wheel differential device 36 is transmitted to the left and right rear wheels 2 via the bevel gear 40 , the output shaft 39 (bevel gear 39 a ), the propeller shaft 41 , and a propeller shaft (not shown) inside the rear axle case 22 .

[0155] The multi-plate brake 42 is externally mounted on the output shaft 39 and is operated by stepping on the brake. Figure 2 The brake pedal 43 is shown, so that the brake 42 can be operated to the braking state. By applying the brake 42 to the output shaft 39, the front wheel 1 and the rear wheel 2 can be braked.

[0156] A differential lock member 44 is integrally rotatably and slidably fitted to the left front axle 35 using a key structure. By stepping on a differential lock pedal (not shown) provided below the driver's seat 13, the differential lock member 44 is slid and engaged with the housing 36a of the front wheel differential device 36, thereby operating the front wheel differential device 36 to the differential lock state.

[0157] With the above configuration, the power of the continuously variable transmission 24 (transmission) is branched in parallel to the travel powertrain and the working powertrain, and the power of the travel powertrain is transmitted to the front wheels 1 and the rear wheels 2 (wheels for travel).

[0158] (Structure of the transmission system for the rice transplanting device)

[0159] like Figure 4 As shown, a hydrostatic continuously variable transmission 45 is connected to the right lateral side of the transmission 20. The 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 toward the side opposite to the transmission 20, and a fan 46 for blowing 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.

[0160] Transmission shafts 47 and 48 are supported in the left-right direction inside the transmission case 20 , and an output shaft 45 b of the continuously variable transmission 45 is connected to an end portion of the transmission shaft 47 .

[0161] A cylindrical transmission shaft 49 is rotatably fitted to the outside of transmission shaft 47 via a needle bearing. A transmission gear 50, which includes two sets of gears, is rotatably fitted to the outside of transmission shaft 48 via bearings. The large-diameter gear portion of transmission gear 50 meshes with transmission gear 47a formed on transmission shaft 47, and the small-diameter gear portion of transmission gear 50 meshes with transmission gear 51 connected to transmission shaft 49.

[0162] Inside the transmission 20, a gear-type unequal-speed transmission 52 is provided across the transmission shafts 48 and 49, and a bevel gear 53 is coupled to the transmission shaft 48. An output shaft 54 is supported at the rear of the transmission 20 in the front-to-rear direction, and a bevel gear 55 is fitted onto the front of the output shaft 54 via a planting clutch 56, with the bevel gears 53 and 55 meshing.

[0163] like Figure 1 as well as Figure 4 As shown, a transmission shaft 57 is connected to the rear portion of the output shaft 54 via a universal joint (not shown), and the rear portion of the transmission shaft 57 is connected to an input shaft (not shown) of the rice transplanting device 5 via a universal joint (not shown).

[0164] With the above configuration, the power after the speed change by the continuously variable transmission 24 is transmitted from the output shaft 24 b of the continuously variable transmission 24 to the continuously variable transmission 45 via the propeller shaft 28 and the input shaft 45 a of the continuously variable transmission 45 .

[0165] The power after the continuously variable transmission device 45 has been changed in speed is transmitted from the output shaft 45b of the continuously variable transmission device 45 via the transmission shaft 47 (transmission gear 47a), transmission gears 50, 51, transmission shaft 49, unequal speed transmission device 52, transmission shaft 48, bevel gears 53, 55, planting clutch 56, output shaft 54, and transmission shaft 57 to the rice transplanting device 5.

[0166] When the planting clutch 56 is operated to the transmission state, power is transmitted to the rice planting device 5 and the rice planting device 5 is operated.

[0167] When the rice transplanting device 5 is working, Figure 2 As shown, as the seedling loading platform 10 is driven to reciprocate in the left and right directions, the rotating box 7 moves along Figure 5 The two planting arms 8 are driven to rotate in the counterclockwise direction, and the two planting arms 8 take out the seedlings A (equivalent to agricultural materials) from the lower part of the seedling loading platform 10 and plant them on the field surface G. Figure 5 As shown, the rice seedlings A are intermittently planted on the field surface G along the traveling direction F1 of the machine body 11 at preset spacings L1 to L5 (corresponding to the supply intervals).

[0168] When the planting clutch 56 is operated to the disconnected state, the power transmitted to the rice transplanting device 5 is disconnected, the rice transplanting device 5 stops, and the rice seedling loading platform 10 and the rotary box 7 stop.

[0169] The above structure results in the following state: the power of the continuously variable transmission 24 (speed transmission) is branched in parallel to the travel transmission system and the working transmission system, and the power of the working transmission system is transmitted to the rice transplanting device 5 (working device) through the continuously variable transmission 45 and the unequal speed transmission 52.

[0170] (Structure of an unequal speed transmission)

[0171] like Figure 4 As shown, the inconstant speed transmission 52 includes: a constant speed gear 58 and an inconstant speed gear 59 connected to the transmission shaft 49, and a constant speed gear 60 and an inconstant speed gear 61 externally fitted to the transmission shaft 48 so as to be relatively rotatable. The constant speed gears 58 and 60 are meshed, and the inconstant speed gears 59 and 61 are meshed.

[0172] The key-shaped speed change component 62 is slidably supported inside the transmission shaft 48. By sliding the speed change component 62 so that it engages with one of the constant speed gear 60 and the non-constant speed gear 61, the constant speed gear 60 and the non-constant speed gear 61 that engage the speed change component 62 can be set to a state connected to the transmission shaft 48.

[0173] The constant speed gears 58 and 60 are circular gears having the same diameter. Therefore, when the speed change member 62 is engaged with the constant speed gear 60, 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.

[0174] The unequal speed gears 59 and 61 are elliptical gears, eccentric gears or non-circular gears. Thus, when the speed change component 62 is engaged with one of the unequal speed gears 61, the power of one circle of the transmission shaft 49 is transmitted to the transmission shaft 48 as the power of one circle, but the angular velocity in one circle varies. In addition, preferably, the unequal speed change device 52 has a plurality of gear pairs and is configured to be able to switch the plurality of gear pairs. In this case, the unequal speed change device 52 may also be configured, for example, to have a gear pair of eccentric gears and a gear pair of non-eccentric circular gears, and to be able to switch these gear pairs. In addition, one of the plurality of gear pairs may also be a spur gear pair having the same diameter as each other, so that the angular velocity in one circle is constant (unchanged).

[0175] (Structure of a Control System for Operating a Continuously Variable Transmission)

[0176] like Figure 5As shown, the machine body 11 includes a control device 63 . A setting unit 64 for setting the plant spacings L1 , L2 , L3 , L4 , and L5 is provided near the driver's seat 13 or the steering wheel 14 , and an operation signal from the setting unit 64 is input to the control device 63 .

[0177] The setting unit 64 is in the form of an operating lever manually operated by an operator, and the operator can set (select) one of a plurality of different set plant spacings L1 to L5.

[0178] like Figure 4 as well as Figure 5 As shown, a pickup sensor type rotation speed detector 65 is provided for the transmission gear 47 a of the transmission shaft 47 , and a detection value of the rotation speed detector 65 is input to the control device 63 .

[0179] Thus, on the upstream side of the variator 52 , the rotational speed detection unit 65 detects the rotational speed of the transmission system (the output shaft 45b of the variator 45 ) between the continuously variable transmission 45 and the variator 52 and inputs it into the control device 63 .

[0180] The transmission gear 38 is provided with a pickup sensor type rotation speed detector 66, and the detection value of the rotation speed detector 66 is input to the control device 63. The rotation speed detector 66 detects the rotation speeds of the front wheel 1 and the rear wheel 2 and inputs them to the control device 63.

[0181] An electric motor type actuator 67 is provided for changing the angle of a 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 .

[0182] The control device 63 includes a slip ratio detection unit 68 , a control unit 69 , a timer 70 , a first running distance detection unit 71 , a second running distance detection unit 72 , and a supply interval detection unit 73 as software.

[0183] (Slip ratio detection)

[0184] When planting work is performed in a paddy field, the front wheels 1 and the rear wheels 2 slip. Therefore, the slip ratio detection unit 68 detects the slip ratio as described below.

[0185] In this case, the state in which the front wheels 1 and the rear wheels 2 slip is a state in which the front wheels 1 and the rear wheels 2 are spinning, and the vehicle body 11 does not move forward although the front wheels 1 and the rear wheels 2 are rotating.

[0186] During the planting work, the timer 70 detects a first time and a second time that follows after a set time has elapsed from the first time.

[0187] From the first moment to the second moment, the actual distance traveled by the vehicle 11 is detected by the first travel distance detection unit 71 based on the position and orientation of the vehicle 11 detected 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 slip of the front wheels 1 and the rear wheels 2.

[0188] From the first moment to the second moment, the second travel distance detection unit 72 detects (calculates) the travel distance of the vehicle body 11 based on the outer diameters of the front wheels 1 and rear wheels 2 and the detection value (the rotation speed of the front wheels 1 and rear wheels 2) of the rotation speed detection unit 66. In this case, the detection value of the second travel distance detection unit 72 does not include the slip of the front wheels 1 and rear wheels 2.

[0189] The slip ratio detecting unit 68 compares the detection value of the first running distance detecting unit 71 with the detection value of the second running distance detecting unit 72 .

[0190] When the front wheels 1 and the rear wheels 2 slip, the detection value of the first travel distance detection unit 71 is smaller than the detection value of the second travel distance detection unit 72. The greater the difference between the detection values of the first travel distance detection unit 71 and the second travel distance detection unit 72, the greater the slip of the front wheels 1 and the rear wheels 2 can be determined.

[0191] Thus, the slip ratio is detected by the slip ratio detection unit 68 based on the detection value of the first travel distance detection unit 71 and the detection value of the second travel distance detection unit 72 .

[0192] After detecting the slip ratio from the first time to the second time, the slip ratio is detected from the second time to the next third time after a set time has elapsed, thereby continuously repeating the detection of the slip ratio.

[0193] (Setting the spacing between plants at the start of planting)

[0194] When planting in a paddy field, the following operations are performed.

[0195] When the planting work starts, as described above (Configuration of a control system for operating a continuously variable transmission), the operator sets (selects) one of the plant spacings L1 to L5 using the setting unit 64 .

[0196] When planting work starts with the set plant spacings L1 to L5 set by the setting unit 64 , the control unit 69 outputs an operation signal to the actuator 67 in accordance with the set plant spacings L1 to L5 , and the actuator 67 operates the continuously variable transmission 45 .

[0197] At this stage, since the slip of the front wheels 1 and the rear wheels 2 is not considered, the shift position of the continuously variable transmission 45 is uniquely determined, and the continuously variable transmission 45 is operated to the shift position set corresponding to the set plant spacings L1 to L5.

[0198] Sometimes, leakage of the working oil occurs in the continuously variable transmission 45. Therefore, the rotation speed of the output shaft 45b of the continuously variable transmission 45 sometimes becomes a low speed slightly lower than the rotation speed at the shift position corresponding to the set plant spacing L1~L5. Accordingly, the actual plant spacing L (equivalent to the supply interval) sometimes becomes slightly larger than the set plant spacing L1~L5.

[0199] In this case, based on the detection value of the speed detection unit 65 (the speed of the output shaft 45b of the continuously variable transmission device 45), the actuator 67 is used to fine-tune the continuously variable transmission device 45 at the shift position corresponding to the set plant spacing L1~L5 so that the speed of the output shaft 45b of the continuously variable transmission device 45 becomes the speed corresponding to the set plant spacing L1~L5.

[0200] (Adjusting plant spacing based on slip rate detection during planting)

[0201] As the planting work proceeds, the slip ratio is detected by the slip ratio detection unit 68, and accordingly, the continuously variable transmission 45 is automatically operated as described below so that the actual plant spacing L becomes the set plant spacings L1 to L5.

[0202] As described in the previous item (setting of the plant spacing at the start of planting operation), when the continuously variable transmission device 45 is operated to the shift position corresponding to the set plant spacing L1~L5, as the planting operation proceeds, the slip rate is detected by the slip rate detection unit 68 as described in the previous item (detection of the slip rate).

[0203] The actual plant spacing L is detected by the supply interval detection unit 73 based on the detection value of the 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 rotation speed detection unit 66 (the rotation speed of the front wheel 1 and the rear wheel 2).

[0204] Specifically, the length corresponding to the slip ratio is calculated, and the actual plant spacing L is detected by subtracting the length corresponding to the slip ratio from the set plant spacings L1 to L5.

[0205] Thus, the control unit 69 outputs an operation signal to the actuator 67 , and the actuator 67 operates the continuously variable transmission 45 so that the actual plant spacing L detected by the supply interval detection unit 73 becomes the set plant spacings L1 to L5 .

[0206] (Operation of the unequal speed transmission device based on the set plant spacing)

[0207] When the set plant spacings L1 to L5 set by the setting unit 64 are not particularly large or small, the operator may set the inconstant speed transmission 52 in advance to a state in which power is transmitted by the constant speed gears 58 and 60 .

[0208] When the set plant spacing L1~L5 set by the setting unit 64 is particularly large or particularly small, the operator slides the speed change component in the unequal speed change device 52 to select the unequal speed gears 59, 61 that are suitable for the set plant spacing L1~L5 set by the setting unit 64 (it can be set to a state connected to the transmission shaft 48).

[0209] When the set plant spacings L1 to L5 set by the setting unit 64 are particularly large, the rotation speed of the rotary box 7 becomes too low.

[0210] Thus, in the area from when the seedlings A are taken out from the seedling loading platform 10 by the planting arm 8 to when the seedlings A are planted on the field surface G by the planting arm 8, the rotation speed of the rotating box 7 can be set to a slightly higher speed by using the unequal speed transmission device 52, so that the seedlings A can be appropriately planted on the field surface G.

[0211] When the set plant spacings L1 to L5 set by the setting unit 64 are particularly small, the rotation speed of the rotary box 7 becomes too high.

[0212] Thus, in the area from when the seedlings A are taken out from the seedling loading platform 10 by the planting arm 8 to when the seedlings A are planted on the field surface G by the planting arm 8, the rotation speed of the rotating box 7 can be set to a slightly lower speed by using the unequal speed transmission device 52, so that the seedlings A can be appropriately planted on the field surface G.

[0213] (First other embodiment of the present invention)

[0214] In the above-described process (setting the spacing between plants at the start of planting), the continuously variable transmission 45 is operated based on leakage of the operating oil in the continuously variable transmission 45. In this case, the actuator 67 is finely adjusted relative to the shift position corresponding to the set spacing between plants L1 to L5 to operate the continuously variable transmission 45. However, this operation does not necessarily have to be performed.

[0215] If constructed in this way, in the above-mentioned (adjustment of plant spacing based on detection of slip rate during planting operations), when the actual plant spacing L is detected by the supply interval detection unit 73, the actual plant spacing L is detected by the supply interval detection unit 73 while taking into account the stepless slip of the front wheels 1 and the rear wheels 2, and the leakage of the working oil of the transmission device 45.

[0216] In this case, when the leakage of the hydraulic oil of the continuously variable transmission 45 is small and the slip of the front wheels 1 and the rear wheels 2 is large, the actual plant spacing L may be smaller than the set plant spacings L1 to L5 set by the setting unit 64 .

[0217] On the other hand, when the leakage of the hydraulic oil of the continuously variable transmission 45 is large and the slip of the front wheels 1 and the rear wheels 2 is small, the actual plant spacing L may be larger than the set plant spacings L1 to L5 set by the setting unit 64 .

[0218] (Second other embodiment of the present invention)

[0219] The measuring device 18 and the inertial measurement device 19 may not be provided.

[0220] In this structure, when the actual traveling distance of the machine body 11 is detected by the first traveling distance detecting unit 71, a rotation speed sensor (not shown) is provided on the rotating body 12a of the marker 12. As the machine body 11 travels, the rotation speed of the rotating body 12a of the marker 12 when it is grounded against the field surface G and rotates is detected, thereby detecting the actual traveling distance of the machine body 11.

[0221] Instead of the rotating body 12a provided on the marker 12, a dedicated rotating body (not shown) that rotates while contacting the field surface G may be provided on the machine body 11 or the rice transplanting device 5 to detect the rotation speed of the rotating body.

[0222] (Third other embodiment of the present invention)

[0223] The setting unit 64 may be configured so that the operator can arbitrarily set (select) the spacings L1 to L5 between the maximum spacing and the minimum spacing without any hierarchy.

[0224] (Fourth other embodiment of the present invention)

[0225] Instead of the operator manually operating the unequal speed transmission 52 , the unequal speed transmission 52 may be automatically operated to an appropriate operating position based on the setting (selection) of the plant spacings L1 to L5 by the setting unit 64 .

[0226] (Fifth other embodiment of the present invention)

[0227] In the transmission case 20 , the continuously variable transmission 24 may be provided on the right lateral side of the transmission case 20 , and the continuously variable transmission 45 may be provided on the left lateral side of the transmission case 20 .

[0228] A gear-type transmission (not shown) having multiple shift positions may be provided in place of the continuously variable transmission 24. A belt-type continuously variable transmission 45 may be provided in place of the hydrostatic continuously variable transmission 45.

[0229] Inside the transmission case 20 , the transmission shafts 28 , 29 , 47 , 48 , 49 and the like may be arranged in the front-rear direction instead of the left-right direction.

[0230] Instead of the engine 23 , an electric motor (not shown) may be used as the power unit.

[0231] (Sixth other embodiment of the present invention)

[0232] For example, in a paddy field, when the total amount of rice seedlings A to be used is fixed, the actual plant spacing L can be fine-tuned so that the rice seedlings A corresponding to the total amount are planted on the field surface G without any more or less.

[0233] When performing the above operation, if data on the paddy field area and the planting stroke of the machine 11 are acquired in advance, the required spacing L can be calculated using these data and the total number of seedlings A.

[0234] Therefore, when the operator sets (selects) the set plant spacing L1~L5 using the setting unit 64, when the set plant spacing L1~L5 set using the setting unit 64 deviates significantly from the plant spacing L required for the above-mentioned operation, the operator is informed that the setting unit 64 should be used to set the set plant spacing L1~L5 close to the required plant spacing L (for reminding the operator's attention and preventing misunderstanding).

[0235] When the planting operation 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 spacing L required for the above-mentioned operation.

[0236] (Seventh other embodiment of the present invention)

[0237] For example, there is a case where a paddy field is divided into smaller areas, and the growth status and yield of rice in the previous year are stored as data for each area of the paddy field.

[0238] In the above state, when planting operations are carried out in the same paddy field in the next year, the continuously variable transmission device 45 can also be automatically operated based on the detection of the measuring device 18 and the inertial measurement device 19 so that planting operations can be carried out with an appropriate actual plant spacing L in each area of the paddy field.

[0239] [Second embodiment]

[0240] In the embodiment of the present invention, a riding rice transplanter is described as an example of a paddy field work machine that performs planting work in a paddy field.

[0241] Unless otherwise specified, the front-back direction and left-right direction in the embodiments of the present invention are described as follows. The forward direction of the vehicle body 111 during travel is "front," and the backward direction is "rear." With the forward posture in the front-back direction as a reference, the direction corresponding to the right side is "right," and the direction corresponding to the left side is "left."

[0242] (Overall structure of a riding rice transplanter)

[0243] like Figure 6 as well as Figure 7 As shown, the riding rice transplanter has a connecting rod mechanism 103 and a hydraulic cylinder 104 for lifting and lowering the connecting rod mechanism 103 at the rear of a body 111 having left and right front wheels 101 (equivalent to wheels for travel) and left and right rear wheels 102 (equivalent to wheels for travel), and a rice transplanting device 105 (equivalent to a working device) is supported at the rear of the connecting rod mechanism 103.

[0244] The rice transplanting device 105 includes: a planting transmission box 106 arranged at a specified interval in the left and right directions, a rotating box 107 rotatably supported on the right and left sides of the rear part of the planting transmission box 106, a pair of planting arms 108 at both ends of the rotating box 107, a floating plate 109 and a seedling loading platform 110, etc.

[0245] The left and right markers 112 are provided on the left and right lateral sides of the rice transplanting device 105. The markers 112 can be freely changed to correspond to the field surface Ga (see Figure 10 ) Grounding posture (refer to Figure 6 ), and in a stored position facing upward from the field surface Ga, the rotating body 112a is rotatably supported on the front end of the marker 112. In the active position of the marker 112, the rotating body 112a of the marker 112 is in contact with the field surface Ga. As the machine body 111 travels, the rotating body 112a of the marker 112 rotates while forming a mark on the field surface Ga.

[0246] (Structure near the driving part)

[0247] like Figure 6 as well as Figure 7 As shown, the machine body 111 includes a driver's seat 113 and a steering wheel 114 for steering the front wheels 101 .

[0248] The left and right front portions of the machine body 111 are provided with left and right support frames 116, and the seedling loading platform 115 is supported in advance on the support frames 116. A support frame 117 is connected across the upper portions of the left and right support frames 116.

[0249] A measuring device 118 is mounted on the support frame 117 at the center CLa of the left and right sides of the body 111 when viewed from above. The measuring device 118 includes an information receiving device (not shown) that acquires position information via a satellite positioning system, and an inertial measurement device (not shown) that detects the tilt (pitch and roll) of the body 111. The measuring device 118 outputs positioning data indicating the position of the body 111.

[0250] An inertial measurement unit 119 for measuring inertial information is mounted on the rear axle box 122, which supports the left and right rear wheels 102, at the center CLa of the vehicle body 111 when viewed from above. The inertial measurement unit 119 and the inertial measurement unit 118 are implemented using an IMU (Inertial Measurement Unit).

[0251] A representative example of the satellite positioning system (GNSS: Global Navigation Satellite System) is the GPS (Global Positioning System). The GPS uses multiple GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and an information receiving device on the object being positioned (machine body 111). The GPS measures the position of the information receiving device of the measuring device 118.

[0252] The inertial measurement unit 119 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle of the body 111, and an acceleration sensor (not shown) that detects acceleration in three mutually orthogonal axes. The inertial information measured by the inertial measurement unit 119 includes orientation change information detected by the gyro sensor and position change information detected by the acceleration sensor.

[0253] Thus, the position and orientation of the body 111 are detected by the measurement device 118 and the inertial measurement device 119 .

[0254] (Structure near the gearbox)

[0255] like Figure 6 As shown, a transmission case 120 is supported at the front of the machine body 111, and the left and right front wheels 101 are supported by a front axle box 121 connected to the left and right lateral sides of the transmission case 120. A rear axle box 122 is supported at the rear of the machine body 111, and the left and right rear wheels 102 are supported by the rear axle box 122.

[0256] like Figure 6 as well as Figure 8As shown, an engine 123 (equivalent to the power unit) is supported at the front of the transmission 120. A hydrostatic continuously variable transmission 124 (equivalent to the transmission) is connected to the left lateral side of the transmission 120. The power of the engine 123 is transmitted to the input shaft 124a of the continuously variable transmission 124 via a transmission belt 125.

[0257] The continuously variable transmission 124 is configured to continuously shift speeds between a neutral position, a forward direction, and a reverse direction, and is operated by a shift lever 130 provided on the left lateral side of the steering wheel 114 .

[0258] like Figure 11 as well as Figure 12 As shown, the outer surfaces of the left and right lateral walls of the transmission case 120 are provided with a plurality of fins 120a extending in the vertical direction. The outer surface of the bottom portion of the transmission case 120 is provided with a plurality of fins 120b extending in the front-rear direction. The fins 120a and 120b of the transmission case 120 promote heat dissipation from the transmission case 120, thereby suppressing temperature increases in the hydraulic oil within the transmission case 120.

[0259] Since the fins 120a of the transmission 120 extend in the vertical direction, even if mud adheres to the fins 120a of the transmission 120, the mud tends to fall downward. Since the fins 120b of the transmission 120 extend in the front-back direction, mud splashed rearward from the front wheel 101 is less likely to accumulate on the fins 120b of the transmission 120.

[0260] (Structure of the driving transmission system that transmits power to the front and rear wheels)

[0261] like Figure 8 As shown, a pump 126 is connected to the right lateral side of the transmission 120, and the pump 126 supplies hydraulic oil to the hydraulic cylinder 104. The input shaft 124a of the continuously variable transmission 124 enters the transmission 120, and a transmission shaft 127 is connected across the input shaft 126a of the pump 126 and the input shaft 124a of the continuously variable transmission 124.

[0262] Transmission shafts 128 and 129 are supported in the left-right direction inside the transmission case 120. The output shaft 124b of the continuously variable transmission 124 is connected to the end of the transmission shaft 128. A gear-type auxiliary transmission 131 is provided inside the transmission case 120, spanning the transmission shafts 128 and 129.

[0263] The auxiliary transmission 131 includes a low-speed gear 132 and a high-speed gear 133 connected to the propeller shaft 128, and a shift gear 134 externally fitted to the propeller shaft 129 via a spline structure so as to rotate and slide integrally therewith. The shift gear 134 can be slid using an auxiliary transmission lever (not shown) provided near the driver's seat 113.

[0264] In the auxiliary transmission device 131, when the shift gear 134 is meshed with the low-speed gear 132, the power of the transmission shaft 128 is transmitted to the transmission shaft 129 at a low speed. When the shift gear 134 is meshed with the high-speed gear 133, the power of the transmission shaft 128 is transmitted to the transmission shaft 129 at a high speed.

[0265] When performing planting work in a paddy field, the auxiliary transmission device 131 is operated to a low speed state, and when traveling at a high speed on a road, the auxiliary transmission device 131 is operated to a high speed state.

[0266] Left and right front axles 135 for transmitting power to the left and right front wheels 101 are supported across the transmission 120 and the front axle case 121. A front wheel differential device 136 is provided between the left and right front axles 135. A transmission gear 137 connected to the propeller shaft 129 meshes with a transmission gear 138 connected to a housing 136a of the front wheel differential device 136.

[0267] An output shaft 139 is supported in the front-rear direction at the rear portion of the transmission 120 , and a bevel gear 140 connected to a case 136 a of the front wheel differential 136 meshes with a bevel gear 139 a formed at the front portion of the output shaft 139 .

[0268] like Figure 6 as well as Figure 8 As shown, a propeller shaft 141 is connected to the rear of the output shaft 139 via a universal joint (not shown), and the rear of the propeller shaft 141 is connected to an input shaft (not shown) of the rear axle box 122 via a universal joint (not shown).

[0269] Through the above structure, the power after the continuously variable transmission device 124 is changed is transmitted from the output shaft 124b of the continuously variable transmission device 124 via the transmission shaft 128, the auxiliary transmission device 131, the transmission shaft 129, the transmission gears 137, 138, the front wheel differential device 136 and the front axle 135 to the left and right front wheels 101.

[0270] The power transmitted to the front wheel differential device 136 is transmitted to the left and right rear wheels 102 via the bevel gear 140 , the output shaft 139 (bevel gear 139 a ), the propeller shaft 141 , and a propeller shaft (not shown) inside the rear axle case 122 .

[0271] The multi-plate brake 142 is externally mounted on the output shaft 139 and is operated by stepping on the brake. Figure 7 The brake pedal 143 is shown, so that the brake 142 can be operated to the braking state. By applying the brake 142 to the output shaft 139, the front wheel 101 and the rear wheel 102 can be braked.

[0272] A differential lock member 144 is integrally rotatably and slidably fitted to the left front axle 135 via a key structure. By stepping on a differential lock pedal (not shown) provided below the driver's seat 113, the differential lock member 144 is slid and engaged with the housing 136a of the front wheel differential device 136, thereby operating the front wheel differential device 136 to the differential lock state.

[0273] With the above configuration, the power of the continuously variable transmission 124 (transmission) is branched in parallel to the travel powertrain and the working powertrain, and the power of the travel powertrain is transmitted to the front wheels 101 and the rear wheels 102 (wheels for travel).

[0274] The power of the travel transmission system is transmitted to the front wheels 101 and the rear wheels 102 (wheels for travel) via the auxiliary transmission 131 .

[0275] (Structure of the transmission system for the rice transplanting device)

[0276] like Figure 9 As shown, a hydrostatic continuously variable transmission 145 is connected to the right lateral side of the transmission 120. The input shaft 145a of the continuously variable transmission 145 is connected to the drive shaft 128. The input shaft 145a of the continuously variable transmission 145 protrudes toward the side opposite to the transmission 120, and a fan 146 for blowing cooling air to the continuously variable transmission 145 is connected to the protruding portion of the input shaft 145a of the continuously variable transmission 145.

[0277] A transmission shaft 147 is coupled to an output shaft 145b of the continuously variable transmission 145. Transmission shafts 148 and 149 are supported in the left-right direction within the transmission case 120. The end of the transmission shaft 149 is coaxial with the transmission shaft 147 and is supported so as to be rotatable relative to it.

[0278] A transmission gear 150 having two gear sets is rotatably fitted on the outside of the transmission shaft 148. The large-diameter gear portion of the transmission gear 150 meshes with a transmission gear 147a formed on the transmission shaft 147, and the small-diameter gear portion of the transmission gear 150 meshes with a transmission gear 151 connected to the transmission shaft 149.

[0279] Inside the transmission case 120, a gear-type unequal-speed transmission 152 is provided across drive shafts 148 and 149, with a bevel gear 153 coupled to the drive shaft 148. An output shaft 154 is supported at the rear of the transmission case 120 in the front-to-rear direction, and a bevel gear 155 is fitted onto the front of the output shaft 154 via a planting clutch 156, with the bevel gears 153 and 155 meshing.

[0280] like Figure 6 as well as Figure 9 As shown, a transmission shaft 157 is connected to the rear portion of the output shaft 154 via a universal joint (not shown), and the rear portion of the transmission shaft 157 is connected to an input shaft (not shown) of the rice transplanting device 105 via a universal joint (not shown).

[0281] With the above structure, the power after the speed change by the continuously variable transmission 124 is transmitted from the output shaft 124 b of the continuously variable transmission 124 to the continuously variable transmission 145 via the propeller shaft 128 and the input shaft 145 a of the continuously variable transmission 145 .

[0282] The power after speed change by the continuously variable transmission device 145 is transmitted from the output shaft 145b of the continuously variable transmission device 145 via the transmission shaft 147 (transmission gear 147a), transmission gears 150, 151, transmission shaft 149, unequal speed transmission device 152, transmission shaft 148, bevel gears 153, 155, planting clutch 156, output shaft 154, and transmission shaft 157 to the rice transplanting device 105.

[0283] When the planting clutch 156 is operated to the transmission state, power is transmitted to the rice transplanting device 105 and the rice transplanting device 105 is operated.

[0284] When the rice transplanting device 105 is working, Figure 7 As shown, as the seedling loading platform 110 is driven to reciprocate in the left and right directions, the rotating box 107 moves along the Figure 10 The two planting arms 108 are driven to rotate in the counterclockwise direction, and the two planting arms 108 take out the seedlings Aa (equivalent to agricultural materials) from the lower part of the seedling loading platform 110 and plant them on the field surface Ga. Figure 10 As shown, the rice seedlings Aa are intermittently planted on the field surface Ga along the traveling direction F1a of the machine body 111 at a preset spacing La1 (corresponding to the supply interval).

[0285] When the planting clutch 156 is operated to the disconnected state, the power transmitted to the rice transplanting device 105 is disconnected, so that the rice transplanting device 105 stops, and the rice seedling loading platform 110 and the rotary box 107 stop.

[0286] The above structure results in the following state: the power of the continuously variable transmission 124 (speed transmission) is branched in parallel to the travel transmission system and the working transmission system, and the power of the working transmission system is transmitted to the rice transplanting device 105 (working device) through the continuously variable transmission 145 and the unequal speed transmission 152.

[0287] (Structure of an unequal speed transmission)

[0288] like Figure 9As shown, the unequal speed transmission device 152 includes: a constant speed gear 158 and an unequal speed gear 159 connected to the transmission shaft 149, and a constant speed gear 160 and an unequal speed gear 161 externally fitted to the transmission shaft 148 so as to be rotatable relative to each other. The constant speed gears 158 and 160 are meshed, and the unequal speed gears 159 and 161 are meshed.

[0289] The speed change component 162 is supported inside the transmission shaft 148 in a freely slidable manner. By sliding the speed change component 162 to engage the balls with the constant speed gear 160 and the unequal speed gear 161, the constant speed gear 160 and the unequal speed gear 161 that engage the balls can be set to a state connected to the transmission shaft 148.

[0290] The constant speed gears 158 and 160 are circular gears with the same diameter. Therefore, when the balls are engaged with the constant speed gears 160 by the speed change member 162, the power of one rotation of the transmission shaft 149 is transmitted to the transmission shaft 148 as the power of one rotation at a constant angular velocity.

[0291] The unequal-speed gears 159 and 161 are elliptical gears, eccentric gears, or non-circular gears. Therefore, when the ball bearings are engaged with one of the unequal-speed gears 161 by the speed change member 162, the power of one rotation of the transmission shaft 149 is transmitted to the transmission shaft 148 as the power of one rotation, but the angular velocity during one rotation varies.

[0292] When the eccentric gears 159 and 161 are eccentric gears, multiple gear tooth shifts are set within each eccentric gear, with the shifts varying depending on the gear teeth. This reduces backlash variation between the eccentric gears 159 and 161, allowing for smoother power transmission through the eccentric gears 159 and 161.

[0293] (Structure of a Control System for Operating a Continuously Variable Transmission)

[0294] like Figure 10 As shown, the machine body 111 includes a control device 163 . A setting unit 164 for setting the set plant spacing La1 is provided near the driver's seat 113 or the steering wheel 114 , and an operation signal of the setting unit 164 is input to the control device 163 .

[0295] The setting unit 164 is in the form of an operating lever manually operated by an operator, and the operator can arbitrarily set (select) the plant spacing La1 between the maximum spacing La11 and the minimum spacing La12 without any steps.

[0296] like Figure 9 as well as Figure 10As shown, the gear-tooth-shaped rotating body 149a is connected to the transmission shaft 149 so as to rotate integrally with the transmission shaft 149. The rotating body 149a relative to the transmission shaft 149 is provided with a pickup sensor type operating speed detector 165, and the detection value of the operating speed detector 165 is input to the control device 163.

[0297] Thus, on the downstream side of the continuously variable transmission 145 and the upstream side of the unequal speed transmission 152, the rotational speed of the transmission system (transmission shaft 149) between the continuously variable transmission 145 and the unequal speed transmission 152 is detected by the operating speed detection unit 165 as the rotational speed of the power from the continuously variable transmission 145 and is input into the control device 163.

[0298] The gear-tooth-shaped rotating body 128a is connected to the transmission shaft 128 so as to rotate integrally therewith. The rotating body 128a of the transmission shaft 128 is provided with a pickup sensor type running speed detector 166, and the detection value of the running speed detector 166 is input to the control device 163.

[0299] Thus, a travel speed detector 166 is provided upstream of the auxiliary transmission 131 to detect the speed of the transmission system between the branch point (propeller shaft 128 ) of the travel transmission system and the working transmission system and the auxiliary transmission 131 .

[0300] An electric motor type actuator 167 is provided for changing the angle of a swash plate (not shown) of the continuously variable transmission 145 to operate the continuously variable transmission 145 , and an operation signal is output from the control device 163 to the actuator 167 .

[0301] The control device 163 includes a slip ratio detection unit 168 , a control unit 169 , a timer 170 , a first running distance detection unit 171 , a second running distance detection unit 172 , and a supply interval detection unit 173 as software.

[0302] (Slip ratio detection)

[0303] When planting work is performed in a paddy field, the front wheels 101 and the rear wheels 102 slip, and therefore the slip ratio detection unit 168 detects the slip ratio as described below.

[0304] In this case, the state in which the front wheels 101 and the rear wheels 102 slip is a state in which the front wheels 101 and the rear wheels 102 are spinning, and the machine body 111 does not move forward although the front wheels 101 and the rear wheels 102 are rotating.

[0305] During the planting work, the timer 170 detects a first time and a second time that follows after a set time has elapsed from the first time.

[0306] From the first moment to the second moment, first travel distance detection unit 171 detects the actual travel distance of vehicle 111 based on the position and orientation of vehicle 111 detected by measurement device 118 and inertial measurement unit 119. In this case, the detection value of first travel distance detection unit 171 includes the slip of front wheel 101 and rear wheel 102.

[0307] From the first moment to the second moment, the second travel distance detection unit 172 detects (calculates) the travel distance of the vehicle body 111 based on the outer diameters of the front wheels 101 and rear wheels 102 and the detection value (the rotation speed of the front wheels 101 and rear wheels 102) of the travel speed detection unit 166. In this case, the detection value of the second travel distance detection unit 172 does not include the slip of the front wheels 101 and rear wheels 102.

[0308] The slip ratio detecting unit 168 compares the detection value of the first running distance detecting unit 171 with the detection value of the second running distance detecting unit 172 .

[0309] When slip occurs on the front wheels 101 and the rear wheels 102, the detection value of the first traveling distance detection unit 171 is smaller than the detection value of the second traveling distance detection unit 172. The greater the difference between the detection values of the first traveling distance detection unit 171 and the second traveling distance detection unit 172, the greater the slip occurs on the front wheels 101 and the rear wheels 102.

[0310] Thus, the slip ratio is detected by the slip ratio detection unit 168 based on the detection value of the first travel distance detection unit 171 and the detection value of the second travel distance detection unit 172 .

[0311] After detecting the slip ratio from the first time to the second time, the slip ratio detection is performed from the second time to the next third time after a set time has elapsed, thereby continuously repeating the slip ratio detection.

[0312] (Setting the spacing between plants at the start of planting)

[0313] When planting in a paddy field, the following operations are performed.

[0314] When the planting work starts, the worker sets (selects) the set plant spacing La1 using the setting unit 164 as described above (Configuration of a control system for operating the continuously variable transmission).

[0315] When planting work starts with the set plant spacing La1 set by the setting unit 164 , the control unit 169 outputs an operation signal to the actuator 167 in accordance with the set plant spacing La1 , and the actuator 167 operates the continuously variable transmission 145 .

[0316] At this stage, since the slip of the front wheels 101 and the rear wheels 102 is not considered, the shift position of the continuously variable transmission 145 is uniquely determined, and the continuously variable transmission 145 is operated to the shift position corresponding to the set inter-plant spacing La1.

[0317] Since leakage of the working oil sometimes occurs in the continuously variable transmission 145, the rotational speed of the output shaft 145b of the continuously variable transmission 145 sometimes becomes slightly lower than the rotational speed at the shift position corresponding to the set plant spacing La1. Accordingly, the actual plant spacing La (equivalent to the supply interval) sometimes becomes slightly larger than the set plant spacing La1.

[0318] In this case, based on the detection value of the operating speed detection unit 165 (the speed of the output shaft 145b of the continuously variable transmission device 145), the actuator 167 is used to fine-tune the continuously variable transmission device 145 at the shift position corresponding to the set plant spacing La1 so that the speed of the output shaft 145b of the continuously variable transmission device 145 becomes the speed corresponding to the set plant spacing La1.

[0319] (Adjusting plant spacing based on slip rate detection during planting)

[0320] As the planting work proceeds, the slip ratio is detected by the slip ratio detection unit 168 , and accordingly, the continuously variable transmission 145 is automatically operated as described below so that the actual plant spacing La becomes the set plant spacing La1 .

[0321] As described in the previous item (setting of the plant spacing at the start of planting operation), when the continuously variable transmission device 145 is operated to the shift position corresponding to the set plant spacing La1, as the planting operation proceeds, the slip rate is detected by the slip rate detection unit 168 as described in the previous item (detection of the slip rate).

[0322] The actual plant spacing La is detected by the supply interval detection unit 173 based on the detection value of the working speed detection unit 165 (the speed of the output shaft 145b of the continuously variable transmission 145) and the detection value of the traveling speed detection unit 166 (the speed of the front wheels 101 and the rear wheels 102).

[0323] Specifically, the length corresponding to the slip ratio is calculated, and the actual plant spacing La is detected by subtracting the length corresponding to the slip ratio from the set plant spacing La1.

[0324] As a result, the control unit 169 outputs an operation signal to the actuator 167 , and the actuator 167 operates the continuously variable transmission 145 so that the actual inter-plant spacing La detected by the supply interval detection unit 173 becomes the set inter-plant spacing La1 .

[0325] (Operation of the unequal speed transmission device based on the set plant spacing)

[0326] When the set plant spacing La1 set by the setting unit 164 is not particularly large or small, the operator may set the inconstant speed transmission 152 in advance to a state in which power is transmitted by the constant speed gears 158 and 160 .

[0327] When the set plant spacing La1 set by the setting unit 164 is particularly large or particularly small, the operator slides the speed change component 162 in the unequal speed change device 152 to select the unequal speed gears 159, 161 that are compatible with the set plant spacing La1 set by the setting unit 164 (it can be set to a state connected to the transmission shaft 148).

[0328] When the set plant spacing La1 set by the setting unit 164 is particularly large, the rotation speed of the rotary box 107 becomes too low.

[0329] Thus, in the area from when the seedlings Aa are taken out from the seedling loading platform 110 by the planting arm 108 to when the seedlings Aa are planted on the field surface Ga by the planting arm 108, the rotation speed of the rotating box 107 can be set to a slightly higher speed by using the unequal speed transmission device 152, so that the seedlings Aa can be appropriately planted on the field surface Ga.

[0330] When the set plant spacing La1 set by the setting unit 164 is particularly small, the rotation speed of the rotary box 107 becomes too high.

[0331] Thus, in the area from when the seedlings Aa are taken out from the seedling loading platform 110 by the planting arm 108 to when the seedlings Aa are planted on the field surface Ga by the planting arm 108, the rotation speed of the rotating box 107 can be set to a slightly lower speed by using the unequal speed transmission device 152, so that the seedlings Aa can be appropriately planted on the field surface Ga.

[0332] (First other embodiment of the present invention)

[0333] In the above (setting of the plant spacing at the start of planting work), the following operation may not be performed: based on the leakage of the working oil of the continuously variable transmission 145, the actuator 167 is used to fine-tune the continuously variable transmission 145 at the shift position corresponding to the set plant spacing La1.

[0334] If constructed in this way, in the above-mentioned (adjustment of plant spacing based on detection of slip rate during planting operations), when the actual plant spacing La is detected by the supply interval detection unit 173, the actual plant spacing La is detected by the supply interval detection unit 173 while taking into account the slip of the front wheels 101 and the rear wheels 102, and the leakage of the working oil of the continuously variable transmission device 145.

[0335] In this case, when the leakage of the hydraulic oil of the continuously variable transmission 145 is small and the slip of the front wheels 101 and the rear wheels 102 is large, the actual inter-plant spacing La may be smaller than the set inter-plant spacing La1 set by the setting unit 164 .

[0336] On the other hand, when the leakage of the hydraulic oil of the continuously variable transmission 145 is large and the slip of the front wheels 101 and the rear wheels 102 is small, the actual inter-plant spacing La may be larger than the set inter-plant spacing La1 set by the setting unit 164 .

[0337] (Second other embodiment of the present invention)

[0338] The measuring device 118 and the inertial measurement device 119 may not be provided.

[0339] In this structure, when the actual traveling distance of the machine body 111 is detected by the first traveling distance detecting unit 171, a rotation speed sensor (not shown) is provided on the rotating body 112a of the marker 112. As the machine body 111 travels, the rotation speed of the rotating body 112a of the marker 112 when it is in contact with the field surface Ga and rotates is detected, thereby detecting the actual traveling distance of the machine body 111.

[0340] Instead of the rotating body 112a provided on the marker 112, a dedicated rotating body (not shown) that rotates while in contact with the field surface Ga may be provided on the machine body 111 or the rice transplanting device 105 to detect the rotation speed of the rotating body.

[0341] (Third other embodiment of the present invention)

[0342] The setting unit 164 may be configured such that an operator sets (selects) one set inter-plant spacing La1 from a plurality of different set inter-plant spacings La1.

[0343] (Fourth other embodiment of the present invention)

[0344] Instead of the operator manually operating the unequal speed transmission 152 , the unequal speed transmission 152 may be automatically operated to an appropriate operating position based on the setting (selection) of the plant spacing La1 by the setting unit 164 .

[0345] (Fifth other embodiment of the present invention)

[0346] In the transmission case 120 , the continuously variable transmission 124 may be provided on the right lateral side of the transmission case 120 , and the continuously variable transmission 145 may be provided on the left lateral side of the transmission case 120 .

[0347] A gear-type transmission (not shown) having multiple shift positions may be provided in place of the continuously variable transmission 124. A belt-type continuously variable transmission 145 may be provided in place of the hydrostatic continuously variable transmission 145.

[0348] Inside the transmission case 120 , the transmission shafts 128 , 129 , 147 , 148 , 149 and the like may be arranged in the front-rear direction instead of the left-right direction.

[0349] Instead of the engine 123 , an electric motor (not shown) may be used as the power unit.

[0350] (Sixth other embodiment of the present invention)

[0351] like Figure 9 As shown, the rotation speed of the transmission shaft 147 (transmission gear 147 a ) and the rotation speed of the transmission gears 150 and 151 may be detected by the operating rotation speed detection unit 165 inside the transmission 120 .

[0352] Inside the transmission 120 , the power of the propeller shaft 128 may be transmitted to an intermediate propeller shaft (not shown) via a transmission gear (not shown), and a sub-transmission device 131 may be provided between the intermediate propeller shaft and the propeller shaft 129 .

[0353] In this configuration, the rotation speed of the intermediate transmission shaft may be detected by the running rotation speed detection unit 166 .

[0354] (Seventh other embodiment of the present invention)

[0355] For example, in a paddy field, when the total amount of rice seedlings Aa to be used is fixed, the actual plant spacing La can be fine-tuned so that the rice seedlings Aa corresponding to the total amount are planted on the field surface Ga without any more or less.

[0356] When performing the above operation, if data on the paddy field area and the planting stroke data indicating the path along which the machine 111 should travel to perform the planting operation are obtained in advance, the required plant spacing L can be calculated using these data and the total number of seedlings Aa.

[0357] Therefore, when the operator sets (selects) the set plant spacing La1 using the setting unit 164, and when the set plant spacing La1 set using the setting unit 164 deviates significantly from the plant spacing La required for the above-mentioned operation, the operator is informed that the setting unit 164 should be used to set the set plant spacing La1 close to the required plant spacing La (for reminding the operator's attention and preventing misunderstanding).

[0358] When the planting operation is started in the above-mentioned state, the continuously variable transmission 145 is automatically operated so that the actual spacing La between plants becomes the spacing La required for the above-mentioned operation.

[0359] (Eighth other embodiment of the present invention)

[0360] For example, there is a case where a paddy field is divided into smaller areas, and the growth status and yield of rice in the previous year are stored as data for each area of the paddy field.

[0361] In the above state, when planting operations are carried out in the same paddy field in the next year, the continuously variable transmission device 145 can also be automatically operated based on the detection of the measuring device 118 and the inertial measurement device 119 so that planting operations can be carried out in each area of the paddy field with an appropriate actual plant spacing La.

[0362] Industrial Applicability

[0363] The present invention can be applied not only to riding rice transplanters but also to riding paddy field seeders equipped with a seeding device (equivalent to a working device) that supplies seeds (equivalent to agricultural materials) to the field surface G, Ga. The present invention can also be applied to paddy field working machines equipped with a fertilizing device (equivalent to a working device) that supplies fertilizer (equivalent to agricultural materials) to the field surface G, Ga, or to paddy field working machines equipped with a chemical supply device (equivalent to a working device) that supplies chemical (equivalent to agricultural materials) to the field surface G, Ga.

Claims

1. A working machine, wherein: have: a continuously variable transmission device to which power from a power unit is transmitted; A gearbox provided with the continuously variable transmission device; An operating device that intermittently supplies agricultural materials to the fields; and Auxiliary transmission device; An operating rotation speed detection unit for detecting the rotation speed of the power from the continuously variable transmission is provided on the downstream side of the continuously variable transmission inside the transmission. The input shaft and output shaft of the continuously variable transmission extend along the inside of the gearbox. A travel speed detection unit is provided on an upstream side of the auxiliary transmission inside the transmission case for detecting the speed of the travel transmission between a branch point between the travel transmission and the working transmission and the auxiliary transmission.

2. The working machine according to claim 1, wherein: Based on the detection results of the working speed detection unit and the driving speed detection unit, the actual supply of the agricultural material is detected, and the continuously variable transmission is adjusted by an actuator so that the actual supply interval becomes the set supply interval.

3. The working machine according to claim 2, wherein: An unequal speed transmission device is provided on the downstream side of the continuously variable transmission device for changing the angular velocity of the output power relative to the angular velocity of the input power. The operating rotation speed detection unit detects the rotation speed of a transmission system between the continuously variable transmission and the invariant speed transmission on the upstream side of the invariant speed transmission.

4. The working machine according to claim 1, wherein: The working device intermittently supplies the agricultural materials to the field surface at a preset supply interval along the traveling direction of the machine body. Inside the gearbox, the power of the working transmission system is transmitted to the working device through the continuously variable transmission device. Based on the detection result of the operating rotation speed detection unit, the continuously variable transmission is finely adjusted by an actuator so that the supply interval of the agricultural material becomes the set supply interval.

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