Working machine

Abstract

To provide a work machine capable of appropriately setting an interval at which an agricultural material is supplied.SOLUTION: A work machine comprises: a continuously variable gear 45 to which power is transmitted from a prime mover part; a transmission case in which the continuously variable gear 45 is provided; and a work device for intermittently supplying an agricultural material to a farm field.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work machine, such as a riding rice transplanter or a riding direct seeding machine, that supplies agricultural materials such as seedlings, seeds, fertilizers, and chemicals to a field. [Background technology]

[0002] One example of a paddy field working machine is a riding rice transplanter having a configuration such as that disclosed in Patent Document 1. In Patent Document 1, the power of an engine (corresponding to a motor) is transmitted to a transmission, and the power of the transmission is branched in parallel and transmitted to the traveling wheels and the seedling planting device (corresponding to a working device).

[0003] This allows the seedling planting device to plant seedlings (equivalent to agricultural materials) in the rice field at a predetermined spacing (equivalent to the supply interval) along the direction of travel of the machine body.Even if the transmission is operated to change the machine body's travel speed, the power transmitted to the seedling planting device is the power of the transmission device, so the spacing between plants by the seedling planting device is maintained at a constant interval. In Patent Document 1, the power of the transmission is transmitted to the seedling planting device through a spacing transmission, and the spacing between rows can be set to a desired interval by operating the spacing transmission. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-70653 Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, the inter-row transmission is a gear-type transmission with multiple speed change positions. In recent years, there has been an increasing demand for appropriate setting of the supply interval depending on the condition of the paddy field and agricultural materials.

[0006] The present invention aims to enable appropriate setting of supply intervals in a paddy field working machine equipped with a working device that intermittently supplies agricultural materials to a field at predetermined supply intervals along the traveling direction of the machine body. [Means for solving the problem]

[0007] The working machine of the present invention includes a continuously variable transmission to which power from a driving part is transmitted, a transmission case in which the continuously variable transmission is provided, and a working device that intermittently supplies agricultural materials to a field. In addition, the paddy field working machine of the present invention is equipped with a continuously variable transmission to which the power of the prime mover is transmitted, a transmission case in which the continuously variable transmission is provided, and a work device that intermittently supplies agricultural materials to the surface of the rice field at a predetermined supply interval along the traveling direction of the machine body, and inside the transmission case, the power of the work transmission system is transmitted to the work device through the continuously variable transmission, and inside the transmission case, downstream of the continuously variable transmission, a work rotation speed detection unit is provided that detects the rotation speed of the power from the continuously variable transmission, and based on the detection result of the work rotation speed detection unit, the continuously variable transmission is fine-tuned by an actuator so that the supply interval of the agricultural materials becomes the set supply interval. In addition, the paddy field working machine of the present invention is a transmission to which the power of the driving part is transmitted; and a work device that intermittently supplies agricultural materials to the rice paddy surface at predetermined supply intervals along the traveling direction of the machine body, The power of the transmission device is branched in parallel to a traveling transmission system and a work transmission system, the power of the traveling transmission system is transmitted to the wheels for traveling, and the power of the work transmission system is transmitted to the work device through a continuously variable transmission device, and a work rotation speed detection unit is provided downstream of the continuously variable transmission device to detect the rotation speed of the power from the continuously variable transmission device.

[0008] According to the present invention, the power of the work transmission system is transmitted to the work implement through a continuously variable transmission, and by operating the continuously variable transmission, many supply intervals can be set between the highest speed position and the lowest speed position of the continuously variable transmission. This makes it possible to set the supply interval precisely and appropriately depending on the condition of the paddy field and agricultural materials, thereby improving the working accuracy of the paddy field working machine.

[0009] According to the present invention, the work rotation speed detection unit that detects the rotation speed of the power from the continuously variable transmission is provided downstream of the continuously variable transmission. This allows the rotation speed of the power from the continuously variable transmission to be properly detected, so that when operating the continuously variable transmission, the working rotation speed detection unit can be used to detect (for feedback) the operating position of the continuously variable transmission.

[0010] For example, in continuously variable transmissions, power transmission losses can occur more frequently than in gear-type transmissions, such as hydraulic oil leaks in hydrostatic continuously variable transmissions and slippage of the transmission belt in belt-type continuously variable transmissions.

[0011] As in the present invention, when a working rotation speed detection unit that detects the rotation speed of the power from the continuously variable transmission is provided downstream of the continuously variable transmission, the actual rotation speed of the continuously variable transmission, which includes power transmission loss, can be detected, and therefore the working rotation speed detection unit can be used to correct power transmission loss in the continuously variable transmission.

[0012] In the present invention, A variable speed transmission is provided that changes the angular velocity of the output power relative to the input power, It is preferable that the power of the continuously variable transmission be transmitted to the working device through the variable speed transmission.

[0013] For example, in a riding rice transplanter, which is an example of a paddy field work machine, if the spacing between plants (supply interval) of the seedling planting device (working device) is set to be particularly large or particularly small, the operating speed of the seedling planting device (rotation speed of the planting arm) may become too slow or too fast, and the seedlings may not be properly planted in the rice field surface.

[0014] According to the present invention, the power of the continuously variable transmission is transmitted to the working implement through the variable speed transmission, so that even if the operating speed of the working implement is particularly low (high), the operating speed of the working implement in the vicinity of where agricultural materials are supplied to the rice field surface can be made to an appropriate value by the variable speed transmission. This makes it possible to avoid situations where the seedlings cannot be properly planted in the rice field, for example, when the spacing between plants is set particularly large or particularly small in a seedling planting device.

[0015] In the present invention, It is preferable that the work rotation speed detection unit detects the rotation speed of the transmission system between the continuously variable transmission device and the variable speed transmission device downstream of the continuously variable transmission device and upstream of the variable speed transmission device.

[0016] As described above, in a configuration in which the power of a continuously variable transmission is transmitted to a working device through a variable speed transmission device, the present invention makes it possible to appropriately detect the rotation speed of the power from the continuously variable transmission device without being affected by the variable speed transmission device.

[0017] In the present invention, power of the traveling transmission system is transmitted to the wheels through an auxiliary transmission device, It is preferable that a traveling rotation speed detection unit be provided upstream of the auxiliary transmission device to detect the rotation speed of the transmission system between the auxiliary transmission device and a branch point of the traveling transmission system and the work transmission system.

[0018] If the power from the transmission is transmitted directly to the traveling transmission system, the rotational speed of the power transmitted to the wheels may become high. Therefore, the power of the traveling transmission system is sometimes configured to be reduced in speed by an auxiliary transmission before being transmitted to the wheels.

[0019] In the above-described configuration, when detecting the rotation speed of the traveling transmission system, according to the present invention, the rotation speed of the transmission system between the branch point of the traveling transmission system and the work transmission system and the sub-transmission is detected by a traveling rotation speed detection unit on the upstream side of the sub-transmission.

[0020] This allows the rotation speed of the traveling transmission system to be detected at a high speed before being decelerated by the sub-transmission, and the rotation speed of the traveling transmission system can be detected with high accuracy. The detected rotation speed of the traveling transmission system can be effectively used to indicate the traveling speed of the machine body and to operate the continuously variable transmission of the work transmission system.

[0021] In the present invention, The continuously variable transmission is preferably a hydrostatic continuously variable transmission.

[0022] According to the present invention, since the continuously variable transmission is a hydrostatic continuously variable transmission, by operating the hydrostatic continuously variable transmission, it is possible to easily make fine speed changes, such as slightly shifting the power transmitted to the working device to a higher speed or a lower speed. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a side view of a riding rice transplanter. [Figure 2] FIG. 1 is a plan view of a riding rice transplanter. [Figure 3] FIG. 2 is a cross-sectional plan view showing the vicinity of the travel transmission system in the transmission case. [Figure 4] FIG. 2 is a cross-sectional plan view showing the vicinity of the work transmission system in the transmission case. [Figure 5] FIG. 2 is a diagram showing the state of cooperation between the control device and each part. [Figure 6] FIG. [Figure 7] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0024] In an embodiment of the present invention, a riding rice transplanter is shown as an example of a paddy field working machine for performing planting work in paddy fields. Unless otherwise specified, the front-rear direction and the left-right direction in the embodiments of the present invention are described as follows: The direction of travel of the forward moving side when the vehicle 11 is traveling is "forward," and the direction of travel of the backward moving side is "rear." With the forward posture in the front-rear direction as the reference, the direction corresponding to the right side is "right," and the direction corresponding to the left side is "left."

[0025] (Overall configuration of riding rice transplanter) As shown in Figures 1 and 2, the riding rice transplanter has a body 11 with right and left front wheels 1 (corresponding to wheels for driving) and right and left rear wheels 2 (corresponding to wheels for driving) at the rear, a link mechanism 3 and a hydraulic cylinder 4 that drives the link mechanism 3 up and down, and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3.

[0026] The seedling planting device 5 comprises a planting transmission case 6 arranged at a predetermined interval in the left-right direction, a rotating case 7 rotatably supported on the right and left rear sides of the planting transmission case 6, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, and a seedling tray 10.

[0027] Right and left markers 12 are provided on the right and left lateral sides of the seedling planting device 5. The markers 12 can be freely changed between an operational position (see Figure 1) in which they are in contact with the paddy field surface G (see Figure 5) and a storage position in which they are spaced above the paddy field surface G, and a rotating body 12a is rotatably supported at the tip of the marker 12. In the operational position of the marker 12, the rotating body 12a of the marker 12 is in contact with the paddy field surface G, and as the machine body 11 travels, the rotating body 12a of the marker 12 forms an index on the paddy field surface G while rotating.

[0028] (Configuration around the driver's section) As shown in FIGS. 1 and 2, a body 11 is provided with a driver's seat 13 and a steering handle 14 for steering the front wheels 1.

[0029] Right and left support frames 16 are provided on the right and left front portions of the machine body 11, and spare seedling trays 15 are supported on the support frames 16. A support frame 17 is connected across the upper portions of the right and left support frames 16.

[0030] A measuring device 18 is attached to the support frame 17 at a portion located at the center CL of the airframe 11 in a plan view. The measuring device 18 is equipped with a receiving device (not shown) that acquires position information using a satellite positioning system, and an inertial measurement unit (not shown) that detects the inclination (pitch angle and roll angle) of the airframe 11, and the measuring device 18 outputs positioning data that indicates the position of the airframe 11.

[0031] An inertial measurement unit 19 that measures inertial information is attached to a rear axle case 22 that supports the right and left rear wheels 2, at a portion located at the left-right center CL of the vehicle body 11 in a plan view. The inertial measurement of the inertial measurement unit 19 and the measurement unit 18 is performed by an IMU (Inertial Measurement Unit).

[0032] A representative example of the aforementioned satellite positioning system (GNSS: Global Navigation Satellite System) is the Global Positioning System (GPS). The GPS measures the position of the receiver of the measuring device 18 using multiple GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and a receiver provided in the target (aircraft 11) whose position is to be measured.

[0033] The inertial measurement unit 19 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle of the aircraft 11, and an acceleration sensor (not shown) that detects acceleration in three mutually orthogonal axis directions. The inertial information measured by the inertial measurement unit 19 includes orientation change information detected by the gyro sensor and position change information detected by the acceleration sensor. As a result, the position and orientation of the airframe 11 are detected by the measurement device 18 and the inertial measurement unit 19 .

[0034] (Configuration around the transmission case) As shown in Figure 1, a transmission case 20 is supported at the front of the vehicle body 11, and right and left front wheels 1 are supported on front axle cases 21 connected to the right and left lateral sides of the transmission case 20. A rear axle case 22 is supported at the rear of the vehicle body 11, and right and left rear wheels 2 are supported on the rear axle case 22.

[0035] 1 and 3, an engine 23 (corresponding to a driving part) is supported in the front part of the transmission case 20. A hydrostatic continuously variable transmission 24 (corresponding to a transmission) is connected to the left lateral side part of the transmission case 20, and the power of the engine 23 is transmitted to an input shaft 24a of the continuously variable transmission 24 via a transmission belt 25.

[0036] The continuously variable transmission 24 is configured to be able to change speeds continuously between a neutral position, forward travel, and reverse travel, and is operated by a speed change lever 30 provided on the left side of the steering handle 14.

[0037] 6 and 7, a plurality of fins 20a extending in the up-down direction are provided on the outer surfaces of the right and left side walls of the transmission case 20. A plurality of fins 20b extending in the front-rear direction are provided on the outer surface of the bottom of the transmission case 20. The fins 20a, 20b of the transmission case 20 promote heat dissipation from the transmission case 20 and suppress a rise in temperature of the hydraulic oil inside the transmission case 20.

[0038] Since the fins 20a of the transmission case 20 are aligned in the vertical direction, even if mud begins to adhere to the fins 20a of the transmission case 20, the mud tends to fall to the bottom. Since the fins 20b of the transmission case 20 are aligned in the front-rear direction, mud thrown rearward from the front wheels 1 is less likely to accumulate on the fins 20b of the transmission case 20.

[0039] (Configuration of the driving transmission system for the front and rear wheels) 3, a pump 26 is connected to the right lateral side of the transmission case 20, and the pump 26 supplies hydraulic oil to the hydraulic cylinder 4. The input shaft 24a of the continuously variable transmission 24 is inserted into the transmission case 20, and a transmission shaft 27 is connected between the input shaft 26a of the pump 26 and the input shaft 24a of the continuously variable transmission 24.

[0040] Transmission shafts 28, 29 are supported in the left-right direction inside the transmission case 20, and the output shaft 24b of the continuously variable transmission 24 is connected to an end of the transmission shaft 28. A gear-type sub-transmission device 31 is provided inside the transmission case 20 and extends across the transmission shafts 28, 29.

[0041] The auxiliary transmission 31 includes a low-speed gear 32 and a high-speed gear 33 connected to the transmission shaft 28, and a shift gear 34 fitted onto the transmission shaft 29 by a spline structure so as to be slidable and rotatable integrally therewith. The shift gear 34 can be slid using an auxiliary speed change lever (not shown) provided near the driver's seat 13.

[0042] In the auxiliary transmission device 31, when the shift gear 34 is engaged with the low-speed gear 32, the power of the transmission shaft 28 is transmitted to the transmission shaft 29 at a low speed, and when the shift gear 34 is engaged with the high-speed gear 33, the power of the transmission shaft 28 is transmitted to the transmission shaft 29 at a high speed. When planting work is carried out in a paddy field, the sub-transmission device 31 is operated to a low speed state, and when traveling at high speed on a road or the like, the sub-transmission device 31 is operated to a high speed state.

[0043] Right and left front axles 35 that transmit power to the right and left front wheels 1 are supported across the transmission case 20 and the front axle case 21, and a front wheel differential device 36 is provided between the right and left front axles 35. A transmission gear 37 connected to the transmission shaft 29 is in mesh with a transmission gear 38 connected to a case 36a of the front wheel differential device 36.

[0044] An output shaft 39 is supported in the fore-and-aft direction at the rear of the transmission case 20, and a bevel gear 40 connected to the case 36a of the front wheel differential device 36 is engaged with a bevel gear 39a formed at the front of the output shaft 39.

[0045] As shown in Figures 1 and 3, a transmission shaft 41 is connected to the rear of the output shaft 39 via a universal joint (not shown), and the rear of the transmission shaft 41 is connected to the input shaft (not shown) of the rear axle case 22 via a universal joint (not shown).

[0046] With the above configuration, the power changed in speed by the continuously variable transmission 24 is transmitted from the output shaft 24b of the continuously variable transmission 24 to the right and left front wheels 1 via the transmission shaft 28, the sub-transmission device 31, the transmission shaft 29, the transmission gears 37, 38, the front wheel differential device 36 and the front axle 35. The power transmitted to the front wheel differential device 36 is transmitted to the right and left rear wheels 2 via the bevel gear 40, the output shaft 39 (bevel gear 39a), the transmission shaft 41, and a transmission shaft (not shown) inside the rear axle case 22.

[0047] A multi-plate brake 42 is fitted to the output shaft 39, and the brake 42 can be put into a braking state by stepping on a brake pedal 43 shown in Figure 2. By applying the brake to the output shaft 39 with the brake 42, the front wheels 1 and rear wheels 2 can be braked.

[0048] A differential lock member 44 is fitted to the left front axle 35 by a key structure so as to be rotatable and slidable integrally therewith. By stepping on a differential lock pedal (not shown) provided below the driver's seat 13, the differential lock member 44 is slid to engage with the case 36a of the front wheel differential device 36, thereby operating the front wheel differential device 36 into a differential lock state.

[0049] With the above configuration, the power of the continuously variable transmission 24 (transmission) is branched in parallel to the traveling transmission system and the working transmission system, and the power of the traveling transmission system is transmitted to the front wheels 1 and rear wheels 2 (wheels for traveling). The power of the traveling transmission system is transmitted through the auxiliary transmission device 31 to the front wheels 1 and rear wheels 2 (travel wheels).

[0050] (Configuration of the work transmission system for the seedling planting device) 4, a hydrostatic type continuously variable transmission 45 is connected to the right lateral side of the transmission case 20, and an input shaft 45a of the continuously variable transmission 45 is connected to the transmission shaft 28. The input shaft 45a of the continuously variable transmission 45 protrudes from the opposite side of the transmission case 20, and a fan 46 that sends cooling air to the continuously variable transmission 45 is connected to the protruding portion of the input shaft 45a of the continuously variable transmission 45.

[0051] A transmission shaft 47 is connected to the output shaft 45b of the continuously variable transmission 45. Transmission shafts 48 and 49 are supported inside the transmission case 20 along the left-right direction, and the end of transmission shaft 49 is supported concentrically with transmission shaft 47 so as to be rotatable relative to it.

[0052] A transmission gear 50 having two sets of gears is rotatably fitted onto the outside of the transmission shaft 48. A transmission gear 47a formed on the transmission shaft 47 meshes with a large-diameter gear portion of the transmission gear 50, and a transmission gear 51 connected to the transmission shaft 49 meshes with a small-diameter gear portion of the transmission gear 50.

[0053] A gear-type variable speed transmission 52 is provided inside the transmission case 20 across the transmission shafts 48, 49, and a bevel gear 53 is connected to the transmission shaft 48. An output shaft 54 ​​is supported in the front-to-rear direction at the rear of the transmission case 20, and a bevel gear 55 is fitted onto the front of the output shaft 54 ​​via a drive clutch 56, with the bevel gears 53, 55 meshing with each other.

[0054] As shown in Figures 1 and 4, a transmission shaft 57 is connected to the rear of the output shaft 54 ​​via a universal joint (not shown), and the rear of the transmission shaft 57 is connected to the input shaft (not shown) of the seedling planting device 5 via a universal joint (not shown).

[0055] With the above configuration, the power changed in speed by the continuously variable transmission 24 is transmitted from the output shaft 24b of the continuously variable transmission 24 to the continuously variable transmission 45 via the transmission shaft 28 and the input shaft 45a of the continuously variable transmission 45.

[0056] The power changed in speed by the continuously variable transmission 45 is transmitted from the output shaft 45b of the continuously variable transmission 45 to the seedling planting device 5 via the transmission shaft 47 (transmission gear 47a), transmission gears 50, 51, transmission shaft 49, variable speed transmission device 52, transmission shaft 48, bevel gears 53, 55, planting clutch 56, output shaft 54, and transmission shaft 57.

[0057] When the planting clutch 56 is operated to the transmission state, power is transmitted to the seedling planting device 5, and the seedling planting device 5 operates. When the seedling planting device 5 is operated, as shown in Fig. 2, the seedling tray 10 is driven to move back and forth horizontally, and the rotating case 7 is driven to rotate counterclockwise in Fig. 5, and two sets of planting arms 8 alternately take out seedlings A (corresponding to agricultural materials) from the bottom of the seedling tray 10 and plant them in the rice field G. As a result, as shown in Fig. 5, the seedlings A are intermittently planted in the rice field G along the traveling direction F1 of the machine body 11 at a preset set spacing L1 (corresponding to the supply interval). When the planting clutch 56 is operated to the disconnected state, power to the seedling planting device 5 is cut off, the seedling planting device 5 stops, and the seedling tray 10 and the rotating case 7 stop.

[0058] With the above configuration, the power of the continuously variable transmission 24 (transmission device) is branched in parallel to the traveling transmission system and the work transmission system, and the power of the work transmission system is transmitted to the seedling planting device 5 (work device) through the continuously variable transmission device 45 and the variable speed transmission device 52.

[0059] (Configuration of variable speed transmission device) As shown in FIG. 4, the variable speed transmission device 52 includes a constant speed gear 58 and a variable speed gear 59 connected to the transmission shaft 49, and a constant speed gear 60 and a variable speed gear 61 fitted onto the transmission shaft 48 so as to be rotatable relative to each other, with the constant speed gears 58 and 60 meshing with each other and the variable speed gears 59 and 61 meshing with each other.

[0060] The speed-changing member 62 is supported inside the transmission shaft 48 so that it can slide freely, and by sliding the speed-changing member 62 and engaging the balls with the constant velocity gear 60 and the variable velocity gear 61, the constant velocity gear 60 and the variable velocity gear 61 with the engaged balls can be connected to the transmission shaft 48.

[0061] The constant velocity gears 58, 60 are circular gears with the same diameter. As a result, when the balls are engaged with the constant velocity gear 60 by the speed-changing member 62, the power of one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as power of one rotation at a constant angular velocity.

[0062] The variable speed gears 59, 61 are elliptical gears, eccentric gears, or non-circular gears. When the ball is engaged with one of the variable speed gears 61 by the speed change member 62, the power of one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as power of one rotation, but the angular velocity during one rotation changes between high and low.

[0063] When the variable speed gears 59, 61 are eccentric gears, multiple shifts of the gear teeth are set for one eccentric gear, and the shifts are set differently depending on the gear teeth. This reduces variations in backlash of the variable speed gears 59, 61, and enables smooth power transmission by the variable speed gears 59, 61.

[0064] (Configuration of the control system that operates the continuously variable transmission) 5, a control device 63 is provided on the machine body 11. A setting unit 64 for setting the set plant spacing L1 is provided near the driver's seat 13 or the steering handle 14, and an operation signal from the setting unit 64 is input to the control device 63.

[0065] The setting unit 64 is a type of operating lever that is manually operated by the operator, and the operator can arbitrarily set (select) the set plant spacing L1 in a stepless manner between the maximum spacing L11 and the minimum spacing L12.

[0066] 4 and 5, a gear-toothed rotating body 49a is connected to the transmission shaft 49 so as to rotate integrally with the transmission shaft 49. A pickup sensor type work rotation speed detection unit 65 is provided for the rotating body 49a of the transmission shaft 49, and the detection value of the work rotation speed detection unit 65 is input to the control device 63.

[0067] As a result, downstream of the continuously variable transmission 45 and upstream of the variable speed transmission 52, the rotation speed of the transmission system (transmission shaft 49) between the continuously variable transmission 45 and the variable speed transmission 52 is detected by the work rotation speed detection unit 65 as the rotation speed of the power from the continuously variable transmission 45 and input to the control device 63.

[0068] A gear-tooth-shaped rotating body 28a is connected to the transmission shaft 28 so as to rotate integrally with the transmission shaft 28. A pickup sensor-type running rotation speed detection unit 66 is provided for the rotating body 28a of the transmission shaft 28, and the detection value of the running rotation speed detection unit 66 is input to the control device 63.

[0069] As a result, a traveling rotation speed detection unit 66 is provided upstream of the auxiliary transmission device 31 to detect the rotation speed of the transmission system between the branch point (transmission shaft 28) of the traveling transmission system and the work transmission system and the auxiliary transmission device 31.

[0070] An electric motor type actuator 67 is provided to change the angle of the swash plate (not shown) of the continuously variable transmission 45 to operate the continuously variable transmission 45, and an operation signal is output from the control device 63 to the actuator 67.

[0071] 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.

[0072] (Slip ratio detection) When planting work is performed in a paddy field, slippage occurs in the front wheels 1 and rear wheels 2, and the slippage detection unit 68 detects the slippage as described below.

[0073] In this case, when slippage occurs in the front wheel 1 and the rear wheel 2, the front wheel 1 and the rear wheel 2 spin freely, and the vehicle 11 does not move forward even though the front wheel 1 and the rear wheel 2 are rotating.

[0074] During planting work, a certain first point in time and a subsequent second point in time that is a set time after the first point in time are detected by the timer 70. Between the first time point and the second time point, the first traveling distance detection unit 71 detects the actual traveling distance of the aircraft 11 based on the detection of the position and orientation of the aircraft 11 by the measurement device 18 and the inertial measurement unit 19. In this case, the detection value of the first traveling distance detection unit 71 includes the slippage of the front wheel 1 and the rear wheel 2.

[0075] From the first time point to the second time point, the second traveling distance detection unit 72 detects (calculates) the traveling distance of the vehicle 11 based on the outer diameters of the front wheel 1 and the rear wheel 2 and the detection value (the rotation speed of the front wheel 1 and the rear wheel 2) of the traveling rotation speed detection unit 66. In this case, the detection value of the second traveling distance detection unit 72 does not include slippage of the front wheel 1 and the rear wheel 2.

[0076] The slip ratio detection unit 68 compares the detection value of the first traveling distance detection unit 71 with the detection value of the second traveling distance detection unit 72. When slippage occurs in the front wheel 1 and the rear wheel 2, the detection value of the first mileage detection unit 71 becomes smaller than the detection value of the second mileage detection unit 72, and it can be determined that the greater the difference between the detection values ​​of the first mileage detection unit 71 and the second mileage detection unit 72, the more slippage is occurring in the front wheel 1 and the rear wheel 2.

[0077] As a result, the slip ratio is detected by the slip ratio detection unit 68 based on the detection value of the first traveling distance detection unit 71 and the detection value of the second traveling distance detection unit 72. Once the slip ratio from the first point in time to the second point in time has been detected, the slip ratio from the second point in time to the third point in time after a set time has elapsed is detected, and the detection of the slip ratio is continuously repeated.

[0078] (Setting spacing at the start of planting work) When planting in a paddy field, the following operations are carried out. At the start of planting work, the operator sets (selects) the set spacing L1 using the setting unit 64, as described above (Configuration of the control system that operates the continuously variable transmission).

[0079] When planting work is started with the set plant spacing L1 set by the setting unit 64, an operation signal is output from the control unit 69 to the actuator 67 corresponding to the set plant spacing L1, and the actuator 67 operates the continuously variable transmission 45. At this stage, slippage of the front wheel 1 and the rear wheel 2 is not taken into consideration, so the shift position of the continuously variable transmission 45 is uniquely determined, and the continuously variable transmission 45 is operated to the shift position corresponding to the set stock interval L1.

[0080] Since hydraulic oil leaks can occur in the continuously variable transmission 45, the rotation speed of the output shaft 45b of the continuously variable transmission 45 becomes slightly slower than the rotation speed at the speed change position corresponding to the set stock spacing L1, and as a result, the actual stock spacing L (equivalent to the supply interval) can become slightly larger than the set stock spacing L1.

[0081] In this case, based on the detection value of the working rotation speed detection unit 65 (the rotation speed of the output shaft 45b of the continuously variable transmission 45), the continuously variable transmission 45 is finely adjusted by the actuator 67 at a speed change position corresponding to the set plant spacing L1 so that the rotation speed of the output shaft 45b of the continuously variable transmission 45 becomes the rotation speed corresponding to the set plant spacing L1.

[0082] (Adjusting spacing between plants based on slip rate detection during planting) As the planting work progresses, the slip ratio is detected by the slip ratio detection unit 68, and the continuously variable transmission 45 is automatically operated as described below so that the actual plant spacing L becomes the set plant spacing L1.

[0083] As described in the previous section (Setting the spacing between plants at the start of planting work), when the continuously variable transmission 45 is operated to a speed change position corresponding to the set spacing between plants L1, as the planting work progresses, the slip ratio is detected by the slip ratio detection unit 68 as described in the previous section (Detecting the slip ratio).

[0084] The actual spacing L between plants is detected by the supply interval detection unit 73 based on the detection value of the working rotation speed detection unit 65 (the rotation speed of the output shaft 45b of the continuously variable transmission 45) and the detection value of the running rotation speed detection unit 66 (the rotation speed of the front wheel 1 and the rear wheel 2). Specifically, the length corresponding to the slip rate is calculated, and the actual plant spacing L is detected by subtracting the length corresponding to the slip rate from the set plant spacing L1.

[0085] As a result, an operation signal is output from the control unit 69 to the actuator 67, and the actuator 67 operates the continuously variable transmission 45 so that the actual row spacing L detected by the supply interval detection unit 73 becomes the set row spacing L1.

[0086] (Operation of variable speed transmission based on set plant spacing) If the set distance between plants L1 set by the setting unit 64 is not particularly large or not particularly small, the operator simply sets the variable speed transmission device 52 to a state in which power is transmitted by the constant speed gears 58, 60.

[0087] If the set plant spacing L1 set by the setting unit 64 is particularly large or particularly small, the operator simply slides the speed-changing member 62 in the variable speed transmission device 52 to select from the variable speed gears 59, 61 the non-constant speed gear 59, 61 that is suitable for the set plant spacing L1 set by the setting unit 64 (by connecting it to the transmission shaft 48).

[0088] If the set spacing L1 set by the setting unit 64 is particularly large, the rotation speed of the rotating case 7 will be too slow. As a result, in the region from when the planting arm 8 removes the seedling A from the seedling tray 10 to when the planting arm 8 plants the seedling A in the rice field G, the variable speed transmission device 52 can make the rotation speed of the rotating case 7 a little faster, so that the seedling A can be properly planted in the rice field G.

[0089] If the set spacing L1 set by the setting unit 64 is particularly small, the rotation speed of the rotating case 7 will be too high. As a result, in the range from when the planting arm 8 removes the seedling A from the seedling tray 10 to when the planting arm 8 plants the seedling A in the rice field G, the variable speed transmission device 52 can slightly slow down the rotation speed of the rotating case 7, allowing the seedling A to be properly planted in the rice field G.

[0090] (First Alternative Embodiment of the Invention) In the above-mentioned (setting the spacing between plants at the start of planting work), it is not necessary to perform fine adjustment of the continuously variable transmission 45 using the actuator 67 at a speed change position corresponding to the set spacing between plants L1 based on leakage of hydraulic oil from the continuously variable transmission 45.

[0091] When configured in this manner, when the actual plant spacing L is detected by the supply interval detection unit 73 in the aforementioned (adjusting the plant spacing based on detection of slip rate during planting work), the actual plant spacing L is detected by the supply interval detection unit 73 while taking into account both leakage of hydraulic oil from the continuously variable transmission 45 and slippage of the front wheel 1 and rear wheel 2.

[0092] In this case, if the leakage of hydraulic oil from the continuously variable transmission 45 is small and the slippage of the front wheel 1 and the rear wheel 2 is large, the actual distance L may be smaller than the set distance L1 set by the setting unit 64. Conversely, if the leakage of hydraulic oil from the continuously variable transmission 45 is large and the slippage of the front wheel 1 and the rear wheel 2 is small, the actual distance L may be larger than the set distance L1 set by the setting unit 64.

[0093] (Second Alternative Embodiment of the Invention) The measurement device 18 and the inertial measurement unit 19 may be eliminated. In this configuration, when the first running distance detection unit 71 detects the actual running distance of the machine 11, a rotation speed sensor (not shown) is provided on the rotating body 12a of the marker 12, and the actual running distance of the machine 11 can be detected by detecting the number of rotations when the rotating body 12a of the marker 12 comes into contact with the rice field surface G and rotates as the machine 11 runs.

[0094] Instead of the rotating body 12a of the marker 12, a dedicated rotating body (not shown) that rotates while in contact with the rice field surface G may be provided on the machine body 11 or the seedling planting device 5, and the number of rotations of this rotating body may be detected.

[0095] (Third Alternative Embodiment of the Invention) The setting unit 64 may be configured so that an operator sets (selects) one set distance L1 from a plurality of different set distances L1.

[0096] (Fourth Alternative Embodiment of the Invention) Instead of the worker manually operating the variable speed transmission device 52, the variable speed transmission device 52 may be configured to be automatically operated to an appropriate operating position based on the setting (selection) of the set stalk spacing L1 by the setting unit 64.

[0097] (Fifth Alternative Embodiment of the Invention) In the transmission case 20, the continuously variable transmission 24 may be provided on the right side of the transmission case 20, and the continuously variable transmission 45 may be provided on the left side of the transmission case 20.

[0098] A gear-type transmission (not shown) having a plurality of speed change positions may be provided instead of the continuously variable transmission 24. A belt-type continuously variable transmission 45 may be provided instead of the hydrostatic continuously variable transmission 45.

[0099] Inside the transmission case 20, the transmission shafts 28, 29, 47, 48, 49, etc. may be arranged in the front-rear direction instead of the left-right direction. Instead of the engine 23, an electric motor (not shown) may be used as the driving unit.

[0100] (Sixth Alternative Embodiment of the Invention) As shown in FIG. 4, inside the transmission case 20, a working rotation speed detection unit 65 may be configured to detect the rotation speed of the transmission shaft 47 (transmission gear 47a) and the rotation speed of the transmission gears 50, 51.

[0101] Inside the transmission case 20, the power of the transmission shaft 28 may be transmitted to an intermediate transmission shaft (not shown) via a transmission gear (not shown), and an auxiliary transmission device 31 may be provided between the intermediate transmission shaft and the transmission shaft 29. In this structure, the traveling rotation speed detection unit 66 may be configured to detect the rotation speed of the intermediate transmission shaft.

[0102] (Seventh Alternative Embodiment of the Invention) For example, if the total amount of seedlings A to be used in a single rice paddy is determined, it is possible to fine-tune the actual spacing L so that the seedlings A equivalent to this total amount are planted on the paddy field G without any excess or deficiency.

[0103] When carrying out the above-mentioned work, if data on the area of ​​the paddy field and data on the planting process, such as the route the machine 11 will take to perform the planting work, are obtained in advance, the required spacing L can be calculated using this data and the total number of seedlings A.

[0104] As a result, when an operator sets (selects) the set plant spacing L1 using the setting unit 64, if the set plant spacing L1 set by the setting unit 64 deviates significantly from the required plant spacing L mentioned above, the operator will be notified that he or she should set a set plant spacing L1 using the setting unit 64 that is close to the required plant spacing L (to alert the operator and prevent misunderstandings). When planting work is started in the above-mentioned state, the continuously variable transmission 45 is automatically operated so that the actual row spacing L becomes the required row spacing L mentioned above.

[0105] (Eighth Alternative Embodiment of the Invention) For example, a single rice paddy may be divided into smaller areas, and data on the state of rice growth and harvest yield from the previous year may be stored for each of the smaller areas. In the above-mentioned state, when planting work is carried out in the same rice paddy the next year, the continuously variable transmission 45 can be automatically operated based on the detection of the measuring device 18 and the inertial measurement device 19 so that planting work is carried out at the appropriate actual spacing L in each area of ​​the rice paddy. [Industrial Applicability]

[0106] The present invention can be applied not only to riding rice transplanters, but also to riding direct seeding machines equipped with a sowing device (corresponding to a working device) that supplies seeds (corresponding to agricultural materials) to the rice field surface G. The present invention can also be applied to paddy field working machines equipped with a fertilizing device (corresponding to a working device) that supplies fertilizer (corresponding to agricultural materials) to the rice field surface G, or an agent supplying device (corresponding to a working device) that supplies agent (corresponding to agricultural materials) to the rice field surface G. [Explanation of symbols]

[0107] 1 Front wheel (wheel) 2 Rear wheels (wheels) 5 Seedling planting device (work device) 11 aircraft 23 Engine (power unit) 24 Continuously variable transmission (transmission) 31 Sub-transmission device 45 Continuously variable transmission 52 Variable speed transmission 65 Working rotation speed detection unit 66 Running speed detection unit A Seedlings (agricultural materials) G Tanabe L Plant spacing (feeding interval) L1 Set plant spacing (feeding interval)

Claims

[Claim 1] a continuously variable transmission to which the power of the driving part is transmitted; a transmission case in which the continuously variable transmission is provided; and a work device for intermittently supplying agricultural materials to a field.

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