Working machine

Abstract

To allow a supply interval of an agricultural material to be suitably set.SOLUTION: A working machine comprises: a continuously variable transmission device 45 to which power of a driving part is transmitted; a transmission case provided with the continuously variable transmission device 45; and a working device for intermittently supplying an agricultural material to a field.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Among riding type rice transplanters, which are an example of paddy field working machines, there are those having a configuration as disclosed in Patent Document 1. In Patent Document 1, the power of an engine (corresponding to a power source) is transmitted to a transmission, and the power of the transmission is branched in parallel and transmitted to wheels for traveling and a seedling planting device (corresponding to a working device).

[0003] Thereby, seedlings (corresponding to agricultural materials) are planted on the paddy field surface at a plant spacing (corresponding to a supply interval) preset along the traveling direction of the machine body. Even if the traveling speed of the machine body changes by operating the transmission, the power transmitted to the seedling planting device is the power of the transmission, so the plant spacing 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 plant spacing transmission, and by operating the plant spacing transmission, the plant spacing can be set to a desired interval.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In Patent Document 1, the plant spacing transmission is a transmission having a plurality of stepped shift positions of a gear shift type. In recent years, there has been an increasing demand to appropriately set the supply interval according to the conditions of paddy fields and agricultural materials.

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

Means for Solving the Problem

[0007] The working machine of the present invention includes a first continuously variable transmission to which the power of the prime mover is transmitted, and the first continuously variable A second continuously variable transmission to which the power from the transmission is transmitted, and the power from the second continuously variable transmission is transmitted A working device that is transmitted and intermittently supplies agricultural materials to the field, and the power rotation speed from the second continuously variable transmission A first rotation speed detection unit that detects the number of rotations, and A rotational speed detector provided in a power transmission path from the first stepless transmission to the second stepless transmission, and separate from the rotational speed detection, A rotation speed detection unit that detects the power rotation speed from the second continuously variable transmission rot Rotation speed detection unit, are provided.

[0008] According to the present invention, the power of the working transmission system is transmitted to the working device through the continuously variable transmission, and by operating the continuously variable transmission, many supply intervals can be set between the maximum speed position and the minimum speed position of the continuously variable transmission device. As a result, the supply interval can be finely and appropriately set according to the conditions of paddy fields and agricultural materials, etc., and the working accuracy of the paddy field working machine can be improved.

[0009] According to the present invention, a working 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. As a result, the rotation speed of the power from the continuously variable transmission can be appropriately detected, so the working rotation speed detection unit can be used for detecting (feedback) the operation position of the continuously variable transmission when operating the continuously variable transmission.

[0010] For example, in a continuously variable transmission, power transmission losses may occur compared to a gear transmission type transmission, such as oil leakage of hydraulic oil in a hydrostatic continuously variable transmission or slippage of a transmission belt in a belt-type continuously variable transmission.

[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 on the downstream side of the continuously variable transmission, the actual rotation speed of the continuously variable transmission including the power transmission loss can be detected. Therefore, the working rotation speed detection unit can be used for correcting the power transmission loss in the continuously variable transmission.

[0012] In the present invention, a non-constant speed transmission that changes the angular velocity of the output power with respect to the input power is provided, it is preferable that the power of the continuously variable transmission is transmitted to the working device through the non-constant speed transmission.

[0013] For example, in a riding type rice transplanter which is an example of a paddy field working machine, if the plant spacing (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 low or too high, and the seedlings may not be properly planted on the paddy field surface.

[0014] According to the present invention, since the power of the continuously variable transmission is transmitted to the working device through the non-constant speed transmission, even if the operating speed of the working device is particularly low (high speed), the operating speed of the working device near the area where the agricultural material is supplied to the paddy field surface can be made an appropriate value by the non-constant speed transmission. Thereby, for example, in the seedling planting device, when the plant spacing is set to be particularly large or particularly small, a state where the seedlings cannot be properly planted on the paddy field surface can be avoided.

[0015] In the present invention, it is preferable that the working rotation speed detection unit detects the rotation speed of the transmission system between the continuously variable transmission and the non-constant speed transmission on the downstream side of the continuously variable transmission and on the upstream side of the non-constant speed transmission.

[0016] As described above, according to the present invention, in a configuration in which the power of the continuously variable transmission is transmitted to the work implement through the non-constant speed transmission, the rotational speed of the power from the continuously variable transmission can be appropriately detected without being affected by the non-constant speed transmission.

[0017] In the present invention, the power of the traveling transmission system is transmitted to the wheels through the sub-transmission, it is preferable that a traveling rotational speed detection unit for detecting the rotational speed of the transmission system between the branch point of the traveling transmission system and the work transmission system and the sub-transmission is provided upstream of the sub-transmission.

[0018] If the power from the transmission is directly transmitted to the traveling transmission system, the rotational speed of the power transmitted to the wheels may increase. Therefore, the power of the traveling transmission system may be configured to be decelerated by the sub-transmission and then transmitted to the wheels.

[0019] In the above-described configuration, when detecting the rotational speed of the traveling transmission system, according to the present invention, the rotational 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 the traveling rotational speed detection unit upstream of the sub-transmission.

[0020] Thereby, the rotational speed of the traveling transmission system can be detected in a high-speed state before being decelerated by the sub-transmission, and the rotational speed of the traveling transmission system can be accurately detected. The detected rotational speed of the traveling transmission system can be effectively used for displaying the traveling speed of the machine body and operating the continuously variable transmission of the work transmission system.

[0021] In the present invention, it is preferable that the continuously variable transmission is 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, fine shifting such as slightly shifting the power transmitted to the work implement to the high-speed side or slightly shifting it to the low-speed side can be performed without difficulty.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0024] In an embodiment of the present invention, a riding type rice transplanter, which is an example of a paddy field working machine for performing planting work in a paddy field, is shown. In the embodiment of the present invention, the front-back direction and the left-right direction are described as follows unless otherwise specified. When the machine body 11 is traveling, the forward direction on the forward side is "front", and the forward direction on the reverse side is "rear". Based on the forward posture in the front-back direction, the direction corresponding to the right side is "right", and the direction corresponding to the left side is "left".

[0025] (Overall Configuration of the Riding Type Rice Transplanter) As shown in FIGS. 1 and 2, the riding type rice transplanter includes a right and a left front wheel 1 (corresponding to a traveling wheel) and a right and a left rear wheel 2 (corresponding to a traveling wheel) at the rear part of a machine body 11. A link mechanism 3 and a hydraulic cylinder 4 for driving the link mechanism 3 up and down are provided, and a seedling planting device 5 (corresponding to a working device) is supported at the rear part of the link mechanism 3.

[0026] The seedling planting device 5 includes a planting transmission case 6 arranged at a predetermined interval in the left - right direction, a rotary case 7 rotatably supported on the right - hand side and the left - hand side of the rear part of the planting transmission case 6, a pair of planting arms 8 provided at both ends of the rotary case 7, a float 9, a seedling placing table 10, and the like.

[0027] Right and left markers 12 are provided on the right and left lateral sides of the seedling planting device 5. The marker 12 can be changed between an operating posture (see FIG. 1) in which it contacts the field surface G (see FIG. 5) and a storage posture in which it is separated upward from the field surface G. A rotating body 12a is rotatably supported at the tip of the marker 12. In the operating posture of the marker 12, the rotating body 12a of the marker 12 contacts the field surface G, and as the machine body 11 travels, the rotating body 12a of the marker 12 forms an index on the field surface G while rotating.

[0028] (Configuration near the operation part) As shown in FIGS. 1 and 2, the machine 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 parts of the front part of the machine body 11, and a spare seedling placing table 15 is supported on the support frames 16. A support frame 17 is connected across the upper parts of the right and left support frames 16.

[0030] In the support frame 17, a measuring device 18 is attached to a portion located at the left - right center CL of the machine body 11 in plan view. The measuring device 18 is provided with a receiving device (not shown) for acquiring position information by a satellite positioning system and an inertial measuring device (not shown) for detecting the inclination (pitch angle and roll angle) of the machine body 11, and the measuring device 18 outputs positioning data indicating the position of the machine body 11.

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

[0032] Among the aforementioned satellite positioning systems (GNSS: Global Navigation Satellite System), a typical one is GPS (Global Positioning System). GPS uses a plurality of GPS satellites orbiting the earth's upper atmosphere, a control station for tracking and controlling the GPS satellites, and a receiving device provided in the object to be positioned (aircraft body 11) to measure the position of the receiving device of the measurement device 18.

[0033] The inertial measurement device 19 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the aircraft body 11 and an acceleration sensor (not shown) for detecting accelerations in three mutually orthogonal axial directions. The inertial information measured by the inertial measurement device 19 includes azimuth change information detected by the gyro sensor and position change information detected by the acceleration sensor. Thereby, the position and azimuth of the aircraft body 11 are detected by the measurement device 18 and the inertial measurement device 19.

[0034] (Configuration near the transmission case) As shown in FIG. 1, a transmission case 20 is supported at the front portion of the aircraft body 11, and the right and left front wheels 1 are supported on a front axle case 21 connected to the right and left lateral portions of the transmission case 20. A rear axle case 22 is supported at the rear portion of the aircraft body 11, and the right and left rear wheels 2 are supported on the rear axle case 22.

[0035] As shown in FIGS. 1 and 3, an engine 23 (corresponding to a prime mover) is supported at the front part of a transmission case 20. A hydrostatic continuously variable transmission 24 (corresponding to a transmission) is connected to the left lateral 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 continuously variable in a neutral position, a forward side, and a reverse side, and is operated by a shift lever 30 provided on the left lateral side of a steering handle 14.

[0037] As shown in FIGS. 6 and 7, a plurality of fins 20a along the vertical direction are provided on the outer surfaces of the right and left lateral wall parts of the transmission case 20. A plurality of fins 20b along the front-rear direction are provided on the outer surface of the bottom part of the transmission case 20. The fins 20a and 20b of the transmission case 20 promote heat dissipation of the transmission case 20 and suppress an increase in the temperature of the hydraulic oil inside the transmission case 20.

[0038] Since the fins 20a of the transmission case 20 are along the vertical direction, even if mud is about to adhere to the fins 20a of the transmission case 20, the mud easily falls downward. Since the fins 20b of the transmission case 20 are along the front-rear direction, the mud flung from the front wheel 1 to the rear side hardly stays on the fins 20b of the transmission case 20.

[0039] (Configuration of a traveling transmission system for front and rear wheels) As shown in FIG. 3, a pump 26 is connected to the right lateral part of the transmission case 20, and the pump 26 supplies hydraulic oil to a hydraulic cylinder 4. The input shaft 24a of the continuously variable transmission 24 enters the transmission case 20, and a transmission shaft 27 is connected across an input shaft 26a of the pump 26 and the input shaft 24a of the continuously variable transmission 24.

[0040] Inside the transmission case 20, drive shafts 28 and 29 are supported along the left - right direction, and the output shaft 24b of the continuously variable transmission 24 is connected to the end of the drive shaft 28. Inside the transmission case 20, a gear - type auxiliary transmission 31 is provided across the drive shafts 28 and 29.

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

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

[0043] The 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 drive shaft 29 and a transmission gear 38 connected to the case 36a of the front - wheel differential device 36 are engaged with each other.

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

[0045] As shown in FIGS. 1 and 3, a drive shaft 41 is connected to the rear part of the output shaft 39 via a universal joint (not shown), and the rear part of the drive 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 transmitted 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 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 type brake 42 is externally fitted to the output shaft 39, and by stepping on the brake pedal 43 shown in Fig. 2, the brake 42 can be operated to a braking state. By applying braking to the output shaft 39 with the brake 42, braking can be applied to the front wheels 1 and the rear wheels 2.

[0048] The differential lock member 44 is externally fitted to the left front axle 35 so as to be integrally rotatable and slidable by a key structure. By stepping on a differential lock pedal (not shown) provided under the driver's seat 13, the differential lock member 44 is slid and engaged with the case 36a of the front wheel differential device 36, whereby the front wheel differential device 36 can be operated to 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 the rear wheels 2 (wheels for traveling). The power of the traveling transmission system is transmitted to the front wheels 1 and the rear wheels 2 (wheels for traveling) through the sub-transmission 31.

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

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

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

[0053] Inside the transmission case 20, a non - constant - velocity transmission 52 of gear - shift type is provided across the transmission shafts 48 and 49, and a bevel gear 53 is connected to the transmission shaft 48. An output shaft 54 is supported along the front - rear direction at the rear part of the transmission case 20, and a bevel gear 55 is externally fitted to the front part of the output shaft 54 via a planting clutch 56, and the bevel gears 53 and 55 are meshed.

[0054] As shown in FIGS. 1 and 4, a transmission shaft 57 is connected to the rear part of the output shaft 54 via a universal joint (not shown), and the rear part 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 shifted 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 shifted 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, non-constant velocity transmission 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 in the engaged state, power is transmitted to the seedling planting device 5, and the seedling planting device 5 operates. When the seedling planting device 5 operates, as shown in Fig. 2, as the seedling table 10 is driven to reciprocate horizontally left and right, the rotary case 7 is driven to rotate counterclockwise as shown in Fig. 5, and the two sets of planting arms 8 alternately take out the seedlings A (corresponding to agricultural materials) from the lower part of the seedling table 10 and plant them on the field surface G. As a result, as shown in Fig. 5, the seedlings A are intermittently planted on the field surface G at a preset set plant spacing L1 (corresponding to the supply interval) along the traveling direction F1 of the machine body 11. When the planting clutch 56 is operated in the disengaged state, the power to the seedling planting device 5 is cut off, the seedling planting device 5 stops, and the seedling table 10 and the rotary case 7 stop.

[0058] 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 working transmission system passes through the continuously variable transmission 45 and the non-constant velocity transmission 52 and is transmitted to the seedling planting device 5 (working device).

[0059] (Configuration of the non-constant velocity transmission) As shown in Fig. 4, the non-constant velocity transmission 52 includes a constant velocity gear 58 and a non-constant velocity gear 59 connected to the transmission shaft 49, and a constant velocity gear 60 and a non-constant velocity gear 61 that are relatively rotatably fitted over the transmission shaft 48. The constant velocity gears 58, 60 are engaged, and the non-constant velocity gears 59, 61 are engaged.

[0060] The transmission member 62 is slidably supported inside the transmission shaft 48. By sliding the transmission member 62 to engage the ball with the constant velocity gear 60 and the non-constant velocity gear 61, the constant velocity gear 60 and the non-constant velocity gear 61 with which the ball is engaged can be connected to the transmission shaft 48.

[0061] The constant velocity gears 58 and 60 are circular gears with the same diameter. Thus, when the ball is engaged with the constant velocity gear 60 by the transmission member 62, the power of one rotation of the transmission shaft 49 is transmitted to the transmission shaft 48 as the power of one rotation in a state of constant angular velocity.

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

[0063] When the non-constant velocity gears 59 and 61 are eccentric gears, a plurality of gear tooth dislocations are set in one eccentric gear, and they are set to have different dislocations depending on the gear teeth. Thereby, the variation in backlash of the non-constant velocity gears 59 and 61 can be reduced, and the power transmission by the non-constant velocity gears 59 and 61 can be made smooth.

[0064] (Configuration of the control system for operating the continuously variable transmission device) As shown in FIG. 5, the machine body 11 is provided with a control device 63. 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 the operation signal of the setting unit 64 is input to the control device 63.

[0065] The setting unit 64 is in the form of an operation lever that is manually operated by the operator. Between the maximum interval L11 and the minimum interval L12, the operator can arbitrarily set (select) the set plant spacing L1 steplessly.

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

[0067] Thereby, on the downstream side of the continuously variable transmission 45 and on the upstream side of the non-constant velocity transmission 52, the rotational speed of the transmission system (transmission shaft 49) between the continuously variable transmission 45 and the non-constant velocity transmission 52 is detected by the operating rotational speed detection unit 65 as the rotational speed of the power from the continuously variable transmission 45 and input to the control device 63.

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

[0069] Thereby, on the upstream side of the auxiliary transmission 31, a traveling rotational speed detection unit 66 for detecting the rotational speed of the transmission system between the branch point (transmission shaft 28) of the traveling transmission system and the working transmission system and the auxiliary transmission 31 is provided.

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

[0071] A slip ratio detection unit 68, a control unit 69, a timer 70, a first travel distance detection unit 71, a second travel distance detection unit 72, and a supply interval detection unit 73 are provided as software in the control device 63.

[0072] (Detection of Slip Ratio) When performing a planting operation in paddy fields, slip occurs in the front wheels 1 and the rear wheels 2. Therefore, in the slip ratio detection unit 68, the slip ratio is detected as described below.

[0073] In this case, the state where slip occurs in the front wheels 1 and the rear wheels 2 is a state where the front wheels 1 and the rear wheels 2 spin, and the aircraft body 11 does not move forward despite the front wheels 1 and the rear wheels 2 rotating.

[0074] In the planting operation, a certain first time point and the next second time point after the set time has elapsed from the first time point are detected by the timer 70. From the first time point to the second time point, based on the detection of the position and orientation of the aircraft body 11 by the measuring device 18 and the inertial measuring device 19, the actual travel distance of the aircraft body 11 is detected by the first travel distance detection unit 71. 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.

[0075] From the first time point to the second time point, based on the outer diameters of the front wheels 1 and the rear wheels 2 and the detection value (rotation speeds of the front wheels 1 and the rear wheels 2) of the travel rotation speed detection unit 66, the travel distance of the aircraft body 11 is detected (calculated) by the second travel distance detection unit 72. 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 the rear wheels 2.

[0076] The detection value of the first travel distance detection unit 71 and the detection value of the second travel distance detection unit 72 are compared by the slip rate detection unit 68. When slip occurs in the front wheels 1 and the rear wheels 2, the detection value of the first travel distance detection unit 71 becomes 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 more slip occurs in the front wheels 1 and the rear wheels 2 can be determined.

[0077] Thereby, 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, the slip rate is detected by the slip rate detection unit 68. When the slip rate from the first time point to the second time point is detected, the slip rate from the second time point to the next third time point after the set time has elapsed is detected, and the detection of the slip rate is continuously repeated.

[0078] (Setting of plant spacing at the start of planting operation) When performing a planting operation in a paddy field, the following operations are performed. At the start of the planting operation, as described in the above (Configuration of the control system for operating the continuously variable transmission), the operator sets (selects) the set plant spacing L1 by the setting unit 64.

[0079] When the planting operation is started in a state where the set plant spacing L1 is 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 continuously variable transmission 45 is operated by the actuator 67. 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 corresponding to the set plant spacing L1.

[0080] Since oil leakage may occur in the continuously variable transmission 45, the rotational speed of the output shaft 45b of the continuously variable transmission 45 becomes slightly lower than the rotational speed at the shift position corresponding to the set plant spacing L1, and the actual plant spacing L (corresponding to the supply interval) may become slightly larger than the set plant spacing L1 by this amount.

[0081] In this case, based on the detected value of the working rotational speed detection unit 65 (the rotational 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 the shift position corresponding to the set plant spacing L1 so that the rotational speed of the output shaft 45b of the continuously variable transmission 45 becomes the rotational speed corresponding to the set plant spacing L1.

[0082] (Adjustment of plant spacing based on detection of slip ratio during planting operation) As the planting operation progresses, as the slip ratio is detected by the slip ratio detection unit 68, 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 gear position corresponding to the set spacing between plants L1, as the planting work progresses, the slip ratio is detected by the slip ratio detection unit 68, as described in the previous section (Detection of slip ratio).

[0084] The actual spacing L is detected by the supply interval detection unit 73 based on the detection value of the working rotation speed detection unit 65 (the rotation speed of the output shaft 45b of the continuously variable transmission 45) and the detection value of the traveling rotation speed detection unit 66 (the rotation speed of the front wheel 1 and the rear wheel 2). Specifically, a length corresponding to the slip rate is calculated, and the actual spacing L is detected by subtracting the length corresponding to the slip rate from the set 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 spacing) If the set spacing L1 set by the setting unit 64 is not particularly large or is not particularly small, the operator simply sets the variable speed transmission device 52 to a state in which power is transmitted by the constant speed gears 58, 60.

[0087] When the set spacing L1 set by the setting unit 64 is particularly large or particularly small, the operator can slide the speed-changing member 62 in the variable speed transmission 52 to select from among the variable speed gears 59, 61 the variable speed gear 59, 61 that is suitable for the set 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 becomes too slow. As a result, in the region from the extraction of the seedling A from the seedling stand 10 by the planting arm 8 to the planting of the seedling A on the field surface G by the planting arm 8, the rotational speed of the rotary case 7 can be slightly increased by the non-uniform speed transmission device 52, so that the seedling A can be appropriately planted on the field surface G.

[0089] When the set plant spacing L1 set by the setting unit 64 is particularly small, the rotational speed of the rotary case 7 becomes too high. As a result, in the region from the extraction of the seedling A from the seedling stand 10 by the planting arm 8 to the planting of the seedling A on the field surface G by the planting arm 8, the rotational speed of the rotary case 7 can be slightly decreased by the non-uniform speed transmission device 52, so that the seedling A can be appropriately planted on the field surface G.

[0090] (First Alternative Embodiment of the Invention) In the above-mentioned (setting of plant spacing at the start of planting work), the operation of finely adjusting the continuously variable transmission device 45 by the actuator 67 at the transmission position corresponding to the set plant spacing L1 based on the leakage of the hydraulic oil of the continuously variable transmission device 45 may not be performed.

[0091] With such a configuration, in the above-mentioned (adjustment of plant spacing based on detection of slip ratio in planting work), 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 in a state where both the leakage of the hydraulic oil of the continuously variable transmission device 45 and the slip of the front wheels 1 and the rear wheels 2 are taken into consideration.

[0092] In this case, when the leakage of the hydraulic oil of the continuously variable transmission device 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 spacing L1 set by the setting unit 64. Conversely, when the leakage of the hydraulic oil of the continuously variable transmission device 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 spacing L1 set by the setting unit 64.

[0093] (Second Alternative Embodiment of the Invention) The measuring device 18 and the inertial measuring device 19 may be abolished. In this configuration, when the actual travel distance of the aircraft 11 is detected by the first travel distance detection unit 71, a rotation speed sensor (not shown) may be provided on the rotating body 12a of the marker 12, and as the aircraft 11 travels, the rotation speed when the rotating body 12a of the marker 12 contacts the paddy field surface G and rotates may be detected to detect the actual travel distance of the aircraft 11.

[0094] Instead of the rotating body 12a of the marker 12, a dedicated rotating body (not shown) that contacts the paddy field surface G and rotates may be provided on the aircraft 11 or the seedling planting device 5, and the rotation speed of this rotating body may be configured to be detected.

[0095] (The third alternative form of the invention's implementation) In the setting unit 64, the operator may be configured to set (select) one set plant spacing L1 from a plurality of different set plant spacings L1.

[0096] (The fourth alternative form of the invention's implementation) Rather than the operator manually operating the variable speed device 52, the variable speed device 52 may be configured to be automatically operated to an appropriate operating position based on the setting (selection) of the set plant spacing L1 by the setting unit 64.

[0097] (The fifth alternative form of the invention's implementation) In the transmission case 20, a continuously variable transmission 24 may be provided on the right lateral part of the transmission case 20, and a continuously variable transmission 45 may be provided on the left lateral part of the transmission case 20.

[0098] Instead of the continuously variable transmission 24, a gear transmission type transmission (not shown) having a plurality of shift positions may be provided. Instead of the hydrostatic continuously variable transmission 45, a belt continuously variable transmission 45 may be provided.

[0099] Inside the transmission case 20, the transmission shafts 28, 29, 47, 48, 49, etc. may be configured to 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 prime mover.

[0100] (Sixth alternative form of the invention) As shown in FIG. 4, inside the transmission case 20, the 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 speeds of the transmission gears 50 and 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 a sub-speed change 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 form of the invention) For example, in one paddy field, when the total amount of seedlings A to be used is determined, it is possible to perform an operation of finely adjusting the actual plant spacing L so as to plant the seedlings A corresponding to this total amount on the paddy field G without excess or deficiency.

[0103] When performing the above-mentioned work, if data on the area of the paddy field and data on the planting process, such as the path along which the machine body 11 travels to perform the planting work, are acquired in advance, the required plant spacing L can be calculated based on these data and the total amount of seedlings A.

[0104] Thereby, when the operator sets (selects) the set plant spacing L1 by the setting unit 64, if the set plant spacing L1 set by the setting unit 64 is greatly deviated from the required plant spacing L described above, the operator is notified that the setting unit 64 should set a set plant spacing L1 closer to the required plant spacing L (to alert the operator and prevent misunderstanding). When starting the planting work in the above state, the continuously variable transmission 45 is automatically operated so that the actual plant spacing L becomes the required plant spacing L described above.

[0105] (Eighth alternative form of the invention) For example, a paddy field is divided into small areas, and in each of the areas of the paddy field, the growth state and yield of rice in the previous year may be accumulated as data. In the above state, when performing the planting operation in the next year in the same paddy field, the continuously variable transmission 45 can also be automatically operated so that the planting operation is performed at an appropriate actual plant spacing L in each of the areas of the paddy field based on the detection by the measuring device 18 and the inertial measuring device 19.

Industrial Applicability

[0106] The present invention is applicable not only to a riding type rice transplanter, but also to a riding type direct seeder equipped with a seeding device (corresponding to a working device) for supplying seeds (corresponding to agricultural materials) to the field surface G. The present invention is also applicable to a paddy field working machine equipped with a fertilizer application device (corresponding to a working device) for supplying fertilizer (corresponding to agricultural materials) to the field surface G and a chemical agent supply device (corresponding to a working device) for supplying chemicals (corresponding to agricultural materials) to the field surface G.

Explanation of Signs

[0107] 1 Front wheel (wheel) 2 Rear wheel (wheel) 5 Seedling planting device (working device) 11 Machine body 23 Engine (prime mover) 24 Continuously variable transmission (transmission) 31 Sub-transmission 45 Continuously variable transmission 52 Non-uniform transmission 65 Working rotation speed detection unit 66 Traveling rotation speed detection unit A Seedlings (agricultural materials) G Field surface L Plant spacing (supply interval) L1 Set plant spacing (supply interval)

Claims

[Claim 1] A first continuously variable transmission to which the power of the driving part is transmitted; a second continuously variable transmission to which power is transmitted from the first continuously variable transmission; a working device to which power is transmitted from the second continuously variable transmission device and which intermittently supplies agricultural materials to a field; a rotation speed detection unit provided in a power transmission path from the first continuously variable transmission device to the second continuously variable transmission device; a rotation speed detection unit that detects a power rotation speed from the second continuously variable transmission device, the power speed detection unit being separate from the rotation speed detection unit; A work machine equipped with:

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