CN1131246A

CN1131246A - Operation auxiliary device

Info

Publication number: CN1131246A
Application number: CN95109106A
Authority: CN
Inventors: 江间浩明
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 1995-03-13
Filing date: 1995-06-30
Publication date: 1996-09-18
Anticipated expiration: 2015-06-30
Also published as: KR0156777B1; CN1078327C; KR960034817A

Abstract

An auxiliary device for operation is provided with an operating tool (30) which can operate in positive and negative directions; an operated target which is connected by a mechanical connecting mechanism forming integral moving with the operating tool (30) and can move in the positive and negative directions; a drive operating means assisting the operated target to move; an operating state detecting means detecting the operating state and operating direction of the operating tool 30; a control means controlling the drive operating means(33) according to the detecting information of the operating state detecting means; and an operating loading detecting means detecting the operating loading corresponding to the operating tool(30).

Description

Operation assisting device

The present invention relates to a kind of stepless speed changes devices etc. and be operated the device that object carries out auxiliary operation walking usefulness.More particularly, the speed change gear that relates to a kind of usefulness of walking, but it has can be in the portion that is operated of manned operation tool of positive and negative direction and positive and negative direction action in car body is walked with stepless speed changes devices, and both link together by mechanical link mechanism for they; Also has the driving operational means of moving as the above-mentioned portion of being operated of making of constituting component, in order to detect the serviceability detection means whether above-mentioned variable speed operation instrument is in serviceability and detecting operation direction, control the speed Control means of the action of above-mentioned driving operational means at least according to the testing result of aforesaid operations state-detection means.

Aforesaid operations auxiliary device in the past is to seeing the Japanese kokai publication hei 6-265017 communique of the gear operation system that is applicable to belt-drive variable-speed transmission as an example that is operated object.With the operation assisting device that openly illustrates in the above-mentioned communique, can joltily be installed with and be the relative operating stem of the tooth sector of operating slepless transmission device (fan-shaped linkage part), simultaneously, operating stem is on the neutral position relative with above-mentioned tooth sector it by the pressurization means.So, when the manipulation operations bar, make operating stem displacement preferably be arranged, thereby allow the shake state of operating stem acquisition with respect to the big relative angle of tooth sector with respect to tooth sector.And between operating stem and tooth sector, be provided with and detect a pair of torque detector that is added to the manual operation power of operation tool positive and negative direction on each, the big steering force that detects according to torque detector allows the movement speed of the motor (driver) that makes the speed change gear action improve.That is, obtaining being made of change control motor action speed, be adapted to the gear shifting operation speed of people's operation feeling, is that certain operation occasion is compared with movement speed, and operating characteristics is improved.

Yet, for the torque detector that detects the manual operation power of aforesaid operations instrument, what generally use is the amount of deformation gauge of detecting operation tool variations amount, this amount of deformation gauge, be the high detector of a kind of complex structure cost, and, because detector must be located on each of positive and negative two direction of operating of relative operation tool, thereby become the factor of the cost that improves speed-changing operation device, so have disadvantageous one side.

In addition, in existing structure, the movement speed that drives operational means is progressively controlled according to the detection information of torque detector, thereby can produce following defective mode.That is, for example when beginning to operate the operation tool of quick speed change, drive operational means and also begin high speed operation thereupon with strong steering force.Like this, by driving operational means, be operated object (stepless speed changes devices) owing to operation tool makes the direction of operating of its relative operation tool carry out the action of following of high speed in the direction of operating high speed motion, and make the checkout value that is operated the torque detector that is provided with between object and the operation tool drop down onto low numerical value for the moment.Such result makes the movement speed that drives operational means become low speed, so must along with this operation, drive the operational means high speed motion once more with strong steering force manipulation operations instrument, that is, repeats above-mentioned a succession of action again.In above-mentioned existing structure, because the effect of this non-original idea hockets high speed motion state and low speed operating state, the result is dumb, and not slick and sly operation can take place.

Thereby, in above-mentioned existing structure, for fear of of the above-mentioned operation that dumb sensation like that arranged of torque detector characteristic trick to generation, and make the running-active status constant speed action sleekly that drives operational means, the operator is when the manipulation operations instrument,, according to the observation result of above-mentioned driving operational means running-active status the manual operation power of operation tool is changed while observing, must carry out pretty troublesome attention and operation.This attention and operation become the factor that final operability descends.

Have again, in above-mentioned existing mechanism, the operating stem relative with tooth sector can joltily be installed, and is in the neutral position under pressure, make operating stem with respect to tooth sector displacement preferably, thereby allow operating stem obtain the state that shakes with respect to the big relative angle of tooth sector.So, for example, operating stem in case relative with tooth sector, preferably and big speedup side relatively move, then when operating stem remains on this posture, with movement speed according to the relative addendum modification of operating stem, allow helper motor rotate tooth sector, the position of operating stem turns back to the neutral position of tooth sector once more afterwards, and this tooth sector continues revolution, at this moment, because the speedup of vehicle also continues simultaneously, car speed can reach the situation above operator's intention, and this just means that the slyness operation of vehicle has the leeway of improvement.

And, belt-drive variable-speed transmission as car body walking stepless speed changes devices is for example to be made of separately belt wheel that can change the space on the revolution shaft core direction and the drivign belt that twists on the belt wheel, using basis to change volume extension radius at interval by driving operational means change belt wheel, thereby carry out under the situation of this type of mechanism of speed change, the output of the stepless speed changes devices relative with the unit operation amount that drives operational means, it is the variation characteristic of the speed of a motor vehicle, change little at low speed side, then variable quantity is big when becoming high speed, demonstrates non-linear (Fig. 8 pass the imperial examinations at the provincial level example illustrate).Thereby, state the occasion of belt-drive variable-speed transmission in the use, because when low speed was walked, the actual vehicle speed variable quantity relative with the unit operation amount of variable speed operation instrument was little, so for quick speed change, the operator is necessary to handle the variable speed operation instrument with big steering force.Yet, on the one hand, when walking at a high speed, because the actual vehicle speed variable quantity relative with the unit operation amount is big, if so use sensation same when driving a vehicle with low speed, handle the variable speed operation instrument with big steering force, walking states will occur being intended to opposite superfast tendency with the manipulator.

That is, in above-mentioned belt-drive variable-speed transmission, as described above, walking states and operator are intended to the unfavorable condition of opposite ultra high speed etc. can be remarkable especially, and this is its very disadvantageous aspect.

Therefore, the purpose of this invention is to provide cost lower, operating characteristics is descended, can make the operation assisting device that carries out sleekly under the movement velocity that operates in the operation feeling that is fit to operation tool that operational means carries out by driving.

For achieving the above object, feature structure of the present invention comprises:

Can be at the operation tool of positive and negative direction operation,

By be integral with operation tool that mobile mechanical type bindiny mechanism is connected, can on positive and negative direction, move be operated object,

Auxiliary this is operated the driving operational means of object action,

The serviceability detection means of the serviceability of detecting operation tool operation and direction of operating,

According to the detection information of serviceability detection means, the control device of controlling and driving operational means action,

The operation assisting device that has the service load detection means that detects the service load relative with operation tool,

Above-mentioned control device is to constitute like this, according to the serviceability of aforesaid operations state-detection means detecting operation instrument the time, the movement speed that will adapt with the service load that the service load detection means detects is set with respect to driving operational means, at this moment, in case when having surpassed the new service load of detected service load and being detected, set once more by the relative operational means that drives with the new movement speed that above-mentioned new service load adapts.

In the operation assisting device of the present invention of above structure, at first,, will detect serviceability by the serviceability detection means if come the manipulation operations instrument by manual operation, according to the service load of this manual operation, detect by the service load detection means.And when serviceability was detected, the service load that is detected greatly then was high speed, and in a single day the movement speed that drives operational means is set, and just keeps this movement speed.

So, when beginning the manipulation operations instrument with big steering force, at this moment the checkout value of service load becomes big value, be set at a high speed according to this value movement speed, as with little steering force operating operation instrument, just the checkout value of service load becomes little value, the movement speed that drives operational means then is set to low speed, when the detecting operation state, keep this speed and be operated object with low-speed handing.

Promptly, because being operated object during with big steering force manipulation operations instrument is high speed operation, and be operated object during with the operation of little steering force is low-speed handing, thereby under the service speed that can adapt in the operation feeling with the operator, operates being operated object.

In addition, be detected, such service load is replaced,, will set bigger movement speed above-mentioned driving operational means according to new service load in case surpass the new service load of detected service load.Like this, ignore the service load checkout value of the service load that is no more than after testing, the movement speed that is operated object is not exerted an influence, promptly because the maximum value in the basis service load is after testing kept movement speed, so difficulty becomes inflexible operation.

In addition, in an embodiment of the present invention, operating stem is relative with the linkage part that operating slepless transmission device is used, and the switch for change detection operating stem serviceability is used only forms the structure of not shaking in the small scope of necessity.Thereby, even for example operating stem is in speedup side operation preferably, at this moment load for operating stem also becomes big value, since with the linkage part of operating slepless transmission device (promptly, tooth sector) relative operating stem can not be done big relatively moving, so when making operating stem keep same state, pass through helper motor, linkage part is only made infinitesimal deflection, and operating stem turns back on the neutral position of linkage part simply.So, if with the not good words of operating stem displacement prior art, that linkage part is relative, then with operating stem from just to obtain shaking the structure of back state different with the corresponding big relative angle of linkage part, it is difficult to reach the car speed above operator's intention, thereby is expected to operate more sleekly.

And in an embodiment of the present invention, the structure of control device is as follows, as by aforesaid operations state-detection means, in the time of can not detecting the aforesaid operations state, just stops to drive the action of operational means, and it is certain that the speed of a motor vehicle keeps.So, remove manual operation to operation tool, stop owing to driving the action of operational means, with being set, the occasion that special action stops the instruction of usefulness compares, can make good operation performance and simple in structure.

In addition, in an embodiment of the present invention, the operation of the assigned direction by operation tool, above-mentioned variable speed operation portion is in the operation of speedup side, and in reciprocal operation, above-mentioned variable speed operation portion has formed such structure then in the deceleration side operation by operation tool.Thereby according to the manual operation of operation tool, the speedup deceleration-operation of stepless speed changes devices energy slyness and operability are carried out well.

Moreover in an embodiment of the present invention, the serviceability detection means is made of switch, and this switch detects the aforesaid operations state by the displacement that detects based on the aforesaid operations bar of manual operation.So, in case according to the operating stem displacement of manual operation, switch will move, thereby detect the serviceability that operation tool is operated, really can detect the serviceability of operating stem by the act of operation of switch, make simultaneously the reprocessing that detects information is become easy.

In addition, in one embodiment of the invention, the serviceability detection means is made of a plurality of pressure sensitive switch, its double as service load detection means, be installed in operation tool be integral mobile contacting part and be operated object and become bearing between the portion that lower body moves, be used in a plurality of stages, detecting service load to the aforesaid operations instrument.So the structure of control device is as follows, the service load that is detected by the serviceability detection means is big, and the movement speed that then drives operational means becomes at a high speed, and 2 stages of such application are controlled.Thereby, serviceability detection means as the service load detection means is compared with being equipped with on operating stem by the amount of deformation detector of operating stem deformation detection service load of other, its unitary construction is simple, and do not need to use amount of deformation detector at high price, thereby help to reduce the manufacture cost of operation assisting device.

Again, in other embodiment of the present invention, the structure of aforesaid operations state-detection means is such, and the service load that is detected based on the service load detection means that is made of the amount of deformation detector that is contained on one one of the speed change lever surpasses setting value, comes the detecting operation state.So, because from according to manual operation, when being applied to service load on the operation tool and surpassing preset lower limit, the serviceability of detecting operation instrument, so can effectively utilize the detection information of service load detection means, do not need the serviceability detection means of the special use of switch etc., can make designs simplification.

Have again, in further other embodiment of the present invention, be provided with the speed of a motor vehicle detection means that detects the car body speed of travel, and the structure of above-mentioned speed Control means is, according to the detection information of service load detection means and the detection information of speed of a motor vehicle detection means, change setting drives the movement speed of operational means.So, according to service load to the variable speed operation instrument, it is manual operation, detect steering force by the service load detection means, the car body speed of travel is detected by speed of a motor vehicle detection means simultaneously, according to the detection information (service load) of service load detection means and the detection information (the detection speed of a motor vehicle) of speed of a motor vehicle detection means, drive the movement speed of operational means, promptly being operated the variable speed operation speed of portion in stepless speed changes devices can be by change setting.For example, if detect the speed of a motor vehicle in high-speed side, variable speed operation speed also can be set lowlyer even service load is big.Perhaps, while when making car body carry out occasion such as operation in speed walking, when the inspection vehicle short-term training was the intermediate speed zone, unattended operation load size can both make variable speed operation speed step-down, this point is very useful.Again or, only in low-speed region and high-speed region implementation operation the time, in velocity band is used in this operation, unattended operation load size all makes variable speed operation speed step-down, and in the intermediate speed zone of not operation, service load greatly then variable speed operation speed becomes big, and under this favourable occasion, such change setting also is possible.Like this, can be according to various situation change setting variable speed operation speed.To this, because not only to the service load of variable speed operation instrument, but also come change setting to drive the movement speed of operational means according to detecting the speed of a motor vehicle, so on the basis of the variable speed operation that can be fit to operator's operation feeling, can carry out the suitable variable speed operation of corresponding car body walk.

Also have, in an embodiment of the present invention, drive operational means and constitute by motor.That is,, drive the portion that is operated of operating slepless transmission device, according to the service load and the detection speed of a motor vehicle etc., the movement speed of change setting motor (rotating speed) by motor.So, owing to have the structure of change motor rotating speed, compare with the control of the movement speed of other driving means such as oil pressure actuated device, can easily control, and movement speed control has the good advantage of validity.

Description of drawings is as follows:

Fig. 1 is a combine-harvester kinematic scheme general among the 1st and the 2nd embodiment,

Fig. 2 is the sectional view of stepless speed changes devices general among the 1st, the 2nd and the 3rd embodiment,

Fig. 3 is the profile of speed changing operating mechanism general among the 1st and the 3rd embodiment,

Fig. 4 is the schematic representation of cammingly speed changing operating mechanism general among each embodiment,

Fig. 5 is a guide rod schematic representation general among each embodiment,

Fig. 6 is the sectional view of detecting switch among first embodiment,

Fig. 7 is a controlling party block diagram among the 1st embodiment,

Fig. 8 is the flow chart of control action among the 1st embodiment,

Fig. 9 is the flow chart of the control action in the 1st embodiment's the variation,

Figure 10 is the profile of variable speed operation structure among the 2nd embodiment,

Figure 11 is the sectional view that the serviceability detection means at length is shown among the 2nd embodiment,

Figure 12 is the sectional view of detecting switch among the 2nd embodiment,

Figure 13 is a controlling party block diagram among the 2nd embodiment,

Figure 14,15 is flow charts of control action among the 2nd embodiment,

Figure 16 is the kinematic scheme of combine-harvester among the 3rd embodiment,

Figure 17 is a controlling party block diagram among the 3rd embodiment,

Figure 18 is a speed of a motor vehicle variation characteristic schematic representation,

Figure 19 is the flow chart of control action among the 3rd embodiment,

Figure 20 is the flow chart of the control action in the 3rd embodiment's variation.

Embodiment is described below with reference to the accompanying drawings.

The 1st embodiment

Car body in the combine-harvester shown in Figure 1 travel drive as follows with the driving mechanism structure: the power that is loaded in the motor 1 in the car body is sent in the stepless speed changes devices 10 of walking by belt tension clutch 2, the speed change output of walking stepless speed changes devices 10 is advanced, is retreated the walking of switching mechanism 3 and controlled clutch (not shown) etc. and passes to left and right sides cterpillar drive 5 with gearbox 4 by being equipped with, 5, and reaping part is also passed in the output of the speed change of stepless speed changes devices 10.

As shown in Figure 2, above-mentioned walking stepless speed changes devices 10 constitutes a kind of belt-drive variable-speed transmission, it is in the gearbox 11 of the cover that connects supporting walking gearbox 4, be wound on a pair of belt pulley 18, drivign belt 12 between 19, hang diameter by the volume of drivign belt 12 and carry out speed change with respect to the variation of each

belt pulley

18,19.

Promptly, gearbox 11 one distolateral on, the input shaft 13 that can be integral rotation with above-mentioned belt tension clutch 2 outlet side belt pulley 2a rotatably is installed with by ball bearing 15, gearbox 11 another distolateral on, the output shaft 16 that has the transmission unit 16a of above-mentioned relatively walking gearbox 4 rotatably is installed with by ball bearing 17.

And at the belt pulley 18 that is installed in input side on the input shaft 13 be contained between the belt pulley 19 of output shaft 16 outlet sides, volume is hung drivign belt 12.

Input side belt pulley 18 is to be made of the belt wheel that separates, the belt wheel that separates comprise can with input shaft 13 be integral rotation, separate belt wheel part 18a and separate belt wheel part 18b in the skid-resistant fixed side of input shaft 13 shaft core directions according to being integral the movable side that can slide at the shaft core direction of input shaft 13 under the long ditch effect of rotation and ditch 18c that including ball in input shaft 13 with the engagement of ball 13a.

Again, outlet side belt pulley 19 is made of the belt wheel that separates, belt wheel separately comprises output shaft 16 rotations relatively, and the 1st minute of can slide at the shaft core direction of output shaft 16 opened belt wheel part 19b and can together be rotated with output shaft but can not open belt wheel part 19a the 2nd minute of the shaft core direction slip of output shaft 16.

Open belt wheel part 19b the 1st minute of outlet side belt pulley 19 and be contained between the parts that bear spring 22 on the output shaft 16, be equipped with and opened belt wheel part 19a side towards the 2nd minute and slide and drove the disc spring 21 of belt wheel part 19b on the 1st minute.

In addition, design a kind of belt tension cam mechanism 50, it utilized the 1st fen to open relatively rotating of belt wheel part 19b and output shaft 16, and drivign belt 12 is maintained the transmission tensioning state.

Thereby, in this stepless speed changes devices, the belt wheel part 18b that the movable side of input side belt pulley 18 is separated vis-a-vis input shaft 13 along axle slides, be toward or away from fixed side belt wheel 18a, just can make the belt volume of input side belt pulley 18 hang vary in diameter, and along with above-mentioned volume is hung diameter variation, reason owing to drivign belt 12 tension force and disc spring 21 torsion, the 1st minute of outlet side belt pulley 19 opened belt wheel part 19b and is toward or away from the 2nd fen and opens belt wheel part 19a, and the belt volume of outlet side belt pulley 19 is hung diameter and also changed.By such effect, the stepless variation of transmission specific energy between input side belt pulley 18 and the outlet side belt pulley 19, and, can will be sent to and carry out infinite variable speed walking with on the gearbox 4 from the rotating force of belt tension clutch 2.

Separate on the hub portion of belt wheel part 18b in the movable side of input side, by ball bearing 23, outer embedding can counterrotating cam follower support unit 24.Because trig loop 25 is installed between cam follower support unit 24 and ball bearing 23, die and separate the slip of the input shaft 13 of belt wheel part 18b along with movable relatively side, above-mentioned cam follower support unit 24 can separate belt wheel part 18b with movable side and together move.And as Fig. 2 and shown in Figure 4, on above-mentioned cam follower support unit 24, by vertical shaft set on its side face 26, roller shape cam follower 27 is installed on the above-mentioned vertical shaft periphery pivotally.On the end of vertical shaft 26, resting barrel 28 is installed, because said fixing cylinder 28 can contact with the guide channel 11a that forms on gearbox 11 inner faces, so cam follower 27 can move along the shaft core direction of input shaft 13, together turns round but can not separate belt wheel part 18b with movable side.

As shown in Figure 2, support the revolution operation unit 14 that above-mentioned input shaft 13 1 distolateral ball bearings 15 are embedded in the bearing hole of gearbox pivotally and support tubular.And preferably see Fig. 4, and on the large-diameter portion on revolution operation unit 14 1 ends, formation and the 1st roller 27 contacted 1-the 3rd 14a of operation of cam portion, 14b, 14c around this revolution operation unit 14 of the axle core X of rotating input shaft 13 revolution operation, makes and walks with speed change gear 10 speed changes.The 2nd operation of cam 14b and the 3rd 14c of operation of cam portion are adjacent to be assemblied on the both sides of the 1st 14a of operation of cam portion.

For example, in case on the neutral position, promptly, when making the 1st 14a of operation of cam portion correspondence cam follower 27, revolution operation revolution operation unit 14, according to belt tension, movable side is separated belt wheel part 18b and is just separated belt wheel part 18a from fixed side and shift onto on its position farthest, and between drivign belt 12 and input side belt pulley 18, produce and skid, become the transmission dissengaged positions.

Then, in case be on the transmission position, promptly, when the 2nd 14b of operation of cam portion and one of the 3rd 14c of operation of cam portion and cam follower 27 are corresponding, the plane of inclination of revolution operation revolution operation unit 14, the 2 14b of operation of cam portion or the 3rd 14c of operation of cam portion will push cam follower 27, separates belt wheel part 18a release and make movable side separate belt wheel part 18b towards fixed side, drivign belt 12 recovers tensioning state, enters drive state.Variable speed operation when the 2nd 14b of operation of cam portion is used for vehicle and advances, and the variable speed operation of the 3rd 14c of operation of cam portion when being used for vehicle rollback.

During the 2nd 14b of operation of cam portion correspondence cam follower 27, in walking stepless speed changes devices 10, the driving force of gyratory directions of usefulness of keeping advancing is an input power, when in case operation unit 14 is turned round in the revolution operation on positive gyratory directions A in this state, just once more cam follower 27 is pushed to fixed side separates belt wheel part 18a direction to the 2nd 14b of operation of cam portion, because movable side is separated belt wheel part 18b and is separated belt wheel part 18a near fixed side once more, so maintenance forward travel state, make the speedup speed change, on the other hand, when on contrary gyratory directions B, turning round operating operation portion 14, leave fixed side and separate belt wheel part 18a because movable side is separated belt wheel part 18b, so make the deceleration speed change.

And, during the 3rd 14c of operation of cam portion correspondence cam follower 27, in walking stepless speed changes devices 10, the driving force that maintenance retreats usefulness is an input power, in case when on contrary gyratory directions B, turning round operating operation portion 14 in this state, because the 3rd 14c of operation of cam portion keep one with the 2nd 14b of operation of cam portion over against the plane of inclination, so just once more cam follower 27 is pushed to fixed side separates belt wheel 18a direction to the 2nd 14b of operation of cam portion, close fixed side is separated belt wheel part 18a and because movable side is separated belt wheel part 18b, so maintenance fallback state, make the speedup speed change, otherwise, when positive gyratory directions A revolution operating operation portion 14, leave fixed side and separate belt wheel part 18a because movable side is separated belt wheel part 18b, so make the deceleration speed change.

By 14 revolutions of revolution operation unit, consider cam follower 27 from the forward travel state that contacts with the 2nd 14b of operation of cam portion, in turn through moderating process, up to the situation of the fallback state that contacts with the 3rd 14c of operation of cam portion, in this process, cam follower 27 must pass through the 1st 14a of operation of cam portion, at this moment, as mentioned above, walking stepless speed changes devices 10 becomes temporary transient driving off state.

At this, the variable speed operation structure of walking stepless speed changes devices 10 is described.

As Fig. 2, shown in 3, as the speed change lever 30 of operation tool of walking stepless speed changes devices 10 be arranged to the to rock back and forth form of operation.Manual operation according to this speed change lever 30, constitute the variable speed operation of above-mentioned stepless speed changes devices 10, simultaneously, only need very big labour force with artificially handling above-mentioned stepless speed changes devices 10, so as operational means can be positive and negative the direct current type motor 33 that drives of revolution constitute the auxiliary variable speed operation, in other words, constitute the revolution operation of auxiliary revolution operation unit 14.

Above-mentioned speed change lever 30 is made of cardinal extremity bar 30a of portion and the front end bar 30b of portion.The cardinal extremity bar 30a of portion supports the input shaft 13 of gearbox 11, and is contained on cylindric by the wheel hub 31a of outer embedding supporting linkage part 31, and can circle round round above-mentioned axle core X.And the above-mentioned relatively cardinal extremity bar 30a of portion of the front end bar 30b of portion can joltily link around axle core Y.That is, speed change lever 30 can shake round the axle core X and the above-mentioned axle core Y of input shaft 13.Like this, as shown in Figure 5, speed change lever 30 retreats speed change guide channel 32c by the speed change guide channel 32a that advances, and serviceability switches to divide with the step part and constitute, above-mentioned two speed change guide channel 32a, and 32c is linked to be the right angle, and can shake operation along guide channel 32b in the middle of each.

Above-mentioned linkage part 31 is arranged to can be round the axle core X revolution of the input shaft 13 of relative gearbox 11, and is integral with revolution operation unit 14 mechanical link and turns round.That is, by being connected of the mechanical type bindiny mechanism that moves with speed change lever 30 one, be formed in the object that is operated that positive and negative two directions can both move as the revolution operation unit 14 of variable speed operation portion.

On the tooth sector 31b that forms on the linkage part 31, as output pinion 33a and its engagement of the motor 33 that drives operational means.So motor 33 is fixed on the gearbox 11 by carriage 48.Thereby this motor 33 can be by linkage part 31 move operations revolution operation unit 14.

Still as shown in Figure 3, linkage part 31 is linked together with the operation unit 3a that advances, retreats switching mechanism 3 that is contained in the walking gearbox 4 by interlock cable 6.Promptly, speed change lever 30 advances switching mechanism 3 with forward and backward, mechanically connect together by above-mentioned interlock cable 6, when speed change lever 30 is positioned at guide channel 32a, advance, retreat switching mechanism 3 and keep advancing walking states, and at speed change lever 30 by middle guide channel 32b in guide channel 32a enters guide channel 32c the time, be converted to and retreat walking states, similarly, when speed change lever 30 is positioned on the guide channel 32c, advance, retreat switching mechanism 3 and keep retreating walking states, and in guide channel 32c enters guide channel 32a the time, be converted to forward travel state by middle guide channel 32b at speed change lever 30.

Stretch out operating arm 30c from the radially outward of the above-mentioned cardinal extremity bar 30a of portion axle core X, the operative pin 41 that extends in parallel with axle core X is set in the end of shaking of this operating arm 30c.Operative pin 41 is inserted and is led in the pin-and-hole 31c of linkage part 31, and pin-and-hole 31c sets the shape that has given surplus that operative pin 41 can have small scope activity within it for.That is, the speed change lever 30 and the structure of linkage part 31 are made following form, aforesaid operations pin 41 can with the corresponding angular range of above-mentioned small scope in move facing to above-mentioned pin-and-hole 31c, and can relatively rotate round axle core X.

Near the pin-and-hole 31c of above-mentioned linkage part 31, the 1st and the 2nd operation detection switch SW 1 is set, SW2.The the 1st and the 2nd operation detection switch SW 1, the relative operative pin 41 of SW2 can be provided with by rotating two direction separated into two parts, and by the 1st, the 2nd operation detection switch SW 1, SW2 constitutes the direction of operating of detection speed change lever 30 and the serviceability detection means 40 of serviceability.

1st, the 2nd operation detection switch SW 1, SW2 has essentially identical structure.Each switch by by allowing insulating spacer 42 clampings therebetween, has the

electrode

43,44 of the 1 pair of elastically deformable that a bit is provided with at interval and the high elastic rubber that covers constitutes as shown in Figure 6 mutually on them.So, in case the pressure more than the outside adds setting value and when being overcome the elasticity of rubber G of covering, the

electrode

43,44 of mutually insulated just begins contact under very little stroke, thereby constitutes turn-on action (becoming the ON state) at least.

Here, the serviceability of detection speed change lever 30 and the method for direction of operating are described.Promptly, speed change lever 30 is shaken operation along Fig. 5 arrow U direction in advance side guide channel 32a, and in retreating side guide channel 32c, shake when operation along arrow D direction, switching manipulation pin 41 makes 1 action of the 1st operation detection switch SW, on the other hand, with speed change lever 30 in advance side guide channel 32a along arrow D operation and in laggard side guide channel 32c when arrow U operate, switching manipulation pin 41 moves the 2nd operation detection switch SW 2.In a word, the the 1st and the 2nd operation detection switch SW 1, SW2 is when non-operating state, judge the speed change lever non-operating state, if 1st, the 2nd operation detection switch SW 1, any word of SW2 at switching operation state, along with judging the speed change lever serviceability, according to the 1st, the 2nd operation detection switch SW 1 known to the step switch, any of SW2, detect the operation of speed change lever 30 on that direction of axle core X periphery, in other words, should detect and allow revolution operation unit 14 on positive gyratory directions A and which direction of backspace veer B, turn round.

As shown in Figure 7, above-mentioned each operation detection switch SW 1, the detection information of SW2 are given and control gear 45 as control device, and control gear 45 detects information-driven control motor 33 according to these.Control gear 45 has microcomputer, by in motor driving loop 46, giving and pulse signal, and clockwise and anticlockwise drive motor 33, the power ratio according to the pulse signal that transmits changes simultaneously, and the actuating speed of motor 33 is changed.

In case speed change lever 30 is positioned on the guide channel 32b, the operation unit 14 that reverses just becomes the neutral position, promptly, because the 1st operation unit 14a becomes and cam follower 27 corresponding states, so corresponding to this, separately the 18b of belt wheel portion slides to departure direction from the separately belt wheel 18b that faces toward, and walking stepless speed changes devices 10 becomes the transmission off state.Then, when speed change lever 30 is shaken operation along advance side guide channel 32a on movement direction U, the 1st operation detection switch SW 1 is just connected, owing to allow revolution operation unit 14 on positive gyratory directions A, turn round operation according to information variable speed electric motors, particularly 33 from switch SW 1, so separately the 18b of belt wheel portion slides near separating belt wheel 18a side, walking stepless speed changes devices 10 becomes the transmission on-state in direction of advance.Make speed change lever 30 shake when operation along movement direction U again at this, will keep the on-state of the 1st operation detection switch SW 1, the more approaching separately 18a of belt wheel portion of the 18b of belt wheel portion separately, 10 of walking stepless speed changes devicess are always in the direction of advance speedup.Then make speed change lever 30 reverse from this, promptly, shake when operation along movement direction D, the 2nd operation detection switch SW 2 is just connected, because information according to switch SW 2, speed change lever 33 makes revolution operation unit 14 along backspace veer B revolution operation, so separately belt wheel 18b slips away from separating belt wheel 18a, walking stepless speed changes devices 10 just slows down in direction of advance always.

On the other hand, speed change lever 30 is directed to when retreating side guide channel 32c through guide channel 32b from the state that is positioned at above-mentioned advance side guide channel 32a, in this a succession of action, at first above-mentioned walking stepless speed changes devices 10 is in the transmission off state, then at this moment, forward-reverse switching mechanism 3 works, and the driving direction counter-rotating of walking stepless speed changes devices 10 converts laggard side to.In this state speed change lever 30 is shaken when operation along movement direction U in laggard side guide channel 32c, the 2nd operation detection switch SW 2 is just connected, because information according to these switch SW 2 places, variable speed electric motors, particularly 33 makes revolution operation unit 14 along backspace veer B move operation, thereby makes walking stepless speed changes devices 10 in the direction of retreat speedup.Under this speedup state, speed change lever 30 movement direction D in guide channel 32c is shaken when operating, the 1st operation detection switch SW 1 is just connected, because information according to this switch SW 1, variable speed electric motors, particularly 33 makes the revolution operation on positive gyratory directions A of revolution operation unit 14, so walking stepless speed changes devices 10 slows down in direction of retreat always.

Again, when Halfway Stopping speed change lever 30 actions of the throw of lever, remain on the original shift position for making walking stepless speed changes devices 10, interior dress electromagnetic type arrestment mechanism (not shown), the purpose of this mechanism are to suppress the independent revolution of revolution operation unit 14.

Have again, the service load that manual operation increased of speed change lever 30 is only used the deformation detection of bar, and be installed on the cardinal extremity of speed change lever 30 as the amount of deformation detector 47 of strainometer of service load detection means etc.Control gear 45 is so constructed, promptly, the movement speed of motor 33 is set at greatly according to the detection information of amount of deformation detector 47 maximum value according to service load, and, detect the aforesaid operations state continuously, do not change from above-mentioned maximum value testing result and to exceed, keep the movement speed of setting according to above-mentioned maximum value.

Also have, because the reducing gear (not shown) of dress horizontal gear formula in the motor 33, even so can not drive as reasons such as motor 33 break down the time, also available full mode for artificial operation makes speed change lever 30 actions, turns round the revolution operation (particularly deceleration-operation) of operation unit 14.

The following describes the control action of control gear 45.

As shown in Figure 8, when the ON state-detection of the 1st operation detection switch SW 1, detection information according to amount of deformation detector 47, read the maximum value (step 1 of the service load of corresponding speed change lever 30,2), this service load maximum value (maximum load) greatly then becomes at a high speed, according to predetermined like this variation characteristic, sets the power ratio (step 3) that increases pulse signal in motor driving loop 46.And, to motor driving loop 46 output pulse signals, make motor 33 with the power ratio of setting in positive veer (A to) rotation (step 4).Afterwards, if the maximum load to speed change lever 30 changes, surmount when the detection load of this maximum service load that detects if promptly detect, according to this new maximum load setting power than (step 5,3), if the indeclinable words of maximum load are detected up to the 1st operation detection switch OFF state, keep the output of the pulse signal in relative motor driving loop 46 in step 3 with the power ratio of setting, the actuating speed of electrode 33 is by the constant (step 6) of keeping.

And, in the driving process of motor 33,, then stop motor and rotate (step 13) if detect the OFF state of the 1st operation detection switch SW 1.

Again, if detect the ON state of the 2nd operation detection switch SW 2, detection information according to amount of deformation detector 47, read maximum value (step 7 to the service load of speed change lever 30,8), service load maximum value (maximum load) greatly then becomes at a high speed, according to this predetermined variation characteristic, sets the power ratio (step 9) that increases pulse signal in motor driving loop 46.And,, make motor 33 rotate (step 10) in reverse directions (B to) with the power ratio of setting, output pulse signal in motor driving loop 46.Afterwards, as the words that the maximum load of speed change lever 30 is changed, according to new maximum load setting power than (step 11,8), if maximum load changes, up to the OFF state that detects the 2nd operation detection switch SW 2, in step 9, keep output with motor driving loop 46 corresponding pulse signals with the power ratio of setting, make the actuating speed of motor 33 keep (step 12) consistently.

And, in the driving process of motor, as detect the OFF state of the 2nd operation detection switch, then stop the rotation (step 13) of motor.

Like this, because when the maximum value of service load is big value, make electrode 33 high speed motion, so with the matched speed of the operation feeling of manual operation under when carrying out speed change, operate up to locking lever, keeping this speed, thereby bar operation is not prone to inflexible action always, thereby can carries out slick and sly variable speed operation.

And, as previously mentioned, in an embodiment, operating stem is relative with the linkage part of operating slepless transmission device, and when switching to the switch of many detecting operations bar serviceability, only in the small scope of necessity, shake, even for example operating stem is in speedup side operation preferably, load to operating stem also becomes big value, since operating stem relatively linkage part big relatively moving arranged, when operating stem is remained on same state, pass through helper motor, linkage part can only small variations, operating stem withdraws from from serviceability, that is, the position of operating stem turns back on the neutral position of moving element simply.Thereby, if make the relative linkage part of operating stem that better displacement be arranged, then the former structure that obtains with the state that shakes that operating stem obtains with the big relative angle of relative tooth sector is different, is difficult for reaching the car speed that surmounts operator's intention, that is, be expected to operate more sleekly.

The 1st embodiment's variation

In the above-described embodiments, show by the situation that pair of switches constituted as speed change lever 30 serviceability detection means, switch to such setting is replaced, and according to the detection information of above-mentioned amount of deformation detector 47, it also is feasible coming the detecting operation state.

In a word, as shown in Figure 9, detection information according to amount of deformation detector 47, judging in speed change lever 30 service load that increases has exceeded and sets lower limit and judge serviceability (step 21), according to detected state, judge speed change lever 30 is operated (step 22) on positive and negative which direction.And, as direction of operating be as the words on the speedup side (A direction shown in Figure 3) of advancing, detection information according to amount of deformation detector 47, read maximum value (step 23 with speed change lever 30 corresponding service loads, 24), this service load maximum value (maximum load) is that big value then becomes at a high speed, according to predetermined like this variation characteristic, sets the power ratio (step 25) that increases pulse signal in motor driving loop 46.And,, make motor 33 in positive veer (A to) revolution (step 26) with the power ratio of setting, output pulse signal in the motor driving loop.Afterwards, change as maximum load speed change lever 30, according to new maximum load setting power than (step 27,24), if the indeclinable words of maximum load, service load becomes below the above-mentioned preset lower limit, uses the power ratio of being set by step 25, keep the output with motor driving loop 46 corresponding pulse signals, and keep the actuating speed (step 28) of motor 33.

And, in the driving process of motor 33, as detect service load and become below the above-mentioned preset lower limit, then stop motor and rotate (step 28,34).

Again, identical if direction of operating is as retreating speedup side (B direction shown in Figure 3) with above-mentioned control, make motor backward rotation (step 29-34).

This spline structure can be subdued part count such as switch, makes designs simplification.

The 2nd embodiment

Other embodiment in these description operation load detecting means.As shown in figure 10, in the 2nd embodiment, the amount of deformation detector among the 1st embodiment is not set on operating stem.And, for the service load detection means that is used to understand the service load value that speed change lever 30 is increased, it with the 1st embodiment in adopted, to obtain the means of rod-shape distortion by the amount of deformation detector 47 that strainometer etc. is set on an one of bar different, it is that following such distortion is taken place serviceability detection means 40.Promptly, as shown in figure 11, serviceability detection means 40 with the 2nd embodiment, replace the 1st and the 2nd operation detection switch SW 1 shown in the 1st embodiment, SW2 is with the 1st operation detection part S1 and the 2nd operation detection part S2 gyratory directions separate configuration along operative pin 41, the the above-mentioned the 1st and the 2nd detection unit S1, each of S2 becomes 2 of configuration in upright arrangement to press every switch SW 11 by the gyratory directions along aforesaid operations pin 41, and (SW21 SW22) constitutes SW12.At this, constitute each operation detection part S1, each pressure sensitive switch SW11 of S2, SW12, SW21, SW22 making as shown in Figure 12 promptly adopted the same pressure sensitive switch of style of setting sensed pressure, because per 2 pressure sensitive switch dispose like that according to above-mentioned in upright arrangemently, detect the service load of basis and speed change lever 30 corresponding manual operations with height 2 grades.That is, detailed description, as shown in figure 11, constituting each operation detection part S1, each pressure sensitive switch SW11 of S2, SW12, (SW21, SW22) between, insert the sheet metal 47 that the conduct distortion higher than each pressure sensitive switch self rigidity suppresses plate, and, sheet metal 47 and each pressure sensitive switch SW11, SW12 (SW21, area of contact SW22) designs also than operative pin 41 and each pressure sensitive switch SW11, and it is big that the area of contact between the SW21 is wanted.Thereby, even operation speed change lever 30, service load to speed change lever 30 can not crossed the setting value that is limited yet, the pressure sensitive switch SW11 that has only the inboard that directly contacts with operative pin 41, the SW21 action, the pressure sensitive switch SW12 that is disposed in its outside is so SW22 is because above-mentioned sheet metal 47 has hindered distortion also to be failure to actuate.

So, speed change lever is followed the usual practice as the postive direction operation, reach the 1st setting value (for example, about 3kg) as this service load, then have only pressure sensitive switch SW11 to become the ON state near operative pin 41 inboards, if it is bigger that service load becomes, during the 2nd setting value (for example, about 6kg) that begins to reach higher than the 1st setting value, except the pressure sensitive switch SW11 of inboard, also have the pressure sensitive switch SW12 in the outside all to switch to the ON state, so, can the service load of speed change lever be detected with a plurality of grades.

In the 2nd embodiment, identical with the 1st embodiment, if make speed change lever 30 at guide channel 32a, 32b, shake operation along movement direction U and in retreating side guide channel 32c along movement direction D in the advance side guide channel 32a of 32c, then operative pin 41 pushings the 1st operation detection part S1 connects switch.Similarly, as make speed change lever 30 in advance side guide channel 32a along movement direction D and retreating in the side guide channel 32c and shake operation along movement direction U, then operative pin 41 pushings the 2nd operation detection part S2 connects this switch.Like this, the serviceability of speed change lever 30 and direction of operating are detected.In a word, if 1st, the 2nd operation detection part S1, each of S2 all becomes non-operating state, then detecting speed change lever 30 becomes inactive state, if the 1st, the 2nd operation detection part S1, any of S2 becomes switching state, then detect speed change lever 30 serviceability, simultaneously handover operation can know it is which of the 1st, the 2nd operation detection part S1, S2, thereby detects speed change lever 30 direction of operating, promptly allows revolution operation unit 14 at forward and reverse which side rotating direction of operating that makes progress.

As shown in figure 13, above-mentioned each pressure sensitive switch SW11, SW12, SW21, the detection information of SW22 offers the control gear 45 as control device, and this control gear 45 is according to detecting information-driven control motor 33.Control gear 45 is equipped with microcomputer, thus motor driving loop 46 is given with pulse signal clockwise and anticlockwise drive motor 33 in, the power ratio of change pulse signal just can change the actuating speed of motor 33.

And, if allow speed change lever 30 be positioned on the guide channel 32b, then turn round operation unit 14 and become the neutral position, promptly, because the 1st 14a of operation of cam portion becomes and cam follower 27 state vis-a-vis, so the corresponding separately 18b of belt wheel portion slips away from the relative separately 18a of belt wheel portion, make walking stepless speed changes devices 10 become the transmission off state.Then, if allow speed change lever 30 shake operation along movement direction U among the advance side guide channel 32a, then the 1st operation detection part S1 action, according to detection unit S1, be that switch SW 11 or switch SW 11 are located next information with SW12 both sides, speed change lever 30 makes revolution operation unit 14 along positive gyratory directions A revolution, and the result separates belt wheel 18b and slides to approaching separately belt wheel 18a one side, and the stepless change of walking connects device 10 becomes the transmission on-state in direction of advance.Furtherly, if allow speed change lever 30 shake operation along movement direction U, then the operating state of the 1st operation detection part S1 is carried out and keeps, and separate the more approaching separately 18a of belt wheel portion of belt wheel 18b, and walking stepless speed changes devices 10 is the original speedup of direction of advance.Then speed change lever 30 is oppositely promptly shaken operation along movement direction D, then the 2nd operation detection part S2 action, according to detection unit S2 is switch SW 21 or switch SW 21 information next with SW22 both sides, variable speed electric motors, particularly 33 turns round described revolution operation unit 14 on backspace veer B, so separately the 18b of belt wheel portion slips away and separates the 18a of belt wheel portion, and walking stepless speed changes devices 10 is the original deceleration of direction of advance.

On the other hand, as make speed change lever 30 lead side 32a and enter through guide channel 32b and retreat side guide channel 32c from being positioned at above-mentioned advance side, then in this a succession of action, at first above-mentioned walking stepless speed changes devices 10 becomes the transmission off state, and in the meantime, advance, retreat switching mechanism 3 actions, the driving direction of walking stepless speed changes devices 10 takes a turn for the worse, and changes to retreating side.As shaking operation along the movement direction U that retreats in the side guide channel 32c at this state speed change lever 30, the 2nd operation detection part S2 action, according to detection unit S2 is switch SW 21 or switch SW 21 information next with SW22 both sides, variable speed electric motors, particularly 33 makes revolution operation unit 14 along reverse directions B move operation, and the stepless speed changes devices 10 of walking like this is in the direction of retreat speedup.Because this speedup state, as make speed change lever 30 shake operation along movement direction D in the guide channel 32, then the 1st operation detection part S1 action, according to detection unit S1 is switch SW 11 or switch SW 11 information next with switch SW 12 both sides, variable speed electric motors, particularly 33 makes revolution operation unit 14 along positive veer A revolution, and the stepless speed changes devices 10 of then walking is the original deceleration of direction of retreat.

Below, the control action of control gear 45 among the 2nd embodiment is described.

As Figure 14, shown in 15, if the pressure sensitive switch SW11 that only detects in the 1st operation detection part S1 inboard is in the ON state, and the words that the pressure sensitive switch SW12 in the outside disconnects, just under the less situation of decision operation duty factor, the power ratio that will increase pulse signal in motor driving loop 46 is set at the low speed rate of doing work of usefulness driven at low speed motor 33 than (

step

1,2,3).And, use power ratio to electrode drive loop 46 output pulse signals with the low speed of setting, make electrode 33 along positive veer (A direction) revolution (step 4).

Afterwards, if pressure sensitive switch SW11 becomes the OFF state, allow motor 33 stop operating (

step

5,6).On the other hand, do not become the OFF state at pressure sensitive switch SW11, give the steering force of speed change lever the last 30, the pressure sensitive switch SW12 in the outside also becomes the words of on-state, service load is judged as greatly, switch to from pressure sensitive switch SW12 the ON state time pass through behind the given retard time T, the power ratio of pulse signal is set at the high-speed power of high-speed driving motor than (

step

7,8).And, than to motor driving loop 46 output pulse signals, make motor 33 in positive veer (A direction) revolution (step 9) with the high-speed power of setting.

And, even service load reduces, can not control the OFF state of pressure sensitive switch SW12, when pressure sensitive switch SW12 adds that pressure sensitive switch SW11 also becomes the OFF state, make drive motor stop (step 10a, 6).In a word, for obtaining variable speed operation reposefully,, only can not return the low speed action by the ON action of pressure sensitive switch SW11 according to switching to pressure sensitive switch SW12OFF.

Then, if the direction to the manual operation of speed change lever 30 changes, the pressure sensitive switch SW22 in the ON state of the pressure sensitive switch SW21 that only detects in the 2nd operation detection part S2 inboard and the outside is not at the ON state, promptly, during the less occasion of decision operation duty factor, the power ratio that increases pulse signal in the motor driving loop 46 is set at the low speed power ratio (

step

12,13,14) of using driven at low speed motor 33.And, use power ratio to electrode drive loop 46 output pulse signals with the low speed of setting, make motor 33 go up rotation (step 15) in reverse directions (B direction).

Afterwards, if pressure sensitive switch SW21 not at the OFF state, makes motor stop to drive (

step

16,6).But, become under the OFF state at pressure sensitive switch SW21, increase the steering force of speed change lever 30, also become the ON state as pressure sensitive switch SW22, then service load is judged as greatly, after given retard time of the T of pressure sensitive switch SW22 switching ON state time process institute, the power ratio of pulse signal is set at the high speed power ratio (step 17,18) of drive motor under the high speed.And, use power ratio to motor driving loop 46 output pulse signals with the high speed of setting, make motor 33 rotate (step 19) in reverse directions (B direction).

And, although service load reduces, do not control the OFF state of pressure sensitive switch SW22 yet, when pressure sensitive switch SW22 adds that pressure sensitive switch SW21 all becomes the OFF state, stop drive motor and rotate (step 20a, 6).That is,,, can control it and keep the high speed motion shape if motor 33 switches to the OFF state up to pressure sensitive switch SW21 when oppositely beginning to move with high speed according to the ON action of pressure sensitive switch SW22.

Like this, if service load is less, then make motor 33 driven at low speed, become big as service load in this process, then motor 33 becomes high-speed driving.And, big if service load begins to become, then allow motor 33 high-speed driving, even service load diminishes in this process, this is also out in the cold, keeps because the high-speed driving of motor 33 is carried out, so carry out speed change with the speed that is fit to the operation feeling of manual operation as far as possible.Again, with the speed of the corresponding drive motor 33 of maximum service load of giving the aforesaid operations bar owing to stop all to keep up to the bar operation, so the bar operation is difficult to occur inflexible action, thereby can carry out variable speed operation reposefully.

Like this, the amount of deformation detector 47 that is provided with in addition on a bar part with the detection and the utilization shown in the 1st embodiment of speed change lever 30 corresponding service loads comes the bars deformed configurations different, what it adopted is such structure, promptly for the pressure sensitive switch of serviceability detection means 40, apply distortion along the gyratory directions of aforesaid operations pin 41 in the mode of 2 configurations in upright arrangement, on each of positive and negative two directions, detect with 2 grades just.Thus, the control of motor 33 movement speedes of respective operations load realizes with 2 grades.

Again, in the 2nd embodiment, switching along with pressure sensitive switch when the low speed operating state switches to the high speed motion state, switch in the time that is accomplished to till operating state switches from switch, owing to given time lag (being given retard time of the T that provides previously), so when pressure sensitive switch only moved in the very short time, movement speed just can not be switched.That is the operation of the speed change lever 30 in the very short time that produces owing to operate miss etc., is negligible.

The 2nd embodiment's variation

(1) in the 2nd above-mentioned embodiment, and speed change lever 30 be integral mobile operative pin 41 with and revolution operation unit 14 be integral between the mobile linkage part 31, dispose 2 pressure sensitive switch of same style in upright arrangemently, thereby form such structure, but the pressure sensitive switch more than 3 that also can the same style of configuration in upright arrangement, and, because the tabular body that is clipped between these pressure sensitive switch can have different area of contact mutually, so it is corresponding with speed change lever or corresponding with service load, above-mentioned each pressure sensitive switch more than 3 is subjected to the pushing force of different unit areas separately, and above-mentioned this structure also is feasible.

(2) for the pressure sensitive switch more than 2, it also is feasible adopting its sensed pressure separately is set at different structures.

Pressure sensitive switch more than (3) 2 is not in upright arrangement but to be set up in parallel also be feasible.

The 3rd embodiment

In the present embodiment, corresponding with the 1st embodiment as shown in figure 16, be equiped with the speed of vehicle detector 49 that detects the speed of a motor vehicle according to the revolution of axletree in the inside of this walking gearbox 4.And skeleton diagram as shown in Figure 7 is characterized in that, the movement speed of the motor 33 that will set according to the service load maximum value is according to the correction of being quickened, slowed down by the above-mentioned speed of vehicle detector 49 detected detection speed of a motor vehicle.

And at this, as prerequisite, the structure of belt-drive variable-speed transmission 10 is made following form, the variation characteristic of exporting (speed of a motor vehicle) with the corresponding speed change of the operation amount of speed change lever 30 is as shown in figure 18, when the speed of a motor vehicle is low speed and the corresponding speed of a motor vehicle changing value of the unit operation amount of speed change lever 30 be little, and when being high speed just for big, form such characteristic of nonlinear.

The following describes the control action of the control gear 45 among the 3rd embodiment.

As shown in figure 19, ON state as the 1st operation detection switch SW 1 is detected, then according to the detection information of amount of deformation detector 47, read maximum value (step 1 to the service load of speed change lever, 2), this service load maximum value (maximum load) greatly then becomes at a high speed, according to this predetermined variation characteristic, sets the power ratio (step 3) that increases pulse signal to motor driving loop 46.And, read the present walking speed of a motor vehicle by the checkout value of speed of vehicle detector, detect the speed of a motor vehicle according to this, try to achieve the reduction value of power ratio, to above-mentioned such setting power of setting than being revised (step 4,5).

Specified corrected output ratio not when the also low low-speed region of inspection vehicle speed ratio the 1st setting value V1 below according to Figure 18.And, want high and when carrying at inspection vehicle speed ratio the 1st setting value V1 than the low middling speed district of the 2nd setting value V2, with fewer reduction value at deceleration side correction setting power ratio.Again, when inspection vehicle speed ratio the 2nd setting value V2 wants high high-speed region, with more reduction value at deceleration side correction setting power ratio.In a word, detecting the low then movement speed of motor 33 of the speed of a motor vehicle is that variable speed operation speed just becomes at a high speed, is revised by such mode.

And, to motor driving loop 46 output pulse signals, make motor 33 rotate (step 6) with the power ratio of revising like this by positive veer (A direction).Afterwards, change as maximum load to speed change lever 30, then according to new maximum load setting power than (

step

7,2,3), if the indeclinable words of maximum load, up to the OFF state that detects the 1st operation detection switch SW 1, with the pulse signal output in motor driving loop 46 being kept, make motor 33 continue just to change (step 8) according to the power ratio that detects speed of a motor vehicle correction.

Again, during motor 33 drives, as detect the OFF state of the 1st operation detection switch SW 1, then make the motor 33 (step 9) that stops operating.

Moreover, as detect the ON state of the 2nd operation detection switch SW 2, detection information according to amount of deformation detector 47, read maximum value (step 10 to the service load of speed change lever 30,11), this service load maximum value (maximum load) greatly then becomes at a high speed, according to predetermined like this variation characteristic, sets the power ratio (step 12) of the pulse signal that adds to motor driving loop 46.And, checkout value by speed of vehicle detector 49 reads the present speed of travel, detect the speed of a motor vehicle according to this, as above-mentioned, try to achieve the reduction value of power ratio, revise the power ratio of setting (step 13,14), than to motor driving loop 46 output pulse signals, make motor 33 reverse (B direction) rotate (step 15) with revised setting power.Afterwards, maximum load as corresponding speed change lever changes, then according to new maximum load setting power than (step 16,11,12), if the indeclinable words of maximum load are detected up to the OFF state of the 2nd operation detection switch SW 2, with according to setting power comparison motor driving loop 46 output pulse signals that detect speed of a motor vehicle correction, make the counter-rotating of motor 33 continue (step 17).

And, during motor driving, be detected as the OFF state of the 2nd operation detection switch SW 2, then allow the motor (step 9) that stops operating.

Like this, because the maximum value of service load is high-speed driving motor 33 greatly then, when so the speed that adapts in the operation feeling of using with manual operation is carried out speed change, because the low then high-speed driving motor 33 of the speed of a motor vehicle, so at the low speed side with low uncertainty to the speed of a motor vehicle of bar operation amount, motor 33 fast driving, in speed of a motor vehicle variation high-speed side greatly to the bar operation amount, motor 33 drives at a slow speed, thereby prevents rapid variation, can improve the walking Security.Again, carrying out the intermediate speed region of rotation walking etc., actuating speed becomes low speed slightly, thereby easily carries out the speed adjustment.

The 3rd embodiment's variation

(1) in this variation, omitted serviceability detection means 40.That is, be replaced as the pair of switches of the serviceability detection means of speed change lever 30, and come the detecting operation state by the detection information of above-mentioned amount of deformation detector 47.

In a word, as shown in figure 20, according to the detection information of amount of deformation detector 47, judge the serviceability (step 21) that the service load that is added on the speed change lever 30 has surpassed preset lower limit, just judge by this detected state the operation (step 22) of speed change lever 30 on positive and negative each direction.And, if direction of operating is in the words as speedup side (the A direction shown in Figure 1) of advancing, detection information according to amount of deformation detector 47, read maximum value (step 23 to the service load of speed change lever 30,24), this phase service load maximum value (maximum load) then becomes the predetermined like this variation characteristic of basis at a high speed greatly, sets the power ratio (step 25) of the pulse signal that adds to motor driving loop 46.Moreover, read the present speed of travel by speed of vehicle detector 49 checkout values, detect the speed of a motor vehicle according to this, try to achieve the reduction value of power ratio, revise above-mentioned such power ratio of setting (step 26,27).

With revised setting power ratio, make pulse signal output in the motor driving loop 46, allow motor 33 rotate (step 28) in positive veer (A direction).Afterwards, to the maximum load of speed change lever 30 as changing, then according to new maximum load setting power than (

step

29,24,25), if the indeclinable words of maximum load, become below the preset lower limit up to service load, use by the setting power ratio that detects speed of a motor vehicle correction, to motor driving loop 46 output pulse signals, like this, motor 33 continues just changeing (step 30).

And, during motor 33 drives, as detect service load and become below the above-mentioned preset lower limit, then stop motor 33 and rotate (step 31).

Again, identical if direction of operating is as retreating speedup side (Fig. 3 or B direction shown in Figure 10) with above-mentioned control, make motor backward rotation (step 32-38).

If constitute like this, then can reduce number of components such as switch and make designs simplification.

(2) in the above-described embodiments, detect the speed of a motor vehicle and be divided into high-speed region, intermediate speed region, this 3 stage of low-speed region is differentiated, according to its judged result, make the correction of in 3 stages, slowing down of motor driving speed, and according to detecting the speed of a motor vehicle, make the low then actuating speed of the speed of a motor vehicle become big, so just can carry out stepless section correction.

(3) need not detect the low then motor driving speed of the speed of a motor vehicle and become big such correcting mode, replace at low-speed region and high-speed region, make motor driving speed become low speed, make actuating speed become high speed etc. in intermediate speed region, with the various control content that adapt to job status, it then also is feasible making the actuating speed change setting.

With the general other variation of the 1st, 2 and the 3rd embodiment.

(1) in the above-described embodiment, situation as the variable speed operation portion of the belt-drive variable-speed transmission that is operated object is illustrated for example, but be not limited to this, make according to the manual operation of operation tool and to carry out the clockwise and anticlockwise action, as constituting auxiliary drive with the driving operational means then also is feasible, the for example variable speed operation portions of oil pressure endless gearing device, or the descending operation of apparatus for work etc., the various objects that are operated also can be applicable to the present invention.

(2) in the above-described embodiments, used, but the driving mechanisms of use hydraulic motor or engine power etc. also can adopt as the motor that drives operational means.

To also have, in claims every, to have write symbol in order contrasting with drawing easily, still this record does not limit the formation of accompanying drawing of the present invention.

Claims

1. operation assisting device has:

Can be at the operation tool (30) of positive and negative direction operation, with by with aforesaid operations instrument (30) be integral that mobile mechanical type bindiny mechanism is connected, can be at the object that is operated of positive and negative direction action;

The auxiliary above-mentioned driving operational means that is operated object action;

Detect the serviceability of aforesaid operations instrument 30 operations and the serviceability detection means of direction of operating;

According to the detection information of aforesaid operations state-detection means, control the control device of above-mentioned driving operational means (33), and

Detect the service load detection means of the service load corresponding with aforesaid operations instrument (30), wherein,

Above-mentioned control device (45) is to constitute like this, when detecting the aforesaid operations state of aforesaid operations instrument (30) with above-mentioned serviceability detection means, the movement speed that will adapt with the service load that aforesaid operations load detecting means detect is set with respect to above-mentioned driving operational means, at this moment, in case when having surpassed the new service load of detected service load and being detected, set once more by relative above-mentioned driving operational means with the new movement speed that above-mentioned new service load adapts.

2. according to the described operation assisting device of claim 1, wherein, above-mentioned control device (45) is to constitute like this, in above-mentioned driving operational means (33) action, as can not detect the aforesaid operations state time, then stop the action of above-mentioned driving operational means (33) by aforesaid operations state-detection means.

3. according to the described operation assisting device of claim 1, wherein, be made of the variable speed operation portion in the stepless speed changes devices (10) at the aforementioned object that is operated, simultaneously, above-mentioned driving operational means (33) is made of motor; By the operation of aforesaid operations instrument (30) on assigned direction, make above-mentioned variable speed operation portion (14) in speedup side operation, by the reverse operation of aforesaid operations instrument (30), above-mentioned variable speed operation portion is operated in deceleration side.

4. according to the described walking speed change gear of claim 3, wherein above-mentioned stepless speed changes devices (10) is a belt-drive variable-speed transmission, it comprises the drivign belt (12) that is wound on a pair of belt wheel (18) (19), at least any belt wheel of above-mentioned each belt wheel (18) (19) is the separately belt wheel formula structure that can change at interval, adopt belt wheel to change action at interval, make each belt wheel (18) (19) relatively thus the belt roll diameter change and realize speed change.

5. according to the described operation assisting device of claim 1, wherein, aforesaid operations state-detection means are by the displacement by aforesaid operations instrument (30), and the aforesaid operations state of switch that detects aforesaid operations instrument (30) constitutes.

6. according to the described operation assisting device of claim 3, aforesaid operations state-detection means (40) by be contained in operation tool (30) on be integral mobile contacting part (41) and be integral between the mobile portion of bearing (31) with above-mentioned variable speed operation portion (14), be used to detect the pressure sensitive switch formation of the serviceability of relative operation tool (30).

7. according to the described operation assisting device of claim 6, above-mentioned pressure sensitive switch has the serviceability detection means (40) of holding a concurrent post the service load detection means, has a plurality of pressure sensitive switch in order to detect the service load of relative operation tool (30) in a plurality of stages.

8. according to the described operation assisting device of claim 7, described a plurality of pressure sensitive switch branch that is of a pair on two movement directions of contacting part (41) is arranged, each in the pressure sensitive switch each all mutually with state setting in upright arrangement.

9. according to the described operation assisting device of claim 8, described a plurality of pressure sensitive switch also have be equipped with between the pressure sensitive switch that a pair of state in upright arrangement is provided with, than the also big tabular body (47) of the area of contact of contacting part (41).

10. according to the described operation assisting device of claim 1, described service load detection means constitutes and go up the amount of deformation detector of installing (47) at operation tool (30) by in order to detect the service load that is added on the operation tool (30).

11. according to the described operation assisting device of claim 10, the service load detection means is according to having surpassed preset lower limit by the detected service load of service load detection means, come the serviceability of detecting operation instrument (30), thus the double operation state-detection means done.

12. according to the described operation assisting device of claim 1, it is provided with the speed of a motor vehicle detection means (49) that detects the car body speed of travel, the structure of above-mentioned control device (45) is arranged to the detection information according to the detection information of service load detection means and speed of a motor vehicle detection means (49), the form of the movement speed of the driving operational means (33) of change setting.

13. according to the described operation assisting device of claim 12, the structure of control device (45) is, by serviceability detection means detecting operation state the time, if the service load that the service load detection means detects is bigger, and the detection speed of a motor vehicle that is detected by speed of a motor vehicle detection means (49) is lower, the movement speed that then drives operational means (33) becomes at a high speed, comes change setting to drive the movement speed of operational means (33) in this way.