JP2000145495A - Turning controller for farm working machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable turning according to the situation by adjusting the engine speed by detecting a turning adjustment made by stepping in either left or right brake pedal. SOLUTION: An engine governor unit for a tractor is controlled by operation of a stepping motor 38 with respect to fuel supply amount. Moreover, a potentiometer 47L(47R) that detects this stepping-in operation is provided in a left or right brake pedal 46L(46R). When the tractor is turning, the driving amount of the stepping motor is adjusted in proportion to the amount of stepping-in the pedal 46L(46R).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning control device for an agricultural work machine such as a tractor or a rice transplanter, and more particularly to a device for controlling an engine speed during turning.

[0002]

2. Description of the Related Art Conventionally, there has been known an agricultural tractor provided with a turning control device for controlling a fuel supply amount of a governor device by operating an actuator in conjunction with a turning operation of a vehicle to adjust a running speed of the vehicle. These conventional techniques, for example, when a rotary tilling device is connected to a tractor and cultivation work is performed while traveling particularly at high speed, when turning at 180 degrees at the edge of the field, the engine speed is reduced and low-speed turning is performed.
At the end of the turn, the return of the steering wheel, the lowering of the rotary tilling device and the like are sensed, and the decrease in the engine speed is released to return the traveling speed.

[0003]

However, the conventional invention described above reduces the engine rotation uniformly when a turning operation of the vehicle body is detected, for example, when the rotation angle of the steering wheel becomes a predetermined angle or more. However, when the operator adjusts the turning degree by depressing one of the left and right brake pedals while observing the condition of the field, the turning becomes steeper or more gentle.

At this time, if the number of revolutions of the engine is reduced uniformly in conjunction with only the turning operation, the turning speed becomes larger than expected, and the vehicle body swings greatly, and conversely, it takes time to make a gentle turning, which impairs the working efficiency. There was an issue. In recent years, it has been known that a tractor is provided with a turning control device that electrically or mechanically brakes the rear wheel by operating the brake pedal in conjunction with the turning operation. Instead of adjusting the depression of the pedal, the braking force is adjusted by a dial type setting device or the like.

[0005]

SUMMARY OF THE INVENTION In order to solve such a technical problem, a first invention is to control the fuel supply amount of a governor device by operating an actuator 38 in conjunction with a turning operation of a vehicle to drive the vehicle. In an agricultural work machine provided with a turning control device for adjusting the speed, a means 4 for detecting this stepping operation on the left and right brake pedals 46L (46R) of the vehicle.
7L (47R), and control means 48 for changing the fuel supply amount of the governor device depending on whether or not the pedal 46L (46R) is depressed during turning of the vehicle. The device.

Further, the first invention is further improved, and the means 47L (47R) for detecting the depressing operation of the left and right brake pedals 46L (46R) is constituted by a potentiometer, and this pedal 46L (46R) is used. The control device 61 for changing the fuel supply amount of the governor device to be smaller as the stepping-in amount becomes larger is provided.

Further, when the brake is electrically or mechanically linked with the steering operation, a means 41 for setting a brake braking force inside the turning is provided as in the third invention. The control means 4 for changing the fuel supply amount of the governor device to a smaller value as this setting is set to the higher brake side.
8 is provided with a turning control device for an agricultural work machine.

[0008]

According to the first aspect of the present invention, when the vehicle is working while traveling at a high speed with a working machine connected to a traveling vehicle such as a tractor or the like, an attempt is made to make a turn at the edge of a field, and the engine speed is reduced. Is reduced and the vehicle turns at a low speed. At this time, when one of the left and right brake pedals 46L (46R) is depressed, this turning adjustment is sensed, and the number of revolutions of the engine is increased or decreased, so that turning according to the situation can be performed.

In the second aspect of the present invention, as the amount of depression of the brake pedal 46L (46R) increases, the amount of fuel supplied to the engine decreases and the vehicle speed is reduced, so that a sharp turn is prevented. When the number is small, the vehicle speed can be maintained high and a quick turn can be performed, thereby improving the working efficiency. In the third invention, as described above, the rear wheel 3L (3
When R) is configured to perform braking without operation of the brake pedal, as the setting of the braking force is set to the higher side, the amount of fuel supplied to the engine is reduced and the vehicle speed is reduced, so that a sharp turn is performed. On the other hand, when the setting is on the weak side of the brake, the vehicle speed is maintained at a high level and a quick turn can be performed, so that the work efficiency is improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a tractor will be described as an agricultural work machine having the turning control device of the present invention. FIG.
The tractor 1 shown in FIG. 1 is of a four-wheel drive type, has front wheels 2 and 2 on the front left and right sides of the fuselage, and rear wheels 3 and 3 on the rear left and right sides. 5, a rear axle case 6 supporting the rear wheels 3, 3 is mounted on a rear side surface of the transmission case 7. Front frame 5
A governor device, which will be described later, is provided with an engine 8 at the upper center of the vehicle. A handle 9 is attached to the rear of the front frame 5, and a transmission lever 10 is attached to the transmission case 7.
A control switch 60 for turning on and off the operation of a brake control device for applying a brake to the rear wheel 3 on the inside of the turn at the time of turning, which will be described later, Setting dial 61
Is provided.

At the rear of the vehicle body, there is provided a lift arm 12 which is turned up and down by a lifting hydraulic cylinder 11 which is an actuator for lifting and lowering the working machine. Lower link 1
When the lift arm 12 is turned up and down, a work machine such as a rotary tilling device mounted on the lower links 14 moves up and down.

FIG. 2 is a diagram showing a transmission mechanism of the tractor, and its outline will be described. The rotational power of the engine 8 is input to the transmission case 7, and the power via the main clutch 16 is divided into two systems: a traveling drive system that drives the front wheels 2, 2 and the rear wheels 3, and a PTO-driven external take-out power system. Is transmitted to the branch. The power of the traveling drive system is transmitted to a rear wheel differential device 20 via a traveling transmission including a forward / reverse switching unit 17, a main transmission unit 18, and an auxiliary transmission unit 19, and drives the left and right rear wheels 3, 3. Brake plates 59 and 47 are provided on a drive shaft protruding left and right from the differential device 20, and a brake hydraulic cylinder 58 which is a stepping-down brake pedal 46 </ b> L (46 </ b> R) described later or a brake actuator.
The operation is performed to brake. The power output from the auxiliary transmission unit 19 is transmitted to the 4WD switching device 21.
, And is transmitted to the front wheel differential device 24 in the front axle case 4 by the front wheel transmission shaft 22 to drive the left and right front wheels 2.

On the other hand, the PTO drive system is taken out via a PTO forward / reverse rotation device 25 and a PTO transmission 26 to a PTO shaft 27 projecting rearward from a rear portion of the transmission case 7 and transmitted to the working machine. Engine 8 of tractor 1
Is a diesel engine, fuel is supplied by a fuel injection pump of a governor device, the fuel injection pump is controlled to control the amount of supplied fuel, the rotation speed of the engine 8 is controlled, and the vehicle speed and the rotation of the PTO shaft 27 are controlled. Control the number.

FIG. 3 is a schematic perspective view of the turning control device according to the present invention. FIGS. 4 and 5 are side views of the main part, and FIG. 6 is a horizontal sectional view of the main part. As shown in FIG. 3, a governor adjusting shaft 29 is rotatably supported on the side of a case 28 in which the governor device is installed, and a governor adjusting bracket 30 having a U-shaped cross section is rotatably supported on the adjusting shaft 29. . A governor adjusting arm 31 is attached to an inner portion of the governor adjusting bracket 30 on the governor adjusting shaft 29.
The distal end of the governor adjusting arm 31 and the governor adjusting bracket 30 are connected by a spring 32 so as to be elastically changeable in space. A cable 33 for connecting to a throttle lever and a cable 34 for connecting to an accelerator pedal are fixed to one upper side of the governor adjusting bracket 30, and a throttle lever (reference numeral 63 in FIG. 1) or an accelerator pedal (not shown) is attached. When the engine speed is increased, the cable 33 or the cable 34 is pulled, and the governor adjusting bracket 30 is moved to the left, and the governor adjusting bracket 30 rotates counterclockwise about the governor adjusting shaft 29. .

Since the governor adjusting bracket 30 is loosely fitted on the governor adjusting shaft 29, the governor adjusting shaft 29 is not rotated directly by this pulling, but the governor is adjusted via the spring 32 and the governor adjusting arm 31. In this configuration, the shaft 29 is rotated. As a result, the internal fuel injection amount increases and the vehicle speed of the tractor 1 increases, and one end of a governor adjusting inner cable 37 is connected to the free end side of the governor adjusting arm 31. Also,
A rotating shaft 39 of a stepping motor 38 serving as a governor adjusting actuator has a lever swing motor lever 40.
The other end of the governor adjusting inner cable 37 is rotatably connected to the other end, and the governor adjusting inner cable 37 connects the governor adjusting arm 31 and the lever swing motor lever 40 with flexibility. In addition, the entire length of the cable is connected inextensibly.

The governor adjusting inner cable 37
Is a governor-adjustable outer cable 41
, Which is slidably inserted in one end, and one end of which is attached to the other upper side of the governor adjustment bracket 30.
, And the other end is connected to a bracket 42 attached to a part of the vehicle body. Thus, when the stepping motor 38 is operated by the controller 48, the governor adjusting shaft 29 can be changed to the fuel injection amount decreasing side from the set holding position of the accelerator lever 63.

The controller 48, which is a control means,
The signal of the steering angle sensor 43 provided on the shaft portion of the handle 9, the signal of the lift arm angle sensor 45 connecting the lower links 14, 14, and the left and right brake pedals 46L (46R) are depressed. Of the potentiometer type that detects the presence of
In this configuration, a signal from the right brake sensor 47 is input, and an energization command is output to a solenoid valve that sends pressure oil to the motor 38 and the brake hydraulic cylinder 58. The controller 48 includes a CPU as an arithmetic processing unit and a storage device such as a ROM storing a control program for turning control of the present invention.

In the tractor 1 constructed as described above, when the control switch 60 relating to the automatic brake is turned off, the turning control is operated as follows. When a rotary work machine or the like (not shown) is connected to the tractor 1 and the engine 8 is rotated to reach the boundary of the field while performing the tilling operation, the tractor 1 turns 180 degrees, so-called adjacent turning, to plow uncultivated land. However, this operation is performed in the following procedure.

First, an operating lever (not shown) for rotating the lift arm 12 up and down is operated to the work machine ascending side,
The lifting hydraulic cylinder 11 is driven to raise the working machine. Next, the tractor 1 is turned by rotating the steering handle 9. When the rotation operation angle is equal to or greater than a predetermined angle, the controller 48 determines that the operation is a 180-degree turn, that is, an operation during a so-called adjacent turn.

The steering wheel 9 is rotated to change the turning angle of the front wheels 2 and 2 while the left brake pedal 46 is turned.
L (or right brake pedal 46R) is depressed to adjust the degree of turning. When the tractor 1 turns to an arbitrary position, the turning operation of the steering wheel 9 is returned to the original position, and the left brake pedal 46L (or the right brake pedal 46R) is returned.
And release the one-sided brake.

At this time, the depression amount of the brake pedal 46 is detected by the brake sensor 47L (47R). That is, the lift of the working machine is detected by the lift arm angle sensor 45.
And the turning operation of the tractor is input by the steering wheel turning angle sensor 43, and when the detected value of the brake sensor 47L (47R) becomes a predetermined value or more at the time when the tractor is turned, the controller 48 rotates the engine 8 A signal for reducing the number by a predetermined number of rotations is output to the stepping motor 38, and the stepping motor 38 rotates the rotation shaft 39 toward the side where the engine rotation decreases, and swings the lever swing motor lever 40.

Thus, the lever swing motor lever 4
The swing of 0 is transmitted to the governor adjusting inner cable 37 and the governor adjusting arm 31 to rotate the governor adjusting shaft 29 and reduce the rotation speed of the engine 8. in this way,
When a work implement such as a rotary tilling device is connected to the tractor 1 to turn 180 degrees at the end of the field, the engine 8 rotates at a reduced speed, but the left and right brake pedals 4 are turned.
When any of the 6L and 46R depressing operations is detected,
Specifically, when the amount of depression of the brake exceeds a predetermined value, the vehicle can further decelerate and perform safe turning travel. Conversely, when the brake operation is not performed, the vehicle speed is maintained at a high speed by reducing the deceleration amount as compared to the above, so that the turning can be completed quickly and the work efficiency can be improved.

When the turning of the tractor 1 is completed, the end of turning of the tractor 1 is sensed by detecting the descent of the work implement or by returning the rotation operation of the steering wheel 9 and the like. Control is performed to return the drive rotation and the running speed of the work machine to the original state. In performing control to reduce the rotation speed of the engine 8 at the time of turning, when the depression amount of the brake pedals 46L and 46R exceeds a predetermined amount, the engine 8 is turned off. Although the configuration is such that the rotation speed is low, in this case, the detection means may be configured by a switch. Also, if the amount is increased by periodically detecting the same sensor, the rotation speed of the engine 8 is also set to increase in proportion to the rotation speed. Can be turned, and conversely, at the time of gentle turning with a large diameter, the turning can be quickly finished to improve work efficiency.

When the brake control switch 60 is turned on, the set value of the brake setting dial 61 is input to the controller 48, and the brake cylinder is operated in accordance with the set value, and the stepping is performed. The operation amount of the motor 38 is adjusted. That is, the driving amount of the stepping motor 38 is increased as the braking force is set to the higher side, and the vehicle speed of the tractor 1 is reduced. As a result, a safe small turn is performed during a sharp turn, and conversely, during a gentle turn with a small braking force, the vehicle speed is maintained high and a quick turn can be performed, thereby improving work efficiency.

Next, a lock device for the left and right brake pedals 46L, 46R will be described with reference to FIGS.
The base ends of the left and right brake arms 50L and 50R are rotatably supported on the frame in the handle post, and the left and right brakes 46L and 46R are attached to the distal ends thereof, respectively. A connection proximity switch 51 is attached to the back side of the dull 46R, and a connecting plate 52 for connecting the left and right brake pedals 46, 46 is rotatably turned left and right by a connecting nut 53 on the back side of the left brake pedal 46L. Attachment, a leaf spring 54 for locking is attached near the connection nut 53 on the back side of the left brake pedal 46R. The connecting plate 52 is provided with an operating handle 55.

In the conventional device, since the connecting plate is provided on the arm portion of the brake pedal, a proximity switch for detecting whether or not the left and right brake pedals are locked cannot be provided. There are drawbacks,
Also, even when connecting plates are provided on the left and right brake pedals, if the stopper of the connecting plate is provided on the arm, the stopper may hit the foot during operation and the appearance will be poor, There was a problem that hindered operation.

However, with the above configuration, the distal end side of the connecting plate 52 is disengaged from the right brake pedal 46R and pivots counterclockwise to an upright state. It is locked by the leaf spring 54 and is not locked by the vibration of the body or the like, and the tip side of the connecting plate 52 is turned downward to be horizontal, and locked to the right brake pedal 46R. When the left and right brake pedals 46L and 46R are integrally operated, the connection plate 52 is reliably maintained in this state by its own weight, and the locked state is confirmed by the connection proximity switch 51. The problem can be solved without causing any trouble.

Next, a description will be given of a brake device for the rear wheels 2, 2 with reference to FIG. The tractor 1 has a structure in which the rotation of the left and right rear wheel drive shafts is forcibly stopped so that the one-side brake can be used. The brake pedal 46 is depressed, and the pressure plate 59 on the vehicle body case 58 side is moved to the left / right drive shaft 56 side. In this configuration, the rotation is stopped by pressing the friction plate 57 fixed to the friction plate 57. When the brake is released, the friction plate 57 and the pressure plate 59 are disengaged via a spring (not shown). However, when the oil temperature is low, the oil is so viscous that it is difficult to disengage and an abnormal noise is generated.

In order to solve such a problem, the circumferential groove 6 is formed in the pressure plate 59.
0, into which a damper spring 61 projecting slightly toward the friction plate 57 in a normal state is fitted. Note that a plate 62 is interposed between the friction plate 57 and the pressure plate 59. Thus, when the brake is released, the brake surface pressure is gradually reduced by the damper spring 61, and the friction plate 57 is slowly released to solve the above-mentioned problem.

[Brief description of the drawings]

FIG. 1 is an overall side view of a tractor.

FIG. 2 is a diagram of a transmission mechanism of a tractor.

FIG. 3 is a perspective view showing a turning control device.

FIG. 4 is a side view of the turning control device.

FIG. 5 is a side view of the turning control device.

FIG. 6 is a partially cutaway horizontal sectional view of the turning control device.

FIG. 7 is a front view, a rear view, and left and right side views showing a lock mechanism of the brake pedal.

FIG. 8 is a perspective view showing a lock mechanism of the brake pedal.

FIG. 9 is a perspective view and a sectional view showing a brake device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tractor 8 Engine 28 Governor case 29 Governor adjustment axis 38 Stepping motor 43 Handle turning angle sensor 46L Left brake pedal 46R Right brake pedal 47L Left brake sensor 47R Left brake sensor 48 Controller

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) F02D 1/08 F02D 1/08 E 3G301 29/00 29/00 B 31/00 310 31/00 310D 41 / 12 380 41/12 380Z (72) Inventor Yoshitaka Tani 1st place, Hachikura, Tobe-cho, Iyo-gun, Ehime Prefecture, Iseki Agricultural Machinery Co., Ltd. Internal F-term (reference) 2B043 AA04 AB08 AB15 BA02 BB01 DA06 DB06 EA02 EA13 EB01 EB14 EC18 ED02 ED05 ED12 3D041 AA71 AC02 AC06 AC26 AD10 AD41 AE07 3D052 AA04 AA12 AA13 BB08 JJ03 EJ03 EJ03 EJ09 JJ37 3G060 AA08 AB01 BA17 CA01 CC02 DA00 FA08 GA02 GA20 3G093 AA05 AA09 AB01 BA04 CB09 DA06 DB15 EA05 EC02 FB02 3G301 HA02 HA28 JA00 KB06 LB1 4 LC04 MA16 NE06 PF03Z PF05Z

Claims (3)

[Claims] An agricultural work machine having a turning control device for controlling a fuel supply amount of a governor device by operating an actuator 38 in conjunction with a turning operation of a vehicle to adjust a running speed of the vehicle. 46L (46
R) means 47L (47) for detecting this stepping operation.
R) and the pedal 46L when the vehicle turns.
A turning control device for an agricultural work machine, comprising: control means 48 for changing a fuel supply amount of the governor device according to whether or not (46R) is depressed. 2. The left and right brake pedal 4 according to claim 1.
Means 47L for detecting 6L (46R) depressing operation
(47R) is composed of a potentiometer, and this pedal 4
A turning control device for an agricultural work machine, comprising: a control unit (48) for changing the fuel supply amount of the governor device to be smaller as the 6L (46R) depression amount increases. 3. A turning control device configured to control the fuel supply amount of the governor device by operating an actuator 38 in conjunction with turning operation of the vehicle, and to automatically brake the rear wheel 3L (3R) inside the turning operation. In the agricultural work machine provided with the above, the vehicle is provided with a means 48 for setting a brake braking force inside the turn, and the control means 48 for changing the fuel supply amount of the governor device to be smaller as the setting is set to the higher brake side. A turning control device for an agricultural work machine, comprising: