JP2001148914A - Movable agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the driving of an engine by maintaining the number of rotation of the engine as a constant irrespective to its traveling or work load. SOLUTION: This movable agricultural machine is equipped with a acceleration sensor 91 for detecting the operating position of acceleration-operating members 87, 94 for changing and operating the number of rotation (N) of the engine, an engine actuator 92 for controlling the number of rotation of the engine, an engine rotation sensor 93 for detecting the number of rotation of the engine and a stepless transmission mechanism 64 for changing the working speed, drives and controls the acceleration actuator 91 so as to make the number of rotation N1 corresponding to the position of the acceleration sensor coincide with an actual number of the rotation of the engine (N) detected by the engine rotation sensor 93, and also changes and controls the speed ratio of the stepless transmission mechanism corresponding to the number of rotation (N1) at the position of the acceleration sensor 91.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a rice transplanter for continuously performing seedling planting operations, for example, having a seedling table and planting claws.

[0002]

For example, when changing the working speed of a rice transplanter, the accelerator operation performed by the engine and
There are a main shifting operation performed in the transmission case and a sub-shifting operation performed by activating the continuously variable transmission mechanism at the time of the "planting" operation of the main transmission. The sub-shift operation is usually performed by two systems. However, such two-system shift operation has a disadvantage that the operation is complicated and operability is poor. Therefore, there is a means in which the accelerator operation and the auxiliary speed change operation are integrated into one to perform an interlocking operation. However, when the traveling or the work load increases during the planting operation, the planting is performed due to a decrease in the engine speed. There is a disadvantage that the planting operation speed is also reduced, and a constant speed stable planting operation cannot be performed.

[0003]

SUMMARY OF THE INVENTION Accordingly, the present invention provides an accelerator sensor for detecting an operation position of an accelerator operation member for changing an engine speed, an engine actuator for controlling the engine speed, and detecting the engine speed. An engine rotation sensor and a continuously variable transmission mechanism for changing the working speed are provided, and the actuator is driven and controlled so that the engine rotation speed corresponding to the accelerator sensor position and the actual engine rotation speed detected by the engine rotation sensor are matched. The speed ratio of the continuously variable transmission mechanism is changed and controlled in accordance with the engine speed at the accelerator sensor position, so that the engine speed that accurately corresponds to the operation position of the accelerator operation member is always maintained regardless of running or increase or decrease in work load. It is intended to improve the work accuracy by maintaining the work at a constant speed and performing various kinds of stable work at a constant speed.

Further, the upper limit value of the control by the actuator is increased by a certain value from the target control value at the time of operating the accelerator operating member, so that the engine speed is greatly reduced from the target value due to running during work or an increase in work load. In such a case, the actuator is driven stably and satisfactorily on the upper limit side of the control to easily maintain the target engine speed constant.

[0005] Further, the engine speed corresponding to the position of the accelerator sensor during the turning operation of the body is set to a certain high value, the actuator is driven and controlled, and the headland in a field such as a headland having many deep tillage depths is controlled. Suppresses horsepower shortage during turning.Eliminates control delays caused by setting the engine speed high before turning and controlling the actuator drive after the engine speed drops during turning. This makes it possible to make a turning.

[0006]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a side view of a riding rice transplanter, and FIG. 2 is a plan view of the same. In FIG. 1, (1) is a traveling vehicle on which an operator rides, and an engine (2) is mounted on a body frame (3). A front axle case (5) is supported in front of a case (4) via a front axle case (5), and a rear axle case (7) is connected to a rear portion of the transmission case (4). 7) Support the paddy field rear wheel (8). Then, a spare seedling mounting table (10) is mounted on both sides of the hood (9) covering the engine (2) and the like, and the step of getting on and off (1) is performed.
The transmission case (4) and the like are covered by a body cover (12) on which an operator rides via 1), and a driver's seat (13) is mounted on the upper part of the body cover (12), and the driver's seat (13) is located in front of the driver's seat (13). Then, a steering handle (14) is provided at the rear of the hood (9).

[0007] In the figure, reference numeral (15) denotes a planting portion provided with a seedling mounting table (16) for planting six rows and a plurality of planting claws (17). Forward tilting seedling platform (1
6) is supported on a planting case (20) via a lower rail (18) and a guide rail (19) so as to be reciprocally slidable right and left, and a rotary case (21) is rotated at a constant speed in one direction. A pair of claw cases (22) and (22) are supported at the case (20) and symmetrically positioned around the rotation axis of the case (21), and the claw case (22) is provided.
(22) Attach the planting claws (17) and (17) to the tip. A hitch bracket (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and a hitch bracket (27) including a top link (25) and a lower link (26) is provided. A hitch bracket (24) is connected to the rear side of the traveling vehicle (1), and the link mechanism (2)
7) A hydraulic lifting cylinder (28) for raising and lowering the planting section (15) is connected to the lower link (26), and the front and rear wheels (6) and (8) are driven and moved, and at the same time,
A seedling for one plant is taken out from a seedling mounting table (16) that is reciprocally slid left and right by a planting claw (17), and the seedling planting operation is continuously performed.

In the figure, (29) is a main shift lever, (3)
0) is a planting lever, (31) is a sensitivity setting device, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, (34) is a two-floor leveling center float, and (3)
5) is a side float for leveling two rows, and (36) is a side fertilizer for 6 rows.

Further, as shown in FIGS. 3 and 4, the vehicle body frame (3) is tilted to a front low and rear high (a tilt angle of about 4 degrees).
The gantry (37) is fixed integrally on the front upper surface, and the gantry (3)
7) On the upper surface of the anti-vibration rubber (38) and the engine stand (3)
9) The engine (2) is mounted on the engine, and a fuel tank (40) is mounted on the left side of the engine (2), and a muffler (41) is mounted on the right side of the engine (2).
A battery (43) is mounted substantially at the center on the front end side of the body frame (3).

Further, a case base (44) is integrally fixed to the body frame (3), a steering case (45) is attached to the case base (44), and a handle cylinder (4) is mounted.
6) The steering shaft (14a) of the steering handle (14) to be inserted into the steering case (45) is set up on the upper surface of the steering case (45) substantially at the center between the left and right body frames (3) and (3). ) Output shaft (4
7), and a steering arm (48) for turning the left and right front wheels (6) and (6) is attached to the output shaft (47).

A substantially horizontal cylindrical bearing body (49) is welded and fixed to the lower side of the engine stand (39) below the engine (2), and a countershaft (49) is attached to the bearing body (49). The counter pulley (5) is provided at the front end of the counter shaft (50) for inserting and supporting the bearing body (49) forward.
1) Attach, and right and left body frames (3) (3)
An engine output shaft (52) protrudes in front of the engine (2) at substantially the upper center therebetween, and an output pulley (53) is attached to the output shaft (52). The output pulley (53) is connected to the counter pulley (53). 51) via a V-belt (54).

Further, a rear axle case (7) is bolted and fixed to the rear end of the vehicle body frame (3), and a transmission case (4) rear surface is connected and fixed to a front surface of the rear axle case (7). ), A clutch case (55) is integrally formed on the right front surface, a continuously variable belt transmission case (56) right rear surface is fitted and fixed to the front surface of the clutch case (55), and a hydraulic pump (actuated by a lifting cylinder (28)). 57) is fixed to the left rear surface of the belt transmission case (56), and the respective cases (4), (55) are located lower than the upper surface between the left and right body frames (3) (3) in the form of a square pipe. (56) and the hydraulic pump (57) are suspended and fixed, and the transmission shaft (58) with universal joint is connected to the counter shaft (5).
0) It is provided between the rear end and the belt transmission case (56) to transmit the output of the engine (2) to the belt transmission case (56), and between the front axle case (5) and the transmission case (4). ) Is provided to transmit the shift output of the transmission case (4) to the front and rear wheels (6) and (8) via the respective axle cases (5) and (7).

As shown in FIG. 8, an input / output pulley (61) (6) for changing the winding ratio steplessly by changing the winding diameter by operating an electric transmission motor (electric cylinder) (60).
2) and a belt-type continuously variable transmission mechanism (64), which is a sub-transmission portion composed of a V-belt (63), is connected to a belt transmission case (5).
6), a multi-disc friction dry clutch (65) which is intermittently operated by a main clutch pedal (32) is installed in the clutch case (55), and a belt shift case (5).
6) The output shaft (66) of the transmission case (4) is connected to the input shaft (67) of the transmission case (4) via the clutch (65) so that the speed change motor (60) can be used to reduce the planting work speed, which is the auxiliary speed change. It is configured to shift.

A traveling output shaft (69) is connected to the input shaft (67) via a traveling transmission gear mechanism (68).
The traveling output shaft (69) is connected to the front and rear wheels (6) and (8) via front and rear wheel transmission shafts (59) and (70) to drive the front and rear wheels (6) and (8) and to drive the input shaft ( 67) PTO transmission gear mechanism (71) and planting clutch (72)
The PTO shaft (73) is connected via the
3) to drive the planting part (15), and output the PTO shaft (73) near the transmission case (4) to the sprocket (7).
It is configured so that the fertilizer (36) is driven by branching at 4). (75) is the lifting cylinder (28)
Is a hydraulic pump that operates. The speed change motor (6)
0), the speed ratio of the continuously variable transmission mechanism (64) may be changed using an electromagnetically operated hydraulic cylinder. Further, the hydraulic continuously variable transmission mechanism (HS) may be replaced with a belt type continuously variable transmission mechanism (64).
T) may be used.

As shown in FIGS. 5 and 6, the speed change motor (60) is substantially parallel to the inside of the rear portion of the left and right vehicle body frame (3) and is integrally connected to the front and rear rear heights (76).
To the left sub-frame (76) of the left sub-frame (76).
8) The base end of the transmission motor (60) is vertically movably mounted via the transmission gear (60), and the transmission link (80) is connected to the transmission lever (79) on the front surface of the transmission case (56) in which the continuously variable transmission mechanism (64) is provided. The rod shaft (60a) of the transmission motor (60) is connected via the pull-up arm (81), and the transmission lever (79) is operated by the expansion and contraction operation of the rod shaft (60a) by driving the transmission motor (60). Continuously variable transmission mechanism (6
4) The speed ratio is changed to change the speed ratio.

The lifting arm (81) pivotally supports an intermediate portion on a left body frame (3) via a horizontal axis (82) so as to be swingable, and has one end on the rod shaft (60a) and the other end. Are connected to the links (80), respectively, to transmit the shift operation output from the shift motor (60) to the shift lever (79) and to be fixed to the left body frame (3) via the mounting plate (83) and the like. Potentiometer type speed ratio sensor (8
4) The sensor arm (85) and the lifting arm (8)
1) is engaged with the detection shaft (86), and the pulling arm (81) is oscillated by the speed change motor (60) to change the speed ratio of the continuously variable transmission mechanism (64). It is configured to detect by the ratio sensor (84).

As shown in FIGS. 2, 7, 9, and 10, an accelerator pedal (87) serving as an accelerator operating member is disposed on the right outside of the right body frame (3) and near the brake pedal (33). The pedal shaft (8) of the pedal (87).
8) Engage the detection shaft (90) fixed to the tip of the pedal arm (89) fixed to the sensor arm (91a) of the potentiometer type accelerator sensor (91) fixed to the right body frame (3) side. Connect the accelerator pedal (8
The stepping operation amount (7) (increase or deceleration of the engine speed) is detected by the accelerator sensor (91).

An accelerator motor (9) which is an engine actuator for controlling the throttle opening of the engine (2) throttle section (2a) to a target engine speed (N1) corresponding to the sensor value of the accelerator sensor (91).
2) and a pickup-type engine speed sensor (93) for detecting the actual engine speed (N) from the engine output shaft (52), and providing the actual engine speed (N) at the target engine speed (N1). The drive of the accelerator motor (92) is controlled so as to match the target engine speed (N1) corresponding to the position of the accelerator sensor (91).
The speed change motor (60) is interlocked and controlled to the speed ratio position of the continuously variable transmission mechanism (64) set based on the pedal (8).
7) When the engine speed (N) is changed by the operation, the speed ratio of the continuously variable transmission mechanism (64) is also changed according to the engine speed (N), and the engine speed is operated by a single pedal (87) operation. (N) and the speed ratio are simultaneously changed simultaneously. An accelerator lever (94) provided on the right outside of the hood (9) also performs an interlocking change in the engine speed (N) and the speed ratio, similarly to the accelerator pedal (87).

As shown in FIG. 10, the accelerator pedal (87) is provided so that the rotation direction matches the direction of the foot of the operator in the driver's seat (13), and is only a fixed angle (θ) from the front-rear vertical line. By tilting the direction of the pedal (87) to the left so that the direction of the foot matches the direction of the pedal (87), the operability of the pedal (87) is improved, and the brake pedal (33) and the accelerator pedal are improved. (8
7) and these pedals (33) (8)
It is configured to prevent the mistake in step 7).

As shown in FIG. 11, it is installed in the vicinity of the planting lever (30), and detects whether the planting section (15) is moved up and down by the lever (30) and whether the planting clutch (72) is engaged or disengaged. Right and left steering switches (96) and (97) for detecting a certain angle or more of the left and right steering operation by the steering handle (14), and driving of the accelerator motor (92). The throttle arm (9
8) a throttle sensor (99) for detecting the throttle opening of the throttle section (2a) controlled via the throttle sensor (91), a speed ratio sensor (84), and an engine rotation sensor (93). (100) and a controller (100) connected to the transmission motor (60) and the accelerator motor (92) via the relay circuits (101) and (102) to operate a single pedal (87). Thus, the engine speed (N) and the speed ratio of the continuously variable transmission mechanism (64) are simultaneously and simultaneously changed.

This embodiment is constructed as described above, and as shown in FIGS. 12 to 16, after the engine (2) is driven, the planting section (1) in which the planting switch (95) is turned on.
5) During the planting operation in which the planting clutch (72) is in the down position and the planting clutch (72) is engaged, the speed ratio is controlled in conjunction with the engine speed (N) of the accelerator operation.
When the accelerator operation amount by the pedal (87) is read in 1), the throttle opening degree corresponding to the operation amount is calculated from, for example, the table of FIG. When there is a difference (| N1-N |) between the target engine speed (N1) based on the opening and the actual engine speed (N) of the engine (2) read by the engine speed sensor (93), When N1> N, the throttle opening is increased, and when N1 <N, the throttle opening is decreased. The drive control of the accelerator motor (2) is performed, and the engine speed (N1) according to the accelerator operation amount is always maintained. Will be maintained.

In this case, as shown in FIG. 14, the relationship between the accelerator operation amount (accelerator sensor (91)) and the throttle opening (throttle sensor (99)) is represented by a solid line (A).
When the operation of the accelerator pedal (87) is started, the throttle opening is controlled by the throttle opening based on the solid line (A), and the throttle opening is set by running during work by the set throttle opening or by increasing the work load. When the state is controlled to be largely controlled as described above, the throttle opening is controlled on the upper limit side of a broken line (B) expanded by a constant value (S) from the solid line (A) to control the engine speed with an increase in load. (N) is prevented from decreasing. Further, by controlling the throttle opening on the upper limit side of the broken line (B), the relationship between the engine speed (N) and the engine output is shown by a two-dot chain line as shown in FIG. As described above, the maximum point of the output can be expanded to the high rotation side to cope with an increase in load.

When the engine (2) is rotating at an appropriate engine speed (N1) according to the accelerator operation amount, the engine speed (N) is obtained from the table shown in FIG.
The optimal target speed ratio (V1) corresponding to 1) is calculated,
The actual speed ratio (V) detected by the speed ratio sensor (84)
2) and the target speed ratio (V1), when the difference (| V1-V2 |) is greater than or equal to the dead zone (V0), this difference (| V1-V2)
|) In the dead zone (V0) to perform the acceleration / deceleration control of the speed change motor (60) that satisfies | V1-V2 | <V0, according to the engine speed (N1) of the engine (2) driven at that time. Work is performed at the optimum planting work speed for the field conditions and machine conditions based on the speed ratio.

On the other hand, when the planting switch (95) is turned off and the planting section (15) is in a neutral or ascending state, the speed ratio is reduced to the minimum speed while maintaining the setting of the engine speed (N1). In addition to facilitating alignment and securing horsepower, the engine speed (N1) is set to a constant value (△ N) (設定 N) when the aircraft turns with the left or right steering switches (96) and (97) turned on. ΔN = 100-200 rpm) The throttle opening is controlled so as to be higher, and is not controlled after the actual engine speed (N) decreases, but is increased beforehand by increasing the engine speed (N1) before lowering. And
The frequency of the control is suppressed to a small value, the shortage of horsepower in a headland turning operation having many places with a deep tillage depth or the like is eliminated, and the aircraft is always turned stably.

As described above, the accelerator sensor (91) for detecting the operating positions of the accelerator pedal (87) and the lever (94) for changing the engine speed (N), and the accelerator for controlling the engine speed (N). A motor (92);
An engine rotation sensor (93) for detecting the engine speed (N) and a continuously variable transmission mechanism (64) for changing the working speed
Driving control of the accelerator motor (92) so that the engine speed (N1) corresponding to the position of the accelerator sensor (91) matches the actual engine speed (N) detected by the engine speed sensor (93). In addition, by controlling the change of the speed ratio of the continuously variable transmission mechanism (64) according to the engine speed (N1) at the position of the accelerator sensor (91), the accelerator pedal (87 ) And the operating position of the lever (94) can be constantly maintained at a constant engine speed (N1), and various operations can be stably performed at a constant speed to improve the operation accuracy.

The upper limit value of the control by the accelerator motor (92) is set by the accelerator pedal (87) and the lever (94).
By increasing the constant control value (S) from the target control value at the time of the operation, the engine speed (N) can be greatly reduced from the target value (N1) due to running during work or an increase in the work load. The target engine speed (N1) can be easily maintained constant by driving the actuator (92) stably and favorably on the upper limit side of the control.

Further, the engine speed (N1) corresponding to the position of the accelerator sensor (91) at the time of the turning operation of the body is set higher by a constant value (△ N) to drive and control the accelerator motor (92). This is to solve the shortage of horsepower during turning in a field such as a headland with many deep cultivation depths. The engine speed (N1) is set high in advance before turning, and the engine speed decreases during turning. It is possible to eliminate a control delay caused by controlling the driving of the accelerator motor (92) afterwards, thereby enabling a smooth and stable turning.

FIG. 17 shows the transmission motor (6).
0) and the continuously variable transmission mechanism (64) are connected using a bendable operation system (104) such as a wire (103), and an elastic body such as a tension spring is attached to the rod shaft (60a) of the transmission motor (60). (105) through the outer wire (103
a) is connected to one end of an inner wire (103b) to be inserted thereinto, and the inner wire (10) is connected to a pulling arm (81) of a continuously variable transmission mechanism (64) having a return spring (106).
3b) is connected to the other end to simplify the connection structure, and also to the speed change motor (60) and the continuously variable transmission mechanism (6).
4) is arranged at a far-off airframe position to improve the degree of freedom in layout. In addition, the adjustability of the operation system (104) such as the mounting position of the outer receiver (107) can be arranged at a place where the work is easy, so that the workability can be improved. 105) to improve the assemblability. In addition, for example, when the key switch is turned on, the continuously variable transmission mechanism (6)
Despite the inoperable state of 4), the transmission motor (6)
For example, when the key switch 0 is driven by turning on a key switch, the operation of the transmission motor (60) is absorbed by the elastic body (105), and the transmission motor (60) and the continuously variable transmission mechanism (6) are absorbed.
4) It is possible to prevent inconvenience such as breakage of the transmission. The inconvenience that abnormal or unnecessary operation force is transmitted from the transmission motor (60) to the continuously variable transmission mechanism (64) is prevented by the elastic body (105). Thus, the performance and durability of the transmission motor (60) and the continuously variable transmission mechanism (64) can be stably maintained.

[0029]

As is apparent from the above embodiments, the present invention provides an accelerator sensor (91) for detecting the operating position of an accelerator operating member (87) (94) for changing the engine speed (N), and an engine. An engine actuator (92) for controlling the rotation speed (N), and an engine rotation speed (N)
And a continuously variable transmission mechanism (64) for changing the working speed. The engine speed (N1) and the engine speed sensor (93) correspond to the position of the accelerator sensor (91). Actuator (92) to match detected actual engine speed (N)
And a continuously variable transmission mechanism (6) corresponding to the engine speed (N1) at the position of the accelerator sensor (91).
Since the speed ratio of 4) is changed and controlled, the accelerator operating members (87) (9)
4) The engine speed (N
1) is always maintained constant, and various operations can be performed stably at a constant speed to improve the operation accuracy.

Further, since the upper limit value of the control by the actuator (92) is expanded by a fixed value (S) from the target control value at the time of operating the accelerator operation members (87) and (94), traveling during work or work is performed. Even when the engine speed (N) is greatly reduced from the target value (N1) due to an increase in the load, the actuator (92) is driven stably and satisfactorily on the upper limit side of the control so that the target engine speed is achieved. (N1)
Can be easily maintained constant.

Further, since the engine speed (N1) corresponding to the position of the accelerator sensor (91) at the time of the turning operation of the body is set higher by a certain value (△ N), the drive of the actuator (92) is controlled. In order to solve the problem of horsepower shortage during turning in a field such as a headland having many deep tillage depths, the engine speed (N1) is set high in advance before turning, and the engine speed (N ) Is reduced, control delay due to drive control of the actuator (92) is eliminated, and smooth and stable turning can be performed.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is an overall plan view of the rice transplanter.

FIG. 3 is an explanatory side view of the traveling vehicle body.

FIG. 4 is an explanatory plan view of a traveling vehicle body.

FIG. 5 is an explanatory side view of a transmission case.

FIG. 6 is an explanatory side view of a transmission motor unit.

FIG. 7 is an explanatory side view of an accelerator pedal unit.

FIG. 8 is an explanatory diagram of a drive system of a transmission case.

FIG. 9 is a drive explanatory diagram of an accelerator unit and a continuously variable transmission mechanism.

FIG. 10 is an explanatory plan view of a driving operation unit.

FIG. 11 is a control circuit diagram.

FIG. 12 is a flowchart.

FIG. 13 is a time chart.

FIG. 14 is a diagram showing a relationship between an accelerator sensor and a throttle sensor.

FIG. 15 is a diagram showing a relationship between an engine speed and a speed ratio.

FIG. 16 is a diagram showing a relationship between an engine speed and an engine output.

FIG. 17 is an explanatory diagram showing another connection structure of the accelerator motor and the continuously variable transmission mechanism.

[Explanation of symbols]

 (64) continuously variable transmission mechanism (87) accelerator pedal (accelerator operating member) (91) accelerator sensor (92) accelerator motor (actuator) (93) engine rotation sensor (94) accelerator lever (accelerator operating member) (N) ( N1) Engine speed (S) Constant value

Claims (3)

[Claims] 1. An accelerator sensor for detecting an operation position of an accelerator operating member for changing an engine speed, an engine actuator for controlling the engine speed, an engine speed sensor for detecting the engine speed, and changing a working speed. The drive control of the actuator is performed so that the engine speed corresponding to the accelerator sensor position and the actual engine speed detected by the engine speed sensor are matched, and the engine speed at the accelerator sensor position is controlled. A mobile farming machine provided so as to change and control the speed ratio of a continuously variable transmission mechanism. 2. The mobile agricultural machine according to claim 1, wherein an upper limit value of the control by the actuator is expanded by a predetermined value from a target control value at the time of operating the accelerator operation member. 3. The mobile agricultural machine according to claim 1, wherein an engine speed corresponding to the position of the accelerator sensor during the turning operation of the body is set higher by a certain value to drive and control the actuator.