JP2002295278A - Farm equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a farm equipment which is superior in handleability and which does not require operation for acceleration setting on the part of humans. SOLUTION: This farm equipment is composed, so as to set operate the governing mechanism 21 of an on-vehicle engine 8 by an actuator 23. The working equipment is provided with a control device 26 for performing operation control of the actuator 23, based on the detection result of the shift setting condition of a variable speed gear 9 for traveling, so that the shift set condition has a preset, predetermined relation with the acceleration set condition of the governing mechanism 21. Furthermore, the machine is composed so as to perform the acceleration control of the governing mechanism 21, when the output rotation speed of the variable speed gear 9 lowers below the rotation speed set up, corresponding to the shift setting condition.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural work machine such as a rice transplanter, a paddy field direct sowing machine, an agricultural tractor and the like.

[0002]

2. Description of the Related Art In the above-mentioned agricultural working machine, the speed control mechanism of the mounted engine is linked to a hand accelerator lever which can be held at an arbitrary operation position, the engine speed is arbitrarily set by the hand accelerator lever, and the speed is changed. It is configured to perform the work by arbitrarily setting the traveling speed by the lever, and when performing work traveling in the field, after setting the speed control mechanism to a high speed with a large engine output, arbitrarily set the transmission for traveling. A gear change operation is performed to set a desired working traveling speed.

[0003]

In the above configuration,
When changing the aircraft direction at the edge of a ridge after completing a work run, it is common to decelerate the transmission, but often perform an accelerator down operation to improve fuel efficiency and reduce noise. . As described above, if the accelerator-down operation is performed at the time of changing the body direction, it is necessary to perform the accelerator-up operation again to the original accelerator setting state when shifting to the next work process, and the operation becomes cumbersome.

Further, if the vehicle reaches a place with a deep tillage or a place with a high viscosity of soil during work traveling, the load increases and the engine speed decreases, and the driver notices this and raises the accelerator. Or decelerate the transmission to increase the output. As described above, it takes a considerable skill to appropriately respond to the workload.

The present invention has been made in view of such circumstances, and has as its main object to provide an agricultural work machine which does not require an artificial accelerator operation and is excellent in handleability. is there.

[0006]

Means for Solving the Problems [Configuration, Function and Effect of the Invention According to Claim 1]

(Structure) The agricultural working machine according to the first aspect of the present invention is configured such that the speed control mechanism of the mounted engine is set and operated by an actuator, and the speed change set state of the continuously variable transmission for traveling and the speed control mechanism are controlled. A control device that controls the operation of the actuator based on a detection result of the shift set state so that the accelerator set state has a predetermined relationship set in advance; and wherein the output rotation speed of the continuously variable transmission is When the rotation speed is lower than a rotation speed set according to the state, the speed control mechanism is configured to perform speed increase control.

(Operation) According to the above configuration, when the continuously variable transmission is operated to obtain a desired traveling speed, the accelerator setting of the speed control mechanism is automatically performed in accordance with the shift setting state. Then, when the load increases during work traveling, the engine rotational speed decreases, and the output rotational speed of the continuously variable transmission decreases below the rotational speed set in accordance with the shift set state, and the traveling speed decreases. Come. Then, the speed control mechanism is automatically controlled to increase the speed, and the traveling speed is restored.

(Effects) Therefore, according to the first aspect of the present invention, an artificial accelerator setting operation is not required, and the driver only has to perform a speed change operation to obtain a desired traveling speed. It is effective in improving. In addition, the traveling speed set for the shift is stably maintained irrespective of the load, and the work at the desired traveling speed can be suitably performed.

[Structure, operation and effect of the invention according to claim 2]

(Structure) The agricultural working machine according to the second aspect of the invention is configured such that the speed control mechanism of the mounted engine is set and operated by an actuator, and the speed change set state of the continuously variable transmission for traveling and the speed control mechanism are controlled. A control device for controlling the operation of the actuator based on the detection result of the shift set state so that the accelerator set state has a predetermined relationship set in advance; It is characterized in that the accelerator set state of the speed mechanism is maintained at idling.

(Operation) According to the above configuration, when the continuously variable transmission is operated in order to obtain a desired traveling speed, the accelerator setting of the speed control mechanism is automatically performed in accordance with the shift setting state. Then, when traveling is stopped with the continuously variable transmission set to neutral, the speed control mechanism is automatically maintained at idling, and the engine output is reduced. Then, when the vehicle starts running again, the accelerator-up control is automatically performed, and the engine output is increased.

(Effects) Therefore, according to the second aspect of the present invention, no manual accelerator setting operation is required, and the driver only has to perform a speed change operation to obtain a desired traveling speed. It is effective in improving. In addition, it is possible to improve fuel efficiency and reduce noise while the aircraft is stopped, which is excellent in practical convenience.

[Structure, operation and effect of the invention according to claim 3]

(Structure) In the agricultural working machine according to the third aspect of the present invention, in the invention according to the second aspect, in the low speed range of the continuously variable transmission, a change in an accelerator set with respect to a change in a shift set is small, and the continuously variable transmission is configured. In the high-speed range, the characteristic of the relationship between the shift set and the accelerator set is set so that the change in the accelerator set with respect to the change in the shift set becomes large.

(Operation) According to the above configuration, the accelerator change ratio is small in the low-speed running range, and the change in the engine rotational speed is relatively small. Therefore, when the running speed rises from neutral and returns to neutral, the actual The running speed changes slowly. Further, in the high speed range, the accelerator change ratio increases and the engine rotational speed also changes greatly. Therefore, even if the operation of the continuously variable transmission is slightly changed, the traveling speed is changed relatively largely.

(Effects) Therefore, according to the third aspect of the invention, a shock due to a sudden start or a sudden stop is unlikely to occur, and the traveling speed can be changed quickly during the traveling operation. It is easy for even the driver to drive.

[Structure, operation and effect of the invention according to claim 4]

(Structure) The agricultural working machine according to the fourth aspect of the present invention is configured such that the speed control mechanism of the mounted engine is set and operated by an actuator, and the speed change set state of the continuously variable transmission for traveling and the speed control mechanism are controlled. A control device that controls the operation of the actuator based on a detection result of the shift set state so that the accelerator set state has a predetermined relationship set in advance; and a shift set state of the continuously variable transmission and the speed control. A plurality of types of relational characteristics with respect to the accelerator set state of the mechanism are provided, and the relational characteristics are configured to be selectable.

(Operation) According to the above configuration, a suitable relational characteristic is selected and set, for example, according to the skill of the driver, or the relational characteristic is set according to the time of traveling on the road and the time of working traveling in the field. Can be selected and set.

(Effects) Therefore, according to the invention according to claim 4, it is possible to perform an automatic accelerator operation with a relation characteristic suitable for work conditions without requiring an artificial accelerator operation, which is effective for improving work efficiency. Become.

[Structure, operation and effect of the invention according to claim 5]

(Structure) An agricultural working machine according to a fifth aspect of the present invention is the agricultural working machine according to the fourth aspect, further comprising means for discriminating between a work traveling state and a road traveling state, and based on the discrimination result, the relationship characteristic is determined. It is characterized in that it is configured to select automatically.

(Operation / Effect) According to the above configuration, an operation for artificially selecting the related characteristic is unnecessary, and the handling property is further improved.

[Structure, operation and effect of the invention according to claim 6]

(Structure) The agricultural working machine according to the sixth aspect of the invention is configured such that the speed control mechanism of the mounted engine is set and operated by an actuator, and the speed change set state of the continuously variable transmission for traveling and the speed control mechanism are controlled. A control device for controlling the operation of the actuator based on a detection result of the shift set state so that the accelerator set state has a predetermined relationship set in advance, and an operation of intermittently transmitting power to a working device connected and equipped; When the clutch is in the engaged state, the accelerator is preferentially raised, and when the work clutch is in the disengaged state, the accelerator is released, and the operation of the actuator is controlled based on the operation clutch operation detection result. It is characterized by the following.

(Operation) According to the above configuration, when the continuously variable transmission is operated to obtain a desired traveling speed, the accelerator setting of the speed control mechanism is automatically performed in accordance with the shift setting state. In addition, when the work travel is performed with the work clutch engaged, the accelerator-up control is preferentially performed, and the work travel under high output is performed. Further, when the work clutch is disengaged, the preferential accelerator-up control is released, and the speed control mechanism returns to the original accelerator set state corresponding to the shift set state.

(Effects) Therefore, according to the sixth aspect of the present invention, it is unnecessary to perform an artificial accelerator setting operation, and the driver only has to perform a speed change operation to obtain a desired traveling speed. It is effective in improving. In addition, when the vehicle shifts to the work traveling, the accelerator is automatically raised and a reliable work is performed by the high output, so that an efficient work can be performed.

[Structure, operation and effect of the invention according to claim 7]

(Structure) The agricultural working machine according to the seventh aspect of the present invention is configured such that the speed control mechanism of the mounted engine is set and operated by an actuator, and the speed change set state of the continuously variable transmission for traveling and the speed control mechanism are controlled. A control device that controls the operation of the actuator based on a detection result of the shift set state so that the accelerator set state has a predetermined relationship set in advance, and the speed control mechanism has priority based on depression of an accelerator pedal. It is characterized in that it is configured to be able to perform speed increasing operation.

(Operation) According to the above configuration, when the continuously variable transmission is operated to obtain a desired traveling speed, the accelerator setting of the speed control mechanism is automatically performed in accordance with the shift setting state. Then, if the accelerator pedal is depressed in the traveling state, the speed control mechanism is further accelerated from the current accelerator set state and travels at a higher output, and the pedal is released based on the speed change set. To the accelerator set state.

(Effects) Therefore, according to the invention of claim 7, it is unnecessary to perform an artificial accelerator setting operation, and the driver only has to perform a speed change operation to obtain a desired traveling speed. It is effective in improving. In addition, the accelerator can be raised by pedal operation if necessary, which is convenient when you want to temporarily run at a high output, such as escape from a pit while traveling in a field or climbing a hill while traveling on the road. Becomes

[0033]

FIG. 1 shows an overall side view of a riding type rice transplanter, which is an example of an agricultural working machine according to the present invention, and FIG. 2 shows an overall plan view thereof. This rice transplanter
At the rear of a four-wheel drive riding traveling body 3 having a front wheel 1 and a rear wheel 2, a six-row planting seedling planting apparatus 4 is driven by a hydraulic cylinder 5 to move up and down a link mechanism 6 having a parallel quadruple link structure. It is connected to be able to go up and down through
It has a basic structure in which a fertilizer application device 7 is provided at the rear of the fuselage.

A gasoline engine 8 is mounted at the front of the traveling machine body 3, and its output is a hydrostatic stepless transmission (HS) which is a main transmission capable of switching between forward and backward.
T) 9 and the transmission output is transmitted to the transmission case 1
After being input to 0 and further gear-shifted by a sub-transmission (not shown) to two levels, the power is transmitted to the front wheels 1 and the rear wheels 2. In addition, the working power branched from the traveling system in the transmission case 10 is transmitted to the seedling planting device 4 by shaft. A main transmission lever 11 for operating the continuously variable transmission 9 is provided on the left side of the steering handle 12 of the riding operation section so as to be able to swing back and forth, and a sub transmission for operating the auxiliary transmission in the transmission case 10. A gearshift lever 13 is provided on the left side of the driver's seat 14 of the boarding operation unit, and further, at the right front foot of the boarding operation unit, the main clutch in the transmission case 10 is disengaged by depressing and the brake provided for the traveling system is braked A pedal 15 for stopping the machine to be operated is provided.

In the seedling planting apparatus 4, six sets of seedling nests 16 on which seedlings are placed and reciprocally move sideways with a constant stroke, and seedlings are cut out from the lower end of the seedling nest 16 for each plant and planted. , And three leveling floats 18 for leveling the planned planting location in the field are installed in parallel, and three rearing cantilevered parallel-supported planting cases 19 are provided at the rear left and right. Two sets of planting mechanisms 17 are mounted.

FIG. 3 schematically shows an operation structure of the speed control mechanism 21 provided in the engine 8. The speed control mechanism 21 is configured to automatically adjust the throttle opening based on the engine speed fluctuation so that the engine speed is stably maintained within a set range in accordance with the operation position of the speed control lever 22. A well-known mechanical governor is used. An operating lever 24 driven by an electric motor 23 with a speed reducer as an actuator.
And the governing lever 22 are linked by an operation wire 25,
The accelerator setting operation of the speed control mechanism 21 is electrically executed via the electric motor 23.

The operation of the electric motor 23 is controlled by a control device 26.
A potentiometer 27 for detecting the operating position of the main shift lever 11, a potentiometer 28 for feedback detecting the operating position of the operating lever 24, a switch 29 for detecting the operating position of the sub-shift lever 11, and the like are connected. The electric motor 2 based on various detection information.
3 is controlled so that the accelerator lever 22 is set in the following manner.

As shown in the control flow chart of FIG. 4, when it is determined that the main shift lever 11 is at the neutral position N, the target rotational speed set position of the speed control lever 22 is set to the lowest idling ni. The operation of the electric motor 23 is controlled until the speed control lever 22 reaches the target rotation speed setting position. Further, when the main speed change lever 11 is operated from the neutral N to the forward F or the reverse R, the target rotation speed set position of the speed control lever 22 is changed to the high speed side, and toward the changed target rotation speed set position. The position of the speed control lever 22 is changed by the electric motor 23.

In this case, the characteristic of the relationship between the speed change set by the main speed change lever 11 and the rotation speed set by the speed control lever 22 is stored and set in advance as map data or an arithmetic expression. The target rotational speed set position of the speed lever 22 is calculated, and feedback control is performed so as to move the speed control lever 22 toward the calculated target rotational speed set position. The corresponding rotation speed setting is performed automatically.

Further, two types of relational characteristics between the shift set state and the accelerator set state are stored and stored in advance, and one of the relational characteristics is selected depending on the operation position of the auxiliary shift lever 13 and used for the above control. That is, in general, the sub-transmission lever 13 is set to the “low speed L” during the work traveling in the field.
When the vehicle is traveling on the road, it is selected to be switched to "high-speed H", and suitable relationship characteristics for each traveling mode are set in advance. FIG. 6 shows an example of a relational characteristic between the shift set state and the accelerator set state.
When working, so that you can work with high engine output,
The characteristic of (a), in which the change in engine speed is smaller in the high-speed running area than in the low-speed running area, is used. In order to perform smooth acceleration and deceleration when traveling on the road, the engine speed is smoothly increased in the low-speed running area. The characteristic (b) is selected.

When the load becomes large during operation, such as in a deep tillage area or a highly viscous soil area, the engine speed is increased to a predetermined value corresponding to the operating position of the main shift lever 11. Accordingly, the output rotation speed of the continuously variable transmission 9 decreases. Here, the accelerator correction control shown in FIG. 5 is executed based on the detection of the output rotation speed of the continuously variable transmission 9.

That is, when the operation position of the main transmission lever 11 is determined, the target rotation speed no is determined from the relation characteristics selected as described above, and based on this, the reference output rotation speed of the continuously variable transmission 9 is determined. n0 is determined and
The difference between the actual output rotation speed n of the continuously variable transmission 9 and the reference output rotation speed n0 is calculated. Here, if it is determined that the amount of decrease (n0-n) of the actual output rotation speed n from the reference output rotation speed n0 is larger than the set value, the speed control lever 22
Is changed by the set amount toward the speed increasing side, and the speed control lever 22 is adjusted and controlled toward the changed new target rotation speed set position (accelerator up).
As a result, the engine speed is increased, and the traveling speed is restored. When the actual output rotational speed n of the continuously variable transmission 9 is restored to the reference output rotational speed n0, the accelerator-up is stopped. When the reduction of the load causes a state where the actual output rotation speed n of the continuously variable transmission 9 becomes higher than the reference output rotation speed n0, the target rotation speed setting position of the speed control lever 22 is changed to the main transmission lever 1 again.
1 is restored to the original target rotational speed set position corresponding to the operation position, and the speed control lever 22 is adjusted and controlled toward the restored original target rotational speed set position (accelerator down), whereby the engine rotational speed is reduced. As a result, the traveling speed is stabilized.

As shown in FIG. 3, the speed control lever 22 is connected to an accelerator pedal 32 through an operation wire 31.
Is also mechanically linked. According to this, while the state in which the accelerator pedal 32 is not depressed is detected by the switch 33, the position of the speed control lever 22 is controlled by the electric motor 23 as described above. The speed control lever 22 can be pedal-operated to the maximum speed position in preference to the operation system by the motor 23, and can be effectively used when the output needs to be temporarily increased such as at the time of escape or climbing a hill. . In addition, during traveling on the road, acceleration and deceleration can be performed by operating an accelerator pedal as if the vehicle.

[Another Embodiment] The present invention can also be carried out in the following modes.

(1) A plurality of types of relational characteristics between the shift set state and the accelerator set state may be stored and stored so that the driver can arbitrarily select it by operating a switch or the like.

(2) The relationship between the shift set state and the accelerator set state may be different between the forward range and the reverse range.

(3) As shown in FIG. 7, a switch for detecting the engagement state of the planting clutch 34 (see FIG. 1) as a work clutch provided in the working transmission system from the transmission case 10 to the seedling planting device 4. 35 to the control device 26
In the state where the planting clutch 34 is disengaged, the speed control lever 22 is controlled based on the relationship characteristic between the shift setting state and the accelerator setting state as described above, and the planting clutch 34 is engaged for work. Then, this is detected by the switch 35, and the speed control lever 22 is forcibly operated to a preset highest speed position or a high speed position close thereto, so that the work can be performed with a sufficient output during the work traveling. It can also be configured.

(4) As described above, the planting clutch 34
, The accelerator may be further increased by a set amount from the current accelerator set position determined in accordance with the operation position of the main transmission lever 11.

(5) In the embodiment, the mechanical governing mechanism 21
Of the speed control lever 11 to the electric motor (actuator) 23
An example of operating the throttle lever (in the case of gasoline engine) and the control rack (in the case of diesel engine) using an actuator such as an electromagnetic solenoid to stabilize engine speed It can also be implemented in the form of a mechanism, a so-called electronic governor.

[Brief description of the drawings]

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

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

FIG. 3 is a control block diagram.

FIG. 4 is a flowchart of accelerator control.

FIG. 5 is a flowchart of accelerator correction control.

FIG. 6 is a diagram showing a relationship characteristic between a shift set state and an accelerator set state.

FIG. 7 is a control block diagram according to another embodiment.

[Explanation of symbols]

 Reference Signs List 8 engine 9 continuously variable transmission 21 governing mechanism 23 actuator 26 control device 34 work clutch

 ──────────────────────────────────────────────────の Continuing on the front page (72) Makoto Kubotsu 64, Ishizukitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Works, Ltd. In-house (72) Inventor Seiichi Tanaka 64 Ishizu-Kitacho, Sakai City, Osaka F-term in Kubota Sakai Works Co., Ltd. DB10 DB11 DB12 DB22 EA03 EA09 EB03 EC02 FA04 FA10 FA11 FB01

Claims (7)

[Claims] A speed control mechanism of a mounted engine is configured to be set and operated by an actuator, and a predetermined relationship is set in advance between a shift set state of a continuously variable transmission for traveling and an accelerator set state of the speed control mechanism. A control device that controls the operation of the actuator based on the detection result of the shift set state, wherein the output rotation speed of the continuously variable transmission is lower than the rotation speed set corresponding to the shift set state. Then, the agricultural work machine is configured to control the speed control mechanism to increase in speed. 2. The vehicle according to claim 1, wherein the speed control mechanism of the mounted engine is set and operated by an actuator, and a predetermined relationship is set between a speed change set state of the continuously variable transmission for traveling and an accelerator set state of the speed control mechanism. A control device that controls the operation of the actuator based on a detection result of a gear set state, and maintains the accelerator set state of the speed control mechanism at idling when the continuously variable transmission is in a neutral state. A farm work machine characterized by being constituted. 3. The speed change of the continuously variable transmission so that the change of the accelerator set with respect to the change of the shift set is small in the low speed range, and the change of the accelerator set with respect to the change of the shift set is large in the high speed range of the continuously variable transmission. 3. The agricultural working machine according to claim 2, wherein a relation characteristic between the set and the accelerator set is set. 4. A predetermined relationship in which a speed control mechanism of a mounted engine is set and operated by an actuator, and a shift set state of the continuously variable transmission for traveling and an accelerator set state of the speed control mechanism are set in advance. A control device that controls the operation of the actuator based on the detection result of the shift set state, wherein a plurality of types of relational characteristics between the shift set state of the continuously variable transmission and the accelerator set state of the governing mechanism are provided. An agricultural working machine comprising: a configuration in which the relation characteristics can be selected. 5. The agricultural work machine according to claim 4, further comprising means for discriminating between a work traveling state and a road traveling state, wherein said relation characteristic is automatically selected based on the discrimination result. . 6. A predetermined relationship in which a speed control mechanism of a mounted engine is set and operated by an actuator, and a speed change set state of the continuously variable transmission for traveling and an accelerator set state of the speed control mechanism are set in advance. And a control device for controlling the operation of the actuator based on the detection result of the shift set state, and the accelerator is preferentially raised when the work clutch for interrupting the transmission of power to the connected work equipment is engaged. An agricultural work machine configured to control the operation of the actuator based on a detection result of the operation of the work clutch so that the accelerator is released when the work clutch is in the disengaged state. 7. A predetermined relationship in which a speed control mechanism of a mounted engine is set and operated by an actuator, and a speed change set state of the continuously variable transmission for traveling and an accelerator set state of the speed control mechanism are set in advance. A control device that controls the operation of the actuator based on the detection result of the shift set state, and that the speed control mechanism can be preferentially increased in speed based on depression of an accelerator pedal. Agricultural work machine.