JP2004019890A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To controllably change a vehicle speed satisfactorily by simplifying a structure by using a speed change operation member for changing the vehicle speed to prevent an abrupt start and an abrupt stop. <P>SOLUTION: This working vehicle comprises the speed change operation member 31 for controllably changing a working speed and a continuously variable transmission 57 for changing the working speed. The working vehicle also comprises detection means 131 and 137 for electrically detecting the operating amount of the speed change operation member 31 and the gear shift position of the continuously variable transmission 57 and, based on the detection of the operating amount and the gear shift position, drivingly controls the speed changing actuator 110 of the continuously variable transmission 57. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a work vehicle such as a rice transplanter, a tractor, a combine, or a construction machine that continuously performs a seedling operation with a seedling mounting table and a seedling mounting claw.
[0002]
[Problems to be solved by the invention]
Conventionally, in a structure in which a shift pedal that is a shift operation member that shifts a work speed and a shift arm that is a shift member of a continuously variable transmission that shifts a work speed are mechanically connected via a rod or the like, a shift is used. Depending on the operation of the pedal (how to depress it), there is a risk of sudden start or sudden stop. For this reason, in the rice transplanter, there is a possibility that the planting posture of the seedlings may be disturbed or the fertilization may be uneven.
[0003]
[Means for Solving the Problems]
Therefore, the present invention includes a shift operating member for shifting the working speed and a continuously variable transmission for shifting the working speed, and electrically detects the operation amount of the shift operating member and the shift position of the continuously variable transmission. Detecting means for controlling the drive of the shift actuator of the continuously variable transmission based on the detection of the operation amount and the shift position, and detecting the operation amount of the shift operation member by electrical detection of the detection means and electric position control of the actuator. , The shift position of the continuously variable transmission is accurately determined to improve the accuracy of the shift control.
[0004]
Also, by changing the drive speed of the actuator according to the shift position of the continuously variable transmission, it is possible to prevent the aircraft from suddenly starting, decelerating, suddenly stopping, etc., and always run at the appropriate speed. The purpose of the present invention is to stably maintain running performance, and to prevent seedling collapse and fertilization unevenness in a rice transplanter to improve planting and fertilization accuracy.
[0005]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1 is an overall side view, FIG. 2 is a plan view of the same, FIG. 3 is a side view of a vehicle body frame, and FIG. 4 is a plan view of the same. In the drawing, reference numeral 1 denotes a traveling vehicle on which an operator rides; It is mounted on the vehicle body frame 3 to support a paddy field traveling front wheel 6 on a side of the transmission case 4 via a front axle case 5, and a rear axle case 7 behind the transmission case 4 supports a paddy field rear wheel 8. A spare seedling mounting table 10 is mounted on both sides of the hood 9 covering the engine 2 and the like, and the transmission case 4 and the like are covered by a body cover 11 on which an operator rides. The driver's seat 13 is attached to the vehicle, and a steering handle 14 is provided in front of the driver's seat 13 and at the rear of the hood 9.
[0006]
In the figure, reference numeral 15 denotes a planting section provided with a seedling mounting table 16 for five-row planting and a plurality of seedling mounting claws 17 and the like. The planting case 20 is supported by the planting case 20 via the lower rail 18 and the guide rail 19 so as to be reciprocally slidable left and right, and a rotary case 21 that rotates at a constant speed in one direction is supported by the planting case 20. A pair of claw cases 22 are arranged at symmetrical positions about the axis, and seedling-planting claws 17 are attached to tips of the claw cases 22.
[0007]
Further, the hitch bracket 23 on the front side of the planting case 20 is connected to the rear side of the traveling vehicle 1 via a lifting link mechanism 26 including a top link 24 and a lower link 25, and the planting section 15 is raised and lowered via the link mechanism 26. A hydraulic raising / lowering cylinder 27 to be connected is connected to the lower link 25, and the front and rear wheels 6.8 are driven and moved. It is configured to take out and continuously perform rice transplanting to plant seedlings.
[0008]
In the drawing, 28 is a main shift lever, 29 is a planting operation lever for raising / lowering the planting section 15, turning on / off the planting clutch, and operating the marker, 30 is a brake pedal, 31 is a speed change pedal, 32 is a differential lock pedal, 33 is a sensitivity adjusting lever, 34 is a stop lever for stopping the planted portion 15 at an arbitrary height position, 35 is a unit clutch lever 35, which is a speed change / elevation lever 28/29 near the position of the steering handle 14, a brake and a speed change. The pedals 30 and 31 are arranged, and the sensitivity adjustment and stop and unit clutch levers 33, 34 and 35 are arranged near the position of the driver's seat 13.
[0009]
Further, in the drawing, 36 is a center float for equalizing one line, 37 is a side float for equalizing two lines, and 38 is a float 36 for feeding fertilizer in a fertilizer hopper 39 by a blower 40 through a flexible transfer hose 41. A 5-row side fertilizer that is discharged to 37 side-row cropping devices 42.
[0010]
As shown in FIGS. 3 to 5, the body frame 3 is divided into a front frame 43, an intermediate frame 44, and a rear frame 45, and the engine 2 is mounted on the pair of left and right front frames 43 and the pair of left and right intermediate frames 44. A front axle case 5 is provided, and a pair of left and right rear frames 45 are provided with a rear axle case 7, a fuel tank 46 for supplying fuel to the engine 2, and the like. Are connected to form a quadrangular frame shape in a plan view, and the engine 2 is mounted on the fixed bracket 49 and the base frame 48 via vibration-proof rubber.
[0011]
As shown in FIG. 10, a portal frame 53 that connects the middle rising portion 50 of the rear frame 45 substantially in parallel with a pipe frame 51 and a portal frame 52, and that fixes the left and right lower ends to the rear axle case 7. And the fuel tank 46 is disposed between the right and left rising portions 50.
[0012]
Further, the front and rear ends of the left and right intermediate frames 44 are detachably fixed to the rear end of the front frame 43 and the front end of the rear frame 45 via bolts 54, and the left and right front axle cases are fixed to the lower surfaces of the left and right intermediate frames 44 via bolts 55. The left and right front axle cases 5 are connected and fixed to the transmission case 4.
[0013]
As shown in FIGS. 6 to 10, a power steering case 56 is provided on the front left side of the transmission case 4 and a continuously variable hydraulic transmission 57 is provided on the right side of the case 4, and a shift input pump shaft 58 of the hydraulic transmission 57 is provided. , The pump shaft 58 is connected to a transmission shaft 59 in the front-rear direction below the engine 2, and the transmission shaft 59 is connected to an output shaft 60 of the engine 2 via a transmission belt 61. The two outputs are transmitted to the hydraulic transmission 57.
[0014]
Further, the transmission case 4 and the rear axle case 7 are integrally connected by a pipe-shaped connection frame 62 on the center line in the front-rear direction of the vehicle body, and a rear output shaft 63 and a PTO output shaft 64 are protruded to the rear of the transmission case 4. The rear output shaft 63 is connected via a rear transmission shaft 66 to a rear input shaft 65 protruding forward from the case 7, and power is transmitted from the traveling output shaft 63 to the left and right rear wheels 8. Further, the PTO output shaft 64 is connected via a universal joint shaft 69 to an intermediate shaft 68 provided on a bearing 67 on the upper part of the rear axle case 7, and the intermediate shaft 68 is connected via an universal joint shaft to the input shaft of the planting case 20. Then, power is transmitted from the PTO output shaft 64 to the planting section 15.
[0015]
Further, as shown in FIGS. 11 to 16, the transmission case 4 includes a main body 70, a front cover 71, and a rear cover 72, and each of the covers 71, 72 is provided before and after the body 70. It is detachably bolted and formed into a closed box shape, and a partition wall portion 73 for dividing the inside of the body portion 70 into front and rear portions is provided. Further, the hydraulic transmission 57 is mounted on the front surface of the front cover 71, and a small-diameter transmission gear 74 is engaged with a pump shaft 58 projecting into the transmission case 4. Then, the power of the transmission gear 74 is transmitted via a pipe shaft 76 to a charge pump 75 fixed to the rear surface of the rear lid 72.
[0016]
A sun gear 78 is engaged with a motor shaft 77 of the hydraulic transmission 57 projecting into the transmission case 4, and the sun gear 78 is bearing-beared on the front cover 71. The carrier gear 79 having a diameter is always meshed with the boss portion of the sun gear 78 so that the carrier gear 79 is rotatably supported. The carrier gear 79 is provided with three planetary gears 80 rotatably via a shaft 81, and And a ring gear 82 meshing with the planetary gear 80 is provided, and the planetary gear mechanism 83 is formed by the gears 78, 80 and 82.
[0017]
The sun gear 78 and the rear lid 72 rotatably support the combined output shaft 84 back and forth, and the ring gear 82 is engaged with the combined output shaft 84 for engagement. And the forward / reverse rotation output of the hydraulic motor 86, which is a continuously variable hydraulic transmission output, and the reduced rotation output (constant rotation in one direction) of the transmission gear 74 and the carrier gear 79 are synthesized by the differential action of the planetary gear mechanism 83, and Or transmitted to the combined output shaft 84 as a rotational force in one direction at the maximum speed. That is, the rotation of the motor shaft 77 when the angle of the hydraulic shift operation arm 109 for changing the swash plate 107 of the hydraulic pump 85 of the hydraulic transmission 57 is changed from −1 to 0 as shown in FIG. When the gear 74 is rotated 1000 times irrespective of the angle of the arm 109 as shown in FIG. 17 (2), the combined output shaft with respect to the angle of the arm 109 as shown in FIG. The rotation of 84 is set to 0 to 1000.
[0018]
Further, a forward gear 87 and a reverse gear 88 are rotatably supported on the combined output shaft 84, and the respective gears 87 and 88 are selectively engaged with the combined output shaft 84 by a slider 89, so that forward, neutral or reverse output is performed. And the rear output shaft 63 is bearing-supported on the partition wall 73 and the rear lid 72. Further, a front output shaft 92 for transmitting power to the left and right front axles 91 via a differential gear 90 and a counter shaft 94 for engaging and supporting a PTO transmission gear 93 are provided, and the rear and front output shafts 63 and 92 are provided. The reverse power is transmitted to the front and rear wheels 6.8 through output gears 95 and 96 to drive the front and rear wheels 6.8 backward, and the rear output shaft 63 supports the moving gear 97 and the planting gear 98 for free rotation. The gears 97 and 98 are selectively engaged with the rear output shaft 63 by the speed change slider 99.
[0019]
Further, the moving gear 97 is always meshed with the forward gear 87 via the high-speed gears 100a and 100b of the counter shaft 94, and the planting gear 98 is always meshed with the low-speed PTO gear 93 of the counter shaft 94. The power of the forward gear 87 is transmitted to the output shafts 63 and 92 via the gears 100a, 93 and 98, and the front and rear wheels 6.8 are driven forward at the seeding planting operation speed. Further, both the moving gear 97 and the planting gear 98 are in the idle state, and the manual rotation of the PTO output shaft 64 is performed so that the worker can manually rotate the planting claws 17 and the like to remove the clogged seedlings. At the same time, the power of the forward gear 87 is transmitted to the output shafts 63 and 92 via the gears 100a and 100b, and the front and rear wheels 6.8 are driven forward at a high speed such as on the road between fields. .
[0020]
Further, as shown in FIG. 11, the power of the PTO transmission gear 93 is transmitted to the PTO output shaft 64 via the PTO transmission shaft 101 and the PTO transmission mechanism 102 to drive the planting section 15 so as to be able to perform the inter-stock transmission and to transmit the transmission case 4. The fertilizer output shaft 104 is connected to the PTO output shaft 64 via a chain 103 installed inside the fertilizer, and the fertilizer applicator 38 is driven in synchronization with the planting unit 15. Further, as shown in FIG. 13, an oil gauge 105 is provided on the transmission case 4, and the sliders 89 and 99 are locked on the same shift fork 106 as shown in FIG. It switches between forward and reverse and sub-speed (low speed).
[0021]
As shown in FIG. 16, a hydraulic shift operation arm 109 is connected to a swash plate 107 of the hydraulic pump 85 via a control shaft 108, and a speed change motor 110 is connected to the arm 109. The rotation output of the hydraulic motor 86 is configured to be increased or decreased. The speed change motor 110 is installed on a motor base 110 a connected to the front frame 43.
[0022]
Also, a traveling brake 111 is provided on a front output shaft 92 connected to the front axle 91 via a differential gear 90, and a brake pedal 30 is connected via a brake rod 113 to a brake operation shaft 112 protruding above the transmission case 4. The operation of the brake pedal 30 activates the brake 111 to stop the travel of the aircraft.
[0023]
As shown in FIGS. 11, 12, and 16, a ball joint type main clutch 114 is interposed between the ring gear 82 and the forward gear 87 of the composite output shaft 84, and the clutch is attached to the clutch shaft 115 protruding outside the transmission case 4. The brake pedal 30 is connected via an arm 116 to operate the shift fork 106 of the clutch shaft 115 to deactivate the main clutch 114 at the time of stepping on the brake pedal 30 for stopping the body.
[0024]
As shown in FIGS. 19 to 22, a speed change pedal 31 is disposed on the right side of the brake pedal 30. The speed change pedal 31 is swingably supported on a pedal shaft 118 via a pedal arm 119, and the speed change pedal 31 is An arm 120 to be integrally connected is provided on a pedal shaft 118, and a spring 127 for automatically returning the pedal 31 to a stop (zero speed) position when the foot is released from the pedal 120 is opposed to an oil damper 128 (or a gas spring). When the foot is released from the pedal 31 which has been depressed, the pedal 31 returns slowly at a substantially constant speed due to the resistance of the oil damper 128 and the return power of the spring 127, and gradually becomes slow. .
[0025]
As shown in FIG. 22, a detection rod 130 is fixed to the other end of the pedal arm 119, and the detection rod 130 is brought into contact with the sensor arm 132 of the potentiometer-type pedal position sensor 131 so that the pedal arm 119 is depressed. The operation position is detected by the sensor 131.
[0026]
Also, as shown in FIG. 2, an automatic cruise switch 140 for automatic cruise control for controlling the drive of the transmission motor 110 to maintain a constant working speed such as a running speed, and a transmission 57 of the transmission 57 for the same operation amount of the transmission pedal 31. A low-speed switch 141 for low-speed control for changing the relationship between speeds (speed ratios) to switch the working speed to low-speed; A slow-speed setting indicator lamp 144 for slow-speed control is provided which is illuminated and displayed when the slow-speed switch 141 is turned on.・ Easy operation and operation of switches 140 and 141 by disposing 144 It is configured so as to allow for such confirmation.
[0027]
Further, as shown in FIG. 16, an electric motor driven cooling fan 142 is installed near the hydraulic transmission 57, and the transmission 57 is externally cooled by the cooling air from the cooling fan 142 so that the inside of the transmission 57 is cooled. It is configured to suppress an increase in the oil temperature.
[0028]
As shown in FIG. 23, an engine rotation sensor 133 for detecting the rotation speed of the engine 2, a vehicle speed sensor 134 for detecting the vehicle speed from the rotation of the rear or front output shafts 63 and 92, and a stepping operation of the brake pedal 30 A brake pedal switch 135 for detecting (ON), a planting position sensor 136 for detecting a planting (low-speed forward) position by the main shift lever 28, and a shift position sensor 137 for detecting a shift position of the operation arm 109. An oil temperature sensor (such as a thermistor) 138 for detecting the oil temperature of the hydraulic transmission 57; a transmission oil pressure sensor 139 for detecting the oil pressure of the hydraulic transmission 57; the auto cruise switch 140; Are connected to the controller 145 and the drive circuit 146 of the speed change motor 110 is Output connected so the controller 146 to § emission 142 and the auto cruise ramp 143 and slow-speed setting display lamp 144 is configured to perform drive control of the shift motor 110 and the fan 142 and the lamp 143, 144.
[0029]
In the embodiment, the configuration in which the brake pedal 30 and the travel brake 111 are mechanically connected via the brake rod 113 or the like has been described. However, a brake drive mechanism for electrically operating the travel brake 111 is provided. The operation of the travel brake 111 and the on / off operation of the main clutch 114 may be performed by operating the brake pedal switch 135 using the pedal 30.
[0030]
The present embodiment is configured as described above. In the normal shift control, the operation amount of the shift pedal 31 is detected by the pedal position sensor 131, and the position corresponding to the operation amount (the shift position sensor 137 is detected). In the automatic cruise control by turning on the auto cruise switch 140, the speed change motor 110 is controlled so that the shift operation arm 109 of the transmission 57 is positioned at the time of detection. The transmission 57 is controlled to increase or decrease the speed via the transmission motor 110 so as to maintain the detection value of the vehicle speed sensor 134 so that the vehicle speed is kept constant.
[0031]
As shown in FIGS. 24 and 25, the operation speed of the speed change motor 110 is changed according to the speed change operation position of the speed change pedal 31, and a detection value of a pedal position sensor 131 for detecting an operation amount (operation position) of the speed change pedal 31. V1 and the shift position V2 detected by the shift position sensor 137 are read into the controller 45, and the shift position of the operation arm 109 is calculated from the operation amount of the shift pedal 31 (Va = C1V1 + C2) (C1C2: constant). When the shift position V2 of the operating arm 109 and the shift position Va by operating the shift pedal 31 are within the dead zone (| V2−Va | ≦ K |), the traveling is stopped.
[0032]
As shown in FIG. 25, the current shift position Va is smaller than the shift position Va by the shift pedal 31 (Va−V2> K), and is smaller than the set lower limit value V3 (shift position sensor corresponding value) (V2 ≦ V3). When the operating speed of the transmission motor 110 is low, the operation arm 109 (the transmission 57) is operated on the increased speed side, and when the operating arm 109 is higher than the set lower limit value V3 (V2> V3), the operation speed of the transmission motor 110 is operated at a medium speed. The speed increasing control is performed by driving the speed change motor 110 to move the arm 109 to the speed increasing side to prevent sudden start of the body.
[0033]
On the other hand, as shown in FIGS. 25 (2) and (3), when the current shift position V2 is larger than the shift position Va by the shift pedal 31 (V2−Va> K), the operation arm 109 (the transmission 57) is switched to the lower speed side. The control is performed when the current shift position V2 is higher than the set upper limit value V4 (shift position sensor corresponding value) (V2> V4) and the brake pedal switch 135 is off (brake off). When the speed is low and the operation speed is high when on (brake-on), the speed change motor 110 is driven to the deceleration side, and the current speed change position V2 is less than the set upper limit value V4 (V2 ≦ V4), and the set lower limit. When the brake pedal switch 135 is off (brake off) and the operation speed is medium speed, and when the brake pedal switch 135 is on (brake on), the operation speed is high and higher than the value V3 (V2> V3). Further, when the current shift position V2 is equal to or less than the set lower limit value V3 (V2 ≦ V3), the operation speed is reduced to drive the speed change motor 110 to the deceleration side, and when the transmission 57 is at the high speed side, the brake pedal 30 is operated. When it is necessary to make a sudden stop, the operating speed of the speed change motor 110 is made faster than usual, and during normal times, the high speed side and the intermediate operating speed are made slow to prevent sudden stop or sudden deceleration. The motor 110 is gradually decelerated to stop the machine smoothly.
[0034]
In this way, in normal times, the vehicle speed is smoothly increased / decreased to prevent sudden start, sudden stop / sudden deceleration of the aircraft. In particular, in a working vehicle in which the output of 0 to 1000 rotations is obtained from the combined output shaft 84 and the vehicle can be started from 0, the transmission motor near 0 is used to improve the running stability by stopping at Sudden start can be effectively prevented by slowing the operation speed of 110, and in the case of a rice transplanter, seedling collapse and fertilization unevenness can be prevented, and planting and fertilization accuracy (uniformity) can be improved.
[0035]
As is apparent from the above description, the shift pedal 31 which is a shift operation member for shifting the working speed and the continuously variable transmission 57 for shifting the working speed are provided. The speed change motor 110 is provided with a pedal position sensor 131 and a speed change position sensor 137 as detection means for electrically detecting the speed change position of the continuously variable transmission 57 based on the detection of the operation amount and the speed change position. Is controlled by the electric detection of the sensors 131 and 137 and the electric position control of the transmission motor 110 to accurately determine the transmission position of the continuously variable transmission with respect to the operation amount of the transmission pedal 31. Accuracy can be improved.
[0036]
Further, by changing the drive speed of the speed change motor 110 according to the shift position of the continuously variable transmission 57, the aircraft is prevented from suddenly starting, decelerating, and suddenly stopping, and traveling at an appropriate speed is always performed. In the rice transplanter, seedling collapse and fertilization unevenness can be prevented, and planting and fertilization accuracy can be improved.
[0037]
【The invention's effect】
As is apparent from the above embodiment, the present invention includes the shift operation member 31 for shifting the working speed, the continuously variable transmission 57 for shifting the working speed, and the operation amount of the shift operation member 31 and the continuously variable shift. Detecting means 131 and 137 for electrically detecting the shift position of the transmission 57 and for controlling the drive of the shift actuator 110 of the continuously variable transmission 57 based on the detection of the operation amount and the shift position. The one in which the continuously variable transmission shift position with respect to the operation amount of the shift operation member 31 is accurately determined by the electrical detection of 131 and 137 and the electrical position control of the actuator 110, thereby improving the accuracy of the shift control. It is.
[0038]
Further, since the drive speed of the actuator 110 is changed in accordance with the shift position of the continuously variable transmission 57, the vehicle is prevented from suddenly starting, decelerating, and suddenly stopping, and traveling at an appropriate speed is always performed. In the rice transplanter, seedling collapse and fertilization unevenness can be prevented and planting and fertilization accuracy can be improved.
[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 a side view of the traveling vehicle body.
FIG. 4 is a plan view of a traveling vehicle body.
FIG. 5 is a side view of the vehicle body frame.
FIG. 6 is an explanatory side view of a driving unit.
FIG. 7 is an explanatory plan view of a driving unit.
FIG. 8 is an explanatory side view of a side clutch operation system.
FIG. 9 is an explanatory plan view of a side clutch operation system.
FIG. 10 is an explanatory perspective view of a vehicle body.
FIG. 11 is a sectional view of a transmission case.
FIG. 12 is an explanatory diagram of the traveling drive unit.
FIG. 13 is an explanatory diagram of a planetary gear mechanism.
FIG. 14 is a partial view of a mission case.
FIG. 15 is a sectional view of a planetary gear mechanism.
FIG. 16 is an explanatory diagram of gear arrangement of a transmission case.
FIG. 17 is an explanatory diagram of output.
FIG. 18 is an explanatory diagram of an output of a combined output shaft.
FIG. 19 is an explanatory perspective view of an operation unit.
FIG. 20 is an explanatory side view of the operation unit.
FIG. 21 is an explanatory perspective view of a pedal unit.
FIG. 22 is a side view of the speed change pedal unit.
FIG. 23 is a control circuit diagram.
FIG. 24 is a flowchart.
FIG. 25 is a relationship diagram between a speed change pedal and a transmission.
[Explanation of symbols]
31 Speed change pedal (speed change operation member)
57 continuously variable transmission 110 transmission motor (actuator)
131 Pedal position sensor (detection means)
137 Shift position sensor (detection means)

Claims (2)

A shift operation member that shifts the work speed, and a continuously variable transmission that shifts the work speed, and a detection unit that electrically detects an operation amount of the shift operation member and a shift position of the continuously variable transmission, A work vehicle configured to drive-control a shift actuator of a continuously variable transmission based on detection of an operation amount and a shift position. 2. The work vehicle according to claim 1, wherein the drive speed of the actuator is changed according to the shift position of the continuously variable transmission.

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