JP2006189168A - Gear shift controller of agricultural tractor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a road running gear shift controller of an agricultural tractor capable of shifting gear automatically without requiring troublesome operation in running on a road and coping with conditions stably in a wide scope. <P>SOLUTION: In this gear shift controller of the agricultural tractor provided with an automatic gear shift control means 20 constituted to transmit rotation power from an engine 1 to running wheels 13, 13 through a running transmission mechanism composed of a main shifting gear unit 7, an auxiliary shifting gear unit 9, etc. and switch and control a transmission gear ratio of the main shifting gear unit 7 in accordance with rotational speed of the engine, the gear shift control means 20 controls output to shift the main shifting gear unit 7 down when a condition in which an accelerator is in a fully opened condition based on detection by a throttle opening sensor 34, a transmission condition of the main shifting gear unit 7 is at a predetermined high speed position by detection by a sensing sensor 36 of the main shifting gear unit, and rotational speed of the engine is below predetermined rotational speed based on detection by a rotational speed sensor 33 of the engine continues for specified time Tkd. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a shift control device for an agricultural tractor, and more particularly to a shift control device that can perform automatic shifting on a road without troublesome operations and can stably handle a wide range.

An agricultural tractor shift control device that is configured to automatically shift a plurality of stages for road driving and to enable so-called no-clutch operation is known, for example, as described in Patent Document 1. . This shift control device is a sub-transmission mechanism capable of manual switching in three stages of H, M, and L by a sub-shift lever, a second main transmission mechanism capable of automatic switching in four stages, and increase / decrease switching by switch operation. By combining the first main transmission mechanism and the like, it is possible to select a wide range of transmission gear ratios from working to road driving. In addition, by providing an automatic speed change function that advances in accordance with the engine speed under certain conditions, automatic advancement is possible in response to the accelerator operation. The operability during traveling can be improved.
JP 2002-13561 A

  However, the shift control device may cause a sudden start or a sudden braking when an erroneous operation or an abnormal operation is performed, and traveling on the road may become unstable.

In order to solve the above-mentioned problems, the present invention transmits the rotational power from the engine (1) to the traveling wheels (13, 13) via the traveling transmission mechanism including the main transmission (7), the auxiliary transmission (9), and the like. In the agricultural tractor speed change control device comprising the automatic speed change control means (20) configured to switch and control the transmission gear ratio of the main speed change device (7) according to the engine speed,
The shift control means (20) has the accelerator fully open based on the detection of the throttle opening sensor (34), and the transmission state of the main transmission (7) is detected at a predetermined high speed by the detection of the main shift position sensor (36). When the engine speed is equal to or lower than the predetermined speed based on the detection of the engine speed sensor (33), the main transmission (7) is controlled to shift down when the state continues for a specified time (Tkd). It was set as the structure to output.

  Accordingly, when the engine speed is increased or decreased by the accelerator, the main transmission (7) is automatically shifted up or down accordingly. However, when the transmission state of the main transmission (7) is on the predetermined high speed side and the engine speed is equal to or lower than the predetermined rotation speed and the state continues for a specified time (Tkd), the main transmission (7) is shifted. Down.

  According to the present invention, when the transmission state of the main transmission (7) is on the predetermined high speed side and the engine speed is equal to or lower than the predetermined rotation speed and the state continues for a specified time (Tkd), the main transmission (7 ) Is downshifted, so it is convenient if the acceleration is not obtained even if the accelerator is depressed, for example, when it is uphill, it is automatically shifted down.

An embodiment specifically configured based on the above technical idea will be described below with reference to the drawings with regard to an agricultural tractor on-road traveling speed change control device according to the present invention.
FIG. 1 shows a transmission system development diagram of a traveling transmission mechanism of an agricultural tractor to which the road traveling speed change control device according to the present invention is applied. In FIG. 1, the traveling transmission mechanism of the agricultural tractor includes a main clutch 3 provided in the clutch housing to interrupt the rotational power from the engine 1, a first main transmission 4 in the transmission case, a forward / reverse switching device. 6, transmission is transmitted to the left and right rear wheels 13, 13 via the second main transmission 7, the auxiliary transmission 9, the differential reduction unit 11, and the like.

  The first main transmission 4 is a synchromesh gear-type transmission that selectively meshes two stages of “high” and “low” with a shifter ring 4 b with a synchromesh mechanism that is hydraulically operated via a countershaft 4 a. The switching command is by an increase / decrease switch 27 described later that commands an increase / decrease signal such as “U” and “D”. The forward / reverse switching device 6 is composed of two clutches for forward / reverse travel accompanied by a counter gear 6a, and switches forward / reverse rotation. The second main transmission 7 is a synchromesh gear-type transmission that selectively meshes four stages from “4th speed” to “1st speed” with shifter rings 7b, 7b with a hydraulic operation mechanism via a countershaft 7a. is there. The selection command is based on a solenoid signal of a switching control valve (not shown) corresponding to the forward / backward movement of the two actuators 7c and 7c for selecting "4th speed" and "3rd speed" and "2nd speed" and "1st speed", respectively. . The sub-transmission 9 is a constant mesh gear type transmission that performs three-speed shift between “H”, “M”, and “L” between the sub-shaft 9a by a manual operation sub-shift lever 51 described later.

  The transmission configured as described above can perform eight speeds for each of the three sub-shifts, that is, a total of 24 shifts, as in the example of FIG. . Among them, the 21st position to the 24th position are specified as road travel, and automatic shift control for road travel is applied.

  Next, automatic shift control for traveling on the road will be described. FIG. 3 shows an input / output system diagram of an arithmetic processing unit for automatic shift control for traveling on the road. In FIG. 3, the arithmetic processing unit 20 is connected to various switches, sensors, and the like for receiving an input signal, and is connected to a traveling system control device and the like that is controlled by a control command or the like.

  Specifically, as input signals, the sub-shift lever position (H, M, L) by the sub-shift sensor 21, whether or not the automatic shift function is selected when traveling on the road by the automatic shift “ON” switch 23, the reverser “F “R” switch 24 for forward / backward direction selection, main clutch pedal switch 26 for pedaling operation, “UP” “DN” shift switch 27 for increase / decrease selection of primary main shift, road travel-work switch 29 Mode classification, vehicle speed sensor 31 travel speed, engine speed sensor 33 engine speed, throttle opening sensor 34 throttle opening, main transmission 1st to 4th speed position detection sensors 36a, 36b, 36c, 36d main shift 1 ~ Selection of 4th gear position, normal, power, economy selection by shift mode switch 37, other input signals Kick. Also, as output side commands, warning signal to warning lamp 41, display signal to lamp 43, excitation signal to forward / reverse solenoids 44a, 44b, main shift 1st to 4th speed solenoids 46a, 46b, 46c, 46d Excitation signals, input / output commands to the checker connection coupler 47, and control signals to other control devices are output.

  Next, a specific example (1) of the automatic shift control for traveling on the road will be described. Automatic shift control for road travel is 1st gear shift when 4WD switching or the like is selected as “travel”, the sub shift lever of the sub-transmission device 9 is at “H” speed, and the engine 1 is at a predetermined reference speed or higher. It is assumed that automatic shift processing is performed to increase the speed. In the present invention, in addition to the automatic shift control, the vehicle speed sensor 31 further constitutes an adjustment processing unit to suppress upshifting when the vehicle is stopped. The reference speed of the engine is a lower limit value (for example, 2500 rpm) within a range suitable for running. Note that the stop corresponds to within the range of travel stop and dead zone (slow speed of about 0.5 km / h or less) as a signal of speed 0 by the vehicle speed sensor.

  In this case, as shown in the flow chart (1) of automatic shift control for on-road driving in FIG. 4, each sensor and switch are read in step 1 (shown as S1; the same applies hereinafter), and this is converted to S2. , S3 is repeated until the engine reaches the reference rotational speed or higher in automatic shift control. When the engine exceeds the reference speed in the automatic shift control, the vehicle speed is checked in S4. If the speed is 0, the current shift position is continued in S5. If the speed is not 0, that is, if the vehicle is traveling over a very low speed, the first gear is shifted up in S6.

  By performing the adjustment process in this way, during traveling on the road, automatic gear shift control is performed by selecting a predetermined gear ratio corresponding to the rotational speed of the engine 1 by automatic shift and outputting a shift command of the transmission gear ratio. When the vehicle is stopped, the vehicle stop state is detected by the vehicle speed signal of the vehicle speed sensor 31, and the transmission gear ratio is maintained by suppressing the shift command by the detection signal. Therefore, the road traveling speed change control device, in the case of the automatic speed change control during the road traveling, keeps the transmission gear ratio and keeps the transmission gear ratio even if the engine speed increases, so that the unexpected sudden start. And stable running is possible.

Next, a specific example (2) of automatic shift control for traveling on the road will be described. The automatic shift control for road traveling described here is configured to shift to the first speed which is the lowest shift position for road traveling when the clutch is “disengaged” and the speed is zero, on the premise of the automatic shift. .
In this case, as shown in the flow chart (2) of the automatic shift control for traveling on the road in FIG. 5, each sensor and switch are read in S1, and this is determined in the automatic shift control by sequential determination in S2 to S4. Repeat until the clutch is disengaged and the vehicle speed is zero. If this condition is satisfied, a gear shift is commanded to the first speed in S5.

  By performing the adjustment process in this manner, when the clutch is operated and the airframe stops, a gear change command with the slowest gear ratio is output, so a gear ratio for the next start after the stop is prepared. On the other hand, it is possible to avoid incompatible gear shift due to clutch operation during traveling.

   Next, a specific example (3) of automatic shift control for traveling on the road will be described. The automatic shift control for running on the road described here is based on the assumption of the automatic shift, and further, below a predetermined rotational speed (for example, 1000 rpm) at a low speed slightly exceeding engine idling for a predetermined time Td (for example, 1 second). In this case, it is configured to shift down by the first speed.

  The specific control processing in this case is as shown in the flow chart (3) of automatic shift control for road travel in FIG. 6, in which each sensor and switch are read in S1, and this is automatically performed by sequential determination from S2 to S4. In the shift control, the engine is repeated until a predetermined speed Td or less near idling and a predetermined time Td of approximately 1 second or less elapses. When this condition is satisfied, the first gear is shifted down in S5.

  By performing the adjustment process in this way, automatic shifting up makes the main gear shift a high shift position, and even if the accelerator is loosened until idling, the situation where the speed is higher than expected by the operator can be avoided and stable operation can be achieved. It becomes possible. Also, by shifting down over time, it is possible to quickly accelerate the next time the accelerator is depressed.

  In addition, if necessary, if the predetermined time Td has not elapsed in S4, the accelerator operation is checked in S6, and the count of the predetermined time Td is reset in S7 only when the “open” operation is performed. Is effective. In this case, by depressing the accelerator, the vehicle speed can be quickly increased without downshifting. Therefore, when the load is large, it is possible to avoid a situation in which the engine speed does not increase even when the accelerator is depressed and the state where the engine speed is reduced to 1000 rotations continues to shift down for a predetermined time Td or longer.

  Further, instead of checking the engine speed in S3, the vehicle speed is checked, and for example, it is configured to shift down by the first speed when the state in the low speed range of the actual vehicle speed of 1 km / h or less continues for a predetermined time. Is. By performing control processing based on the actual vehicle speed in this way, when the clutch is disengaged and running inertia, the vehicle does not shift down unless the vehicle speed is sufficiently lowered, so while driving at a fairly fast speed with inertia Even if the clutch is reconnected, the engine brake is light and stable running with less shock is possible.

  In this case, it is possible to smoothly shift to the low-speed shift position by changing the vehicle speed that is the reference for automatic downshifting according to the shift position of the main shift, that is, changing the threshold value of the vehicle speed for downshifting according to the shift position. can do. For example, in the case where the main shift has a four-stage configuration, the vehicle speed for downshifting is 2.0 km / h (4th speed → 3rd speed), 1.5 km / h (3rd speed → 2nd speed) depending on the shift position. 0 km / h (second speed → first speed).

  Then, as shown in the gear diagram (1) in which the downshifting process is performed under the predetermined condition in FIG. 7, if the downshifting process is repeated every time the predetermined time Td elapses under the above predetermined condition, It is possible to cope with the case where the vehicle speed is not yet sufficiently slow only by shifting down. In this case, since automatic shifting is performed to a sufficiently safe shift position, safety is improved and sufficient acceleration (torque) can be obtained at the next acceleration.

  Also, since it is time to reduce the vehicle speed when the accelerator has been loosened for a long time, it gradually elapses with every shift down as shown in the gear diagram (2) in FIG. It is effective to configure to shorten the time. By configuring in this way, it is possible to quickly shift down to a lower shift position as the time during which the accelerator is loosened increases.

  Specifically, Td1 = 1 (sec) at the first downshift, Td2 = 0.5 (sec) at the second downshift, and Td3 = 0.25 at the third downshift. As in (sec), processing is performed so that the time is successively halved.

  Next, a failure handling process of the accelerator opening sensor in the automatic shift control for traveling on the road will be described. If automatic shift control is continued when the accelerator position sensor fails, ideal control according to the accelerator position will not be performed, so that sufficient performance cannot be achieved and usability (feeling, etc.) may be impaired. There is sex. In order to avoid such a situation, when the accelerator opening sensor is broken (disconnection, 5V short), it is effective to prohibit the automatic shift and simultaneously notify the operator by a monitor lamp or the like. .

  Specifically, as shown in the flowchart of the failure handling process of the accelerator opening sensor in FIG. 9, each sensor and switch are read in S1, and the accelerator opening in automatic shift control is determined by sequentially determining S2 and S3. Repeat until a sensor failure is detected. If this condition is met, automatic shift output inhibition and warning monitor lamp output on are processed in S4.

  By performing the adjustment process in this manner, when a sufficient function cannot be exhibited in the driving-related control on the premise of safety, it is possible to ensure safety by stopping the control immediately and leaving it alone.

  Next, a control process when the traveling load is large will be described as another specific example of the automatic shift control for traveling on the road. FIG. 10 shows a flowchart of the control process when the traveling load is large. In FIG. 10, each sensor and switch are read in S1, and when the main gear shift is 4th speed (maximum speed) in the automatic shift control and the accelerator is fully opened by the sequential determination in S2 to S6, the engine rotates a predetermined amount. It repeats until the state continues for a specified time Tkd at a number (for example, 1500 rpm) or less. If this condition is satisfied, the first gear is shifted down in S7.

  As described above, the reason why the speed is limited to the fourth speed (maximum speed) in S3 is that the gear ratio of the tractor seems to be necessary only at about the fourth speed. By configuring in this way, it is convenient if the desired acceleration is not obtained even when the accelerator is depressed, for example, when the vehicle is automatically shifted down on an uphill.

  Also, as another processing configuration, when the main speed is 4th speed (maximum speed) and the accelerator is fully opened, the main speed is shifted down by 1st when the rate of change (increase) in engine rotation is below a certain rate. And when the main shift is at the fourth speed (maximum speed) and the accelerator is fully opened, the main shift is shifted by one speed when the acceleration detected by the detection value of the vehicle speed sensor is equal to or less than a certain acceleration. The same effect as described above can be obtained also in the case where the apparatus is configured to be down.

  Next, the upshift control in the automatic shift control will be described. Since the conventional automatic shift condition was when the engine speed reached a constant value (for example, 2500 rotations), the engine speed after the shift-up varied due to the gear ratio relationship before and after the shift. In order to solve this problem, it is effective to make the shift-up control compatible with the vehicle speed.

  Specifically, FIG. 11 shows a shift characteristic diagram (1) of the upshift control in the automatic shift control. This shift-up processing is performed under the condition that the vehicle speed at the current shift position is equal to or higher than the theoretical vehicle speed of 1300 revolutions at the shift position of 1st speed or higher, based on the detected vehicle speed obtained from the vehicle speed sensor.

  Specifically, if the vehicle traveling speed when the engine is 1300 rpm is V2 (in the case of the second speed), V3 (in the case of the third speed), and V4 (in the case of the fourth speed) according to the gear ratio, it corresponds to each vehicle speed. Then, the speed is shifted up from 1st speed to 2nd speed (when V2), 2nd speed → 3rd speed (when V3), 3rd speed → 4th speed (when V4).

  With this configuration, the engine rotation at the next shift-up position is constant (near 1300 rotations), so that a rapid change in speed at the time of shift-up can be suppressed and the vehicle can travel stably.

  Next, an example in which automatic shift control is performed by changing the engine speed to be shifted up according to the accelerator opening will be described. FIG. 12 shows a shift characteristic diagram (2) of the upshift control in the automatic shift control. For example, the engine speed is set to 1700 rpm (when 100%) and 1300 rpm (when 80%) according to the accelerator opening. For example, assuming that the speed in the second speed corresponding to the rotation speed is V2a (at 1700 rpm) and V2b (at 1300 rpm), V2a (at 100%) and V2b (at 80%) according to the accelerator opening. Shift up from 1st gear to 2nd gear.

By configuring in this way, the timing of upshifting is adjusted according to the accelerator opening, so that it is possible to obtain a traveling feeling in line with the operator's intention. For example, when the accelerator is fully depressed, it can be accelerated quickly by pulling to a higher rotation range than when the accelerator is shallow at the shift position as it is.
In this case, it is effective that the reference rotational speed serving as a reference for the shift-up control can be changed using a microcomputer checker or the like including the above-described shift-up control. That is, it is possible to change and adjust according to the operator using the microcomputer checker so that the shift timing is made later or earlier.

  Next, an example in which automatic change control is performed by selecting a change in the engine speed as a reference using a changeover switch will be described. FIG. 13 shows a shift characteristic diagram (3) of the upshift control in the automatic shift control. For example, a mode selection switch 37 that can be arbitrarily selected from a plurality of modes such as normal, power, economy, and the like is prepared, and the shift timing can be slid by switching the mode selection switch 37.

  Specifically, three types of engine reference rotations, that is, 1300 to 1700 (normal), 1500 to 1900 (power), and 1299 to 1600 (economy) are set in correspondence with the selected position of the mode selection switch 37. Thus, the desired acceleration mode can be changed by selecting the position of the mode selection switch.

  Next, a method for selecting whether to apply automatic shifting will be described. A perspective view of the grip portion of the sub-shift lever is shown in FIG. In FIG. 14, main shift increase / decrease switches 27 a and 27 b and an automatic shift switch 23 are attached to the grip portion of the sub shift lever 51 that selects the gear ratio of the sub shift. The main shift increase / decrease switches 27a and 27b are main shift changeover switches for inputting selection of increase or decrease of the first main shift 4. The automatic shift switch 23 is a selection switch for inputting whether or not automatic shift is applied. The automatic speed change function switches and controls the gear ratio of the second main speed change 7 according to the vehicle speed in a high speed region for traveling on the road.

  When the automatic shift switch 23 is operated to turn on or off the automatic shift, the transmission is controlled to shift by automatic shift or manual shift. This automatic shift ON / OFF selection can be quickly operated along with the operation of the sub-shift lever 51. Therefore, when using the H speed with Ayumi even during automatic shift travel, the manual shift is temporarily used as in the example. The travel control corresponding to the situation can be selected finely.

  Next, another method for selecting whether to apply automatic shifting will be described. FIG. 15 shows a shift pattern of the sub shift lever provided with the automatic shift position. In FIG. 15, three positions “L”, “M”, and “H” are arranged in a substantially h shape in the shift pattern 56 that guides the sub shift lever 51. As for the “H” position for running on the road, two shift positions 57a and 57b branching close to each other are formed, and a position 57a to which automatic shift control is applied and a position 57b to which it is not applied are formed. Both positions are gear ratios of “H” speed, but a switch 23 that outputs an automatic shift signal when the insertion of the sub-shift lever 51 is detected is provided at a position 57a to which automatic shift control is applied.

  By configuring the shift pattern in this manner, the application of automatic shift control is determined according to the insertion positions 57a and 57b of the sub shift lever 51. Therefore, the automatic shift control is applied by shifting the sub shift lever. Can be selected.

FIG. 2 is a transmission system development view of a traveling transmission mechanism of an agricultural tractor to which the road traveling speed change control device according to the present invention is applied. Example of all speed change gear combinations in Fig. 1 arranged in order of speed Arithmetic processing unit input / output system diagram for automatic shift control for road driving Flow chart of automatic shift control for road running (1) Flow chart of automatic shift control for road running (2) Flow chart of automatic shift control for road running (3) Gear diagram for downshift processing under certain conditions (1) Gear diagram when downshifting under specified conditions (2) Flow chart of accelerator failure sensor failure handling process Flow chart of control processing when traveling load is large Shift characteristics of upshift control in automatic shift control (1) Shift characteristics of upshift control in automatic shift control (2) Shift characteristics of upshift control in automatic shift control (3) Perspective view of grip part of sub-shift lever Shift pattern diagram of sub-shift lever with automatic shift position

Explanation of symbols

3 Main clutch
4 First main transmission
7 Second main transmission
9 Sub transmission
20 Arithmetic processing part (shift control means)
23 Automatic shift switch
26 Main clutch pedal switch
27a, 27b Main shift increase / decrease switch
27 Shift switch
31 Vehicle speed sensor
33 Engine rotation sensor
34 Throttle opening sensor
37 Shift mode switch
51 Subshift lever
56 Shift pattern

Claims (1)

Rotational power from the engine (1) is transmitted to the traveling wheels (13, 13) through a traveling transmission mechanism including a main transmission (7), an auxiliary transmission (9), etc., and the main transmission (7) In the shift control device for an agricultural tractor provided with automatic shift control means (20) for switching and controlling the transmission gear ratio according to the engine speed, the shift control means (20) is detected by a throttle opening sensor (34). The accelerator is fully open, the transmission state of the main transmission (7) is at a predetermined high speed position as detected by the main shift position sensor (36), and the engine speed is detected based on the detection of the engine speed sensor (33). Shift control of an agricultural tractor configured to control and output to shift down the main transmission (7) when the number is equal to or less than a predetermined number of revolutions and the state continues for a specified time (Tkd) Location.

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