JP2011196518A - Working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working vehicle capable of controlling a transmission for reducing a burden of an operator, by optimizing the boosting speed of hydraulic pressure for the operator, for transmitting power of a clutch when starting in an advance and a retreat of the working vehicle.SOLUTION: Responsiveness by switching of an advance-retreat is improved by controlling the hydraulic pressure so that the relationship between elapsed time T for applying the hydraulic pressure of a hydraulic fluid and output hydraulic pressure P is made mutually different when advancing or retreating from a vehicle stopping state and when switching an advance and a retreat to a clutch cylinder 85 operated under the hydraulic pressure for transmitting or not transmitting the output of an advance-retreat clutch D to a driving wheel by operation of an advance-retreat switching operation lever 115 of the working vehicle.

Description

  The present invention relates to a work vehicle to which work machines for agriculture, construction, transportation, and the like are connected, and more particularly, to a work vehicle including a transmission control device such as a tractor.

  In a work vehicle such as a tractor with a forward / reverse switching clutch that switches the power transmission to the front and rear wheels by driving the actuator, the engine rotational power is immediately transmitted to the front and rear wheels when the forward / reverse switching lever is switched from reverse to forward. There is an example in which a countermeasure is provided to prevent a problem that the vehicle moves forward. For example, in Patent Document 1 below, when the work vehicle is switched from backward to forward, the power transmission of the forward clutch is kept in the “off” state until the depression of the clutch pedal is detected, and the forward / reverse switching operation is performed. A configuration is disclosed in which the vehicle is temporarily stopped even after completion and the operator can start the vehicle at an arbitrary timing after surely confirming the operation of the steering wheel or other work.

Japanese Patent Laid-Open No. 2001-121985

  In the invention described in Patent Document 1, since the vehicle temporarily stops when the work vehicle is switched forward and backward, the operator can start the vehicle at an arbitrary timing. Since the pressure increase speed of the hydraulic pressure for power transmission is the same, some operators may have problems such as being too fast as the starting speed when moving backward, even though the starting speed when moving forward is appropriate.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to make it possible to make the pressure increase speed of the hydraulic pressure for transmitting the power of the clutch suitable for the operator when the work vehicle moves forward and backward, and to control the transmission that reduces the burden on the operator. It is to provide a work vehicle that can perform.

The problems of the present invention are solved by the following means.
According to the first aspect of the present invention, the engine (62), the drive wheels (11 and / or 13) that operate by transmitting the power of the engine (62), and the forward / reverse switching that switches the traveling direction of the work vehicle back and forth. A forward / reverse switching device (D) that switches the drive wheel (11 and / or 13) to one of the forward rotation direction, the stop direction, and the reverse rotation direction by operating the operation means (115) and the forward / reverse switching operation means (115). And an actuator (85) operated by hydraulic pressure for transmitting or not transmitting the output of the forward / reverse switching device (D) to the drive wheels (11 and / or 13), and hydraulic pressure of hydraulic oil to the actuator (85) In a work vehicle equipped with a hydraulic control device (100a) that controls the output of the forward / reverse switching device (D) according to the degree of the degree, the hydraulic control device (100a) moves forward or backward from the vehicle stop state. And a hydraulic control unit having a different relationship between the hydraulic pressure switching elapsed time (T) and the output hydraulic pressure (P) until the actuator (85) comes into full contact with the case where the forward / reverse switching is alternately performed. It is a work vehicle.

  According to the second aspect of the present invention, when the forward / reverse switching is alternately performed as compared with the case of moving forward or backward from the vehicle stop state, the time until the actuator (85) is completely connected is shortened and the initial pressure (FIG. 7) is reduced. 2. The work vehicle according to claim 1, wherein the value of the output hydraulic pressure (P) after the action of T1) is increased.

  According to the first aspect of the present invention, the hydraulic pressure switching elapsed time (T) and the output hydraulic pressure until the actuator (85) is completely connected between when the vehicle is stopped or moving forward or backward and when the vehicle is switched back and forth alternately. Since the relationship with (P) is different, when the forward / reverse switching is performed, for example, when the vehicle is switched to the forward movement during the backward movement, the forward inertia switching device D is used to shift to the forward movement while stopping the backward inertia force. Thus, it is possible to gradually transmit the driving force in a new traveling direction while gradually canceling the driving force in the opposite direction, and it is possible to accelerate the response without a shift shock.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, when the forward / reverse switching device D is switched between forward and backward, the forward / reverse switching device D is more effective than when driving is started when the vehicle is stopped. By comparing the case of starting from the time of stopping and the case of switching between forward and backward, the acceleration of both is almost the same in the direction of travel. Because it travels, the ride comfort is improved compared to the past.

Stable and smooth shifting is possible.

It is a left view of the tractor of one Embodiment of this invention. It is a power transmission diagram in the transmission of the tractor of FIG. FIG. 3 is a hydraulic circuit diagram of the power transmission diagram of FIG. 2. It is a block diagram of the hydraulic clutch cylinder for forward / reverse power on / off of the transmission of FIG. It is a control block diagram of the tractor of FIG. It is a perspective view of the driver's seat periphery of the tractor of FIG. 1 that the pressure curve of the pressure (P) with respect to the clutch switching elapsed time (T) is different between when the forward / backward movement of the tractor of FIG. It is a figure explaining. It is a hydraulic circuit diagram of the power transmission diagram of the tractor of one Embodiment of this invention. It is a control block diagram of the tractor of FIG. It is a block diagram of the power transmission which performs the speed change of PTO by the engine of the tractor of one Embodiment of this invention. FIG. 11 is a control block diagram of the tractor having the configuration shown in FIG. 10.

  Embodiments of the present invention will be described below with reference to the drawings. In the present specification, left and right are respectively referred to as left and right in the forward direction of the work vehicle, and front and rear are referred to as front and rear, respectively. And according to embodiment of this invention, it demonstrates below by taking as an example the tractor of the agricultural machine which is an example of a working vehicle.

  As shown in FIG. 1, the tractor can perform a ground work by attaching a working machine (not shown) such as a rotary tiller so that it can be moved up and down by a three-point link mechanism that is configured at the rear part of the machine body. The vehicle body T has an engine bracket attached to a vehicle body frame that supports a front axle housing (not shown) at the front end, and an engine 62 is mounted via the engine bracket. The transmission case 65 and the like are integrally connected, a rear axle housing (not shown) is provided at the rearmost part of the transmission case 65, and the rear wheels 63 are mounted on the left and right sides.

In addition, since the member which is not individually demonstrated shown in the hydraulic circuit diagram of FIG. 3 and the block diagram of the hydraulic clutch cylinder for forward / reverse power on / off of the transmission of FIG. 4 is a well-known member, description thereof is omitted. To do. FIG. 2 shows a power transmission diagram in the transmission of the tractor of FIG.
The engine 62 has a projecting engine shaft 1 on the rear side, and the engine shaft 1 is connected to the input shaft 2 of the clutch housing portion. The output shaft 3 and the PTO shaft 14 at the rear end are interlocked via a transmission mechanism in the mission case 65, and the front wheel output shaft 5 provided at the lower portion of the mission case 65 is interlocked. The output shaft 3 is supported along the front-rear direction at a substantially central portion of the rear portion in the transmission case 65, has a drive pinion gear 53 at the rear end, meshes with the diff ring gear 46 of the rear differential 45, and extends along the rear axle housing. The rear differential shaft 10 mounted on the shaft and the rear wheel shaft 11 are interlocked via a planetary reduction mechanism. The front wheel output shaft 5 is connected to the input shaft 26 of the front differential 47 provided at the center of the front axle housing from the lower portion of the transmission case 65 through the lower portion of the engine 62, and is mounted along the front axle housing. The front differential shaft 12 and the planetary reduction mechanism are connected to the front wheel shaft 13. Note that gear drive shafts 15 and 17 for taking out power from the input shaft 2 to the hydraulic pump 80 (FIG. 3) are arranged in parallel with the input shaft 2.

  2 is provided with a PTO clutch pack 66 on a PTO countershaft 9 having a PTO shift counter gear 44 linked to an input gear 31 from an input shaft 2 driven by the engine shaft 1. Yes. The configuration of the PTO power transmission unit including the PTO clutch pack 66 and the input gear 31 is referred to as a PTO clutch E.

  The input shaft 2 is provided with forward / reverse switching gears 42, 42 for forward / reverse switching in the idle state, and the reverse movement switching gear 42 on one reverse side has a back counter shaft 8 arranged in parallel with the input shaft 2. A back counter gear 43 provided on the main transmission shaft 19 is meshed, and the other forward-side forward / reverse switching gear 42 is provided with an input gear 48 fixed on the main transmission shaft 19 and an effective free rotation on the main transmission shaft 19. Four main transmission gears 33 having different diameters are provided. These four main transmission gears 33 are configured as a four-speed transmission, and are switched and shifted by a clutch pack 76. A transmission including the four main transmission gears 33 is referred to as a main transmission clutch A.

  On the main transmission shaft 19, of the four main transmission gears 33 of the main transmission clutch A, the main transmission gear 33 (for the first speed) having the smallest effective diameter and the main transmission gear having the third smallest effective diameter are provided. The clutch pack 76 is fixed between the main transmission gear 33 (for the third speed) and the main transmission gear 33 (for the second speed) having the second smallest effective diameter and the main transmission gear 33 (for the fourth speed) having the largest effective diameter. The clutch pack 76 is fixedly provided. Each of the two clutch packs 76 is provided with a friction clutch that connects each main transmission gear 33 so as to rotate integrally with the main transmission shaft 19.

Further, the input gear 48 that can mesh with the forward gear of the forward / reverse switching gear 42 meshes with the back counter gear 43 on the back counter shaft 8 together with the reverse gear of the forward / backward switching gear 42. The forward-side gear 42 and the reverse-side gear 42 of the forward / reverse switching gears 42 are alternatively integrated with the input shaft 2 by switching between the two forward / reverse switching clutch packs 60 composed of independent front and rear friction clutches. In this configuration, the vehicle can be switched between forward travel and reverse travel. A configuration including these gear 42, clutch pack 60 and the like including a hydraulic cylinder 85 (FIG. 3) to be described later is referred to as a forward / reverse hydraulic clutch D.
A forward / reverse switching lever 115 (FIG. 6) for manually switching the forward / backward hydraulic clutch D is provided on the left side portion of the handle post of the steering handle 73 (the right side includes an accelerator lever, a blinker lever, etc.), and the clutch. The pedal 119 is provided under the foot on the left side of the handle post. A brake pedal 174 and an accelerator pedal 175 are provided at the foot on the right side of the handle post.

  The sub-transmission shaft 20 provided coaxially with the main transmission shaft 19 is provided with two high and low-speed switching gears 34 having different effective diameters that are switched and shifted by the clutch pack 76. Furthermore, it can decelerate and can switch to high speed and low speed. The gear configuration capable of switching between high speed and low speed is referred to as a high / low shift clutch B.

  Further, an output shaft 3 having three auxiliary transmission gears 35 having different effective diameters is arranged coaxially with the auxiliary transmission shaft 20. The output shaft 3 is configured to be shifted in three stages by the auxiliary transmission gear 35. The configuration of the gear 35 capable of three-speed shifting is referred to as an auxiliary transmission gear transmission mechanism C.

Further, a creep counter shaft 21 having a creep counter gear 49 that meshes with the auxiliary transmission gear 35 is provided in parallel with the output shaft 3. A travel counter shaft 6 having a main transmission counter gear 39 and a high / low speed switching gear 40 meshing with the main transmission gear 33 and the high / low speed switching gear 34 is disposed in parallel with the main transmission shaft 19 and the auxiliary transmission shaft 20. Rotation transmitted from the main transmission shaft 19 is changed by the main transmission gear 33, and the rotation is switched between the high and low speeds provided on the auxiliary transmission shaft 20 via the main transmission counter gear 39 and the high and low speed switching gear 40 in sequence. It is transmitted to the gear 34. The power transmitted to the high / low speed switching gear 34 is transmitted to the output shaft 3 through the clutch pack 76 and through the transmission mechanism by the auxiliary transmission gear 35 provided on the auxiliary transmission shaft 20.
This traveling power transmission system is provided with a forward / reverse rotation PTO which is a transmission mode for rotating the PTO interlocking shaft 4 provided with a PTO forward / reverse switching gear 37 mechanism.

  A front wheel interlocking gear 51 that has a front wheel interlocking gear 51 that rotatably supports the subtransmission countershaft 27 of the subtransmission countergear 38 that meshes with the subtransmission gear 35 and that is interlocked from the output shaft 3 via the front wheel take-out gear 36. A shaft 28 is provided, and a PTO reduction shaft 23 having a PTO reduction gear 50 is provided on the front extension axis of the front wheel interlocking shaft 28. Further, a PTO interlocking shaft 4 is provided at a position parallel to the front wheel interlocking shaft 28, and the PTO forward / reverse switching gear 37 for switching the PTO interlocking shaft 4 between forward rotation and reverse rotation at the front end on the same axis as the PTO interlocking shaft 4. The switching shaft 22 and the PTO transmission shaft 18 of the PTO transmission gear 32 are arranged.

  A PTO reverse rotation counter shaft 24 having a PTO reverse rotation counter gear 52 that meshes with the PTO normal / reverse switching gear 37 is provided on the side of the PTO forward / reverse switching shaft 22, and the input shaft is inserted by the insertion of the PTO clutch pack 66. Power is transmitted from 2 to the PTO forward / reverse switching shaft 22 via the PTO transmission gear 32, the PTO transmission counter gear 44, the PTO forward / reverse switching gear 37, and the like. The forward / reverse switching gear 37 uses a clutch ring having the same form as the PTO transmission gear 32. A reverse rotation counter shaft 24 having a PTO reverse rotation counter gear 52 is provided on the side of the PTO normal / reverse switching shaft 22, and the PTO reverse rotation counter gear 52 receives the interlocking from the PTO reduction gear 50 and performs PTO forward / reverse switching. The gear 37 can be reversely rotated. A deceleration shaft 23 is disposed behind the PTO counter shaft 9.

  Further, the front wheel output shaft 5 arranged at the lower stage in the transmission case 65 is mounted on the bottom of the rear portion of the transmission case 65, and the input shaft 26 of the front differential 47 through the front wheel interlocking shaft 25, the coupling and the like. Connect to A front wheel drive shaft 7 is disposed on the side of the front wheel output shaft 5. A front wheel gear 55 is provided at the rear end of the front wheel drive shaft 7. Further, the first front wheel interlocking gear 51 on the front wheel interlocking shaft 28 meshes with the front wheel take-out gear 36 at the rear end portion of the output shaft 3 and is transmitted to the front wheel interlocking shaft 28 via the first front wheel interlocking gear 51. The driving force of the output shaft 3 is transmitted to the second front wheel interlocking gear 54 that rotates integrally with the front wheel interlocking shaft 28, and is transmitted from the front wheel interlocking gear 54 to the front wheel driving shaft 7.

  A front wheel drive clutch pack 67 is provided on the front wheel drive shaft 7, and geared from the front end of the drive shaft 7 to the front wheel output shaft 5. Further, two front wheel drive switching gears 41 having different effective diameters are arranged on the left and right sides of the front wheel drive clutch pack 67, and the two front wheel drive switching gears 41 are provided with two effective wheel diameters provided on the counter shaft 59. The front wheel drive shaft 7 can be driven at either one of the two reduction ratios by meshing with the drive counter gear 56 and selectively connecting the front wheel drive clutch pack 67.

  When the front wheel drive clutch pack 67 is shifted to the neutral position, the front wheel 61 is not driven, and a rear wheel drive two-wheel drive mode is adopted. When the front wheel drive clutch pack 67 is switched by a hydraulic operation to shift to the low speed position, the front wheel 61 is moved to the rear. A four-wheel drive configuration in which the wheel 63 is driven at a constant speed of about one time with respect to the wheel 63 is used, and when the front wheel drive clutch pack 67 is switched by hydraulic operation to shift to a high speed position, the front wheel 61 is moved to the rear wheel 63 by about 2 It is possible to travel by adopting a four-wheel drive mode in which the driving speed is doubled.

  With the meshing transmission having the above-described configuration, the rotational power of the engine 62 is transmitted through a forward / reverse hydraulic clutch D that constitutes the main clutch, so that the main transmission clutch A that has four speeds and the high speed that has two speeds. The gear is shifted to any one of a total of 24 speeds by the low speed transmission clutch B and the sub-transmission gear transmission mechanism (sub-transmission device) C including the three speeds, and the obtained rotational power passes through the rear differential 45. The rear wheel 63 is driven. Further, the rotational power changed by the auxiliary transmission gear transmission mechanism C is also transmitted to a front wheel drive clutch pack (two-wheel drive / four-wheel drive switching clutch) 67, which causes the front wheels 61 to be “constant speed” or “acceleration”. , The front wheel 61 is driven via the front differential 47.

  Further, the PTO transmission gear 32, the traveling main transmission gear 33, the high / low speed switching gear 34, the auxiliary transmission gear 35, and the like are arranged along the axis of the output shaft 3 having the drive pinion gear 53. The transmission of the traveling system is interlocked with the drive pinion gear 53 via the main transmission gear 33, the high / low speed switching gear 34, the multiple transmission gear 35, etc. arranged on the axis of the output shaft 3 from the input shaft 2. Further, the PTO shift is linked via a PTO transmission gear 32 provided at the front end portion on the axis of the output shaft 3.

Next, FIG. 3 shows a hydraulic circuit diagram of clutches mainly shown in the power transmission diagram of FIG.
In the hydraulic circuit diagram of FIG. 3, the left and right brake cylinders 83 that brake the left and right rear wheels 63 independently, the four-wheel drive clutch cylinder 99 that switches the power transmitted to the front wheels 61 to “constant speed” or “acceleration”, steering A power steering device 103, a PTO clutch cylinder 104, a PTO clutch switching valve 105, a PTO clutch proportional pressure control valve 106, and the like that are operated by rotating the handle 73 are provided. It should be noted that a part of the oil supply from the main hydraulic pump 80a is used to operate the circuit (the working machine elevating / working machine horizontal, external hydraulic take-out, etc.) 101 in the chain line, and the oil supply from the sub hydraulic pump 80b is performed. The sub-circuit 103 of the power steering apparatus is operated by using this, but in this specification, a circuit diagram for that purpose is omitted.

  The hydraulic oil discharged from the main hydraulic pump 80a is provided with a hydraulic clutch cylinder 88 that operates the gears 33 for the fourth speed and the second speed of the main transmission clutch A via the clutch pack 76 via the pressure reducing valve 81a. The main shift (2-4) clutch proportional pressure control valve (2-4 speed boost solenoid) 89 that switches the hydraulic clutch cylinder 87 is supplied to the gear 33 for the first speed and the third speed of the main shift clutch A. Are supplied to a main transmission (1-3) clutch proportional pressure control valve (1-3 speed boosting solenoid) 93 for switching between the hydraulic clutch cylinder 91 and the hydraulic clutch cylinder 92.

  The hydraulic fluid that passes through the pressure reducing valve 81a is switched by a switching valve 86 (forward solenoid 86F, forward hydraulic clutch D) that switches between the forward and reverse hydraulic clutches D of the forward / reverse clutch cylinder 85 via the on / off control valve 129 of the forward / reverse clutch cylinder 85. The reverse solenoid 86R) is supplied. The forward clutch pressure sensor 110 (FIG. 5) and the reverse clutch pressure sensor 111 (FIG. 5) detect whether the hydraulic oil is supplied to the forward or reverse hydraulic clutch D of the forward / reverse clutch cylinder 85. it can. Further, a forward / reverse boost solenoid 90 for boosting the hydraulic pressure of the forward / reverse clutch D is provided.

  Similarly, the hydraulic oil supplied to the hydraulic clutch cylinders described above and below is a pressure sensor (for example, for the first to fourth speeds of the hydraulic clutch A) provided in the oil passage on the inlet side to each hydraulic clutch cylinder. Or the pressure sensor 146 of the PTO clutch E (FIG. 5)).

  The hydraulic oil discharged from the main hydraulic pump 80a is branched and supplied to the left and right brake cylinders 83 via the pressure reducing valve 81b and the brake valve 82a. The brake valve 82a is a switching control valve that selects the rear wheel 63, and the brake valve 82a is integrated with a pressure control valve 82b that adjusts the braking force.

Further, the hydraulic oil passing through the pressure reducing valve 81b is transmitted to the clutch pack 76 at one of the two gears 40 of “high speed” and “low speed”. Is supplied to the control valves 96a and 96b for switching the high / low hydraulic clutch cylinder 95 to be operated.
Further, the hydraulic oil passing through the pressure reducing valve 81 b is branched into the front-wheel differential lock cylinder 98 a for the front differential 47 and the rear-difference lock cylinder 98 b for the rear differential 45 through the differential lock control valve 97.

Further, hydraulic oil 99 for switching the gear 41 of the front wheel drive clutch pack 67 is supplied with hydraulic oil via the pressure reducing valve 81b via the switching control valve 94.
Similarly, the hydraulic oil passing through the pressure reducing valve 81b is supplied to the PTO clutch cylinder 104 via the PTO valves 105 and 106, and the pressure of the PTO clutch E is adjusted.
Further, the hydraulic pressure from the sub hydraulic pump 80 b shown in FIG. 3 is configured to supply hydraulic oil to the steering branching device 107 that is operated by the operation of the power steering handle 73.

FIG. 4 shows a cross-sectional configuration diagram of a forward / reverse clutch cylinder 85 that switches between the forward / reverse gears 42 and 42.
Forward / reverse switching comprising a pair of front and rear cylinders 85F and 85R, pistons 78F and 78R that are operated by hydraulic oil (oil) flowing in, and a plurality of sets of friction plates that are in contact with each other by the operation of the pistons 78F and 78R. Clutch packs 60 and 60 are provided, respectively.

  When the clutch pedal 119 is not operated and the forward / reverse switching lever 115 is operated to either forward or reverse, oil flows into one of the forward and reverse cylinders 85F and 85R, and the piston 78F or 78R is in the operating state, and the forward / reverse switching clutch packs 60, 60 are in the connected state, and the engine power is transmitted to the forward drive mechanism or the reverse drive mechanism in the transmission 24. Even if the clutch pedal 119 is not operated, if the forward / reverse switching lever 115 is in the neutral position, oil does not flow into any of the forward and reverse cylinders 85F and 85R, so the aircraft does not move forward or backward.

  In addition, return springs (compression springs) 77F and 77R are provided in the cylinders 85F and 85R, and the return springs 77F and 77R are urged toward the side where the forward and reverse clutch packs 60 and 60 are disconnected. Is done. Therefore, when the clutch pedal 119, which is a foot pedal, is operated, the oil in the cylinder 85F or 85R flows out, and the piston 78F or 78R moves in the return direction by the urging force of the return spring 77F or 77R. The connected state of the clutch pack 60 is released. Such a phenomenon occurs when the clutch pedal 119 is depressed in a state where the forward / reverse switching lever 115 is operated to move forward or backward. Further, even if the clutch pedal 119 is not depressed, it occurs when the forward / reverse switching lever 115 is operated to a neutral position from a state where the forward / reverse switching lever 115 is operated forward or backward.

FIG. 5 is a block diagram showing input and output of control signals to the controllers (control devices) 100a to 100c. The traveling system controller 100a that controls the traveling speed, the engine controller 100b that controls the output of the engine 62, and the working machine. A work machine lifting / lowering system controller 100c for controlling the lifting / lowering is connected by a communication line to exchange control signals.
First, the travel system controller 100a stores on / off information of each clutch of the friction clutch of the main transmission clutch A described above for the transmission 1 clutch pressure sensor 145a, the transmission 2 clutch pressure sensor 145b, the transmission 3 clutch pressure sensor 145c, and the transmission 4. The on / off information of the high / low shift clutch B input from the clutch pressure sensor 145d is input from the Hi clutch pressure sensor 113 and the Lo clutch pressure sensor 114, and the on / off information of the clutch pack 60 of the forward / reverse clutch D advances. Input from the clutch pressure sensor 110 and the reverse clutch pressure sensor 111 and detect the shift position of the forward / reverse lever operation position sensor 115a for detecting the shift position of the forward / reverse lever 115 for shifting the forward / reverse clutch D and the shift position of the auxiliary shift lever 179. Shift position from sub-shift lever operating position sensor 179f Information is input to the travel system controller 100a.

  Furthermore, the oil temperature in the mission case 65 is input to the traveling system controller 100a from the mission oil temperature sensor 147, the position of the clutch pedal 119 is input from the clutch pedal operation position sensor 119a, and the rotational speed of the front wheels 61 and 61 is increased. From the front wheel drive shaft rotational speed sensor 112a (FIG. 2) for detecting the rotation and the rear wheel drive shaft rotational speed sensor 112b (FIG. 2) for detecting the rotational speed of the rear wheels 63, 63, the drive shaft rotational speed of each wheel 61, 63 is detected. Is entered. In addition, from a 4WD / 2WD selector switch (switching switch for 4WD (both front and rear wheels are driven)) and 2WD (switch only for rear wheels) 185, which will be described later, information on the selected driving state is input from a sensor (not shown). Then, switching between 2WD and 4WD is performed by a front wheel drive clutch pack (2WD 4WD switching clutch) 67.

  The front wheel turning angle sensor (front wheel steering angle detecting means) 116 is a sensor for detecting the steering angle (turning angle) of the front wheels 61 and 61 corresponding to the turning (steering) operation of the steering handle 73, and the front wheel turning angle sensor. The steering angle of the front wheels 61 and 61 (corresponding to the turning of the steering handle 73 and the steering angle) is input from 116.

  Furthermore, whether or not accelerator shift information (automatic shift (auto-drive) described later) is set in the travel system controller 100a from an accelerator shift setting switch (which will be described later on an AT shift road switch 199 and an AT shift work switch 200). Accelerator for detecting the depression position of the accelerator pedal 175 (the amount of operation of the accelerator lever 176 when working). Accelerator setting information is input from the position sensor 175a, and setting information is input from the accelerator fine adjustment lever 153 (FIGS. 5 and 6). The accelerator fine adjustment lever 153 is a rebound type push switch, and the adjustment value changes step by step each time it is pressed.

  A control signal output from the traveling system controller 100a is supplied to a switching signal to the forward / reverse switching solenoids 86F and 86R of the hydraulic valve 86 for operating the clutch pack 60 of the forward / reverse clutch D and to the linear boost solenoid 90 (forward / reverse boost solenoid). Switching boost signal, neutral operation signal to clutch solenoid 129a (solenoid of on / off control valve 129), main shift (1-3) clutch proportional pressure control valve 93 to 1-3 speed switching solenoid 93a A boost signal to the 1-3 speed boost solenoid 93b, a switch signal to the shift 2-4 switching solenoid 89a of the main shift (2-4) clutch proportional pressure control valve 89, and a boost signal to the shift 2-4 boost solenoid 89b; Hi clutch switching solenoid of hydraulic valve for switching high / low hydraulic clutch cylinder 95 (FIG. 3) A high-low switching signal to de 96a and Lo clutch switching solenoid 96b. Further, it is an operation signal to the front wheel acceleration 4WD solenoid 121 and the front wheel constant speed 4WD solenoid 122 for driving and adjusting the speed of the front wheels 61 and 61.

  The information signal input to the engine controller 100b includes the exhaust temperature from the engine exhaust temperature sensor 164, the rotational speed from the engine rotation sensor 165, the oil pressure from the engine oil pressure sensor 166, and the cooling from the engine water temperature sensor 167. The control signal output from the engine controller 100b at the water temperature and the common rail pressure from the rail pressure sensor 168 is a pressurization signal to the fuel high pressure pump 169 and a fuel injection signal to each high pressure injector 170.

The information signal input to the work implement lifting system controller 100c includes the position information of the work implement from the position control lever 190 for adjusting the position of the work implement and the lift arm sensor 161 of the lift cylinder (not shown). Arm position information, restriction position information of the raising position restriction dial (raising adjustment dial) 183 for restricting the raising position of the work implement, and a lowering speed adjustment dial (lowering speed dial) for restricting the lowering speed of the work implement The control signal output from the work implement lifting system controller 100c, which is the lowering speed information of 197, is lifted to the main lift solenoid 171a and the main lift solenoid 171b of the hydraulic cylinder valve that operates the left and right lift arms (not shown). Signal.
The meter panel 213 displays detection information of each sensor and switch setting information, and various setting signals are input from the operation panel 181 around the cockpit 16 seat including the switch box 180 (FIG. 6).

  As shown in FIG. 6, on the right side of the cockpit 16 are engine speed storage switches 177a and 177b, sub control levers 178a and 178b, sub transmission lever 179, lever guide 179a, switch box 180, draft ratio adjustment dial 182. , Lifting position regulating dial 183, tilt adjustment dial 184, 4WD changeover switch 185, manual raising / lowering switch 186, PTO on / off switch 187, PTO manual automatic switch 188, differential lock switch 189, work machine position lever 190, lift switch Switch) 191, main shift increase / decrease switches 192a and 192b, and cigarette lighter 194 are arranged.

  As shown in FIG. 7, the working vehicle according to the present embodiment is characterized in that the pressure of the forward / reverse clutch D is changed from a stationary state to a forward or backward movement, from a forward state to a reverse state, and from a reverse state to a forward state. In this case, the output curve of the pressure (P) with respect to the clutch switching elapsed time (T) is made different.

  In general, when the forward / reverse state is switched alternately and when starting from a stop (forward or reverse), the vehicle's inertia differs and the torque (forward / reverse clutch pressure) at which the vehicle starts to move is different. Therefore, in order to start with the same feeling (acceleration in the traveling direction) when switching back and forth alternately and when starting from a stop (forward or backward), it corresponds to each case as shown in FIG. Pressure curves for different elapsed times are required.

  FIG. 7 shows a solid line when there is no rolling of the aircraft (state where the aircraft is moving) when starting from a stop or when switching forward and backward, and when the aircraft is rolling when starting or switching when moving forward or backward Is indicated by a broken line. Note that the pressure line indicated by the solid line represents the pressure line in the moving time (T1) of the piston 78F or 78R (FIG. 4) until the disk plate in the clutch pack 60 of the forward / reverse clutch D initially contacts. After that, as time elapses, the pressure increase time T2 until the disk plates in the clutch pack 60 of the forward / reverse clutch D are completely connected (completely contacted) (starting at forward / backward switching or rolling to the airframe at forward / backward switching). And a pressure line corresponding to the pressure increase time T3 (when there is no rolling of the fuselage when starting or stopping forward / backward switching).

  As shown in FIG. 7, when there is no rolling of the fuselage when the vehicle starts rolling at the time of forward / reverse switching or the pressure (P) indicated by a broken line of the forward / backward clutch D is switched at the time of stopping or when the forward / backward switching is performed. This is a complete connection earlier than the pressure (P) indicated by the solid line of the forward / reverse clutch D (pressure increase time T2; T2 <T3).

  Further, even after the same time elapses, the dotted line has a higher pressure than that of the solid line, and the time of the dotted line is earlier than that of the solid line until complete connection. As a result, when the forward / reverse switching is performed, for example, when the vehicle is switched to the forward movement during the backward movement, the forward movement is shifted to the forward movement while the backward inertia force is stopped by the forward clutch D, and the switching can be performed with high responsiveness.

  Thus, the forward / reverse clutch D may be switched so that the work vehicle moves in the opposite direction from the moving state, and in order to speed up the response without a shift shock, the driving force in the opposite direction is gradually canceled. However, the driving force in the new traveling direction can be gradually transmitted.

  When the forward / reverse clutch D is switched between forward and backward as shown by a dotted line in FIG. 7, the pressure of the forward / reverse clutch D may be raised earlier than when driving is started from the time of stopping. That is, when the forward / reverse clutch D is switched between forward and backward, the rotational inertia force of the pistons 78F and 78R of the forward / reverse clutch D needs to be rotated in the opposite direction, and a large driving torque is required, as described above. By adopting a configuration, stable and smooth gear shifting can be achieved. In this way, it is possible to reproduce the same startability by setting substantially the same acceleration when starting from the time of stopping and when switching back and forth alternately.

  If the work vehicle continues to roll (e.g., the vehicle moves forward and backward with no driving force, such as when the wheel is rolling on a slope even if it is stopped), the work vehicle is stopped or In order to roll in the reverse direction, it is necessary to operate the forward / reverse clutch D with a torque that overcomes the rolling power. Further, when the vehicle is hardly rolling, it is necessary to correct the pressure of the influence of the rotational inertia force of the clutch cylinder 85 depending on the length of the switching operation time of the forward / reverse clutch D. That is, when switching forward and backward alternately, if the aircraft is moving in the direction opposite to the direction to proceed, increasing the pressure of the forward and backward clutch D to start from a stop The acceleration is prevented from becoming lower than that.

  Therefore, as shown in the relationship between the hydraulic pressure (P) of the forward / reverse clutch D shown in FIG. 7 and the switching elapsed time (T) of the clutch D, the rolling state of the work vehicle is determined by a vehicle speed sensor (drive shaft rotational speed sensors 112a, 112b). ), When the forward / reverse clutch D is switched, the forward / reverse travel is performed depending on conditions such as when the work vehicle rolls and when the forward / backward clutch D switching operation time is short. The driving pressure of the clutch D is controlled. In this way, it is possible to obtain different pressures of the forward / rearward clutch D by obtaining at least the case where the inertial force of the work vehicle is overcome, the case where the influence of the rotational inertial force of the forward / backward clutch D is considered, and the case where these are not considered. It was possible to drive properly.

  Further, in the configuration of the traveling transmission, the proportional control valve 89 of the downstream main transmission (2-4 speed) clutch A and the proportionality of the main transmission (1-3 speed) clutch A are interlocked with the disengagement operation of the forward / reverse clutch D. By simultaneously operating the control valve 93, the clutch packs 76, 76 of the two main transmission clutches A (hereinafter sometimes simply referred to as “main transmission clutch A”) are double-engaged for a moment. By connecting the second speed or the fourth speed, or by connecting the third speed and the second speed or the fourth speed, the mechanical lock is applied, and the forward / reverse clutch D is braked so that the forward / backward clutch D stops rotating quickly. did.

  In the case of the transmission configuration shown in FIG. 2, when the forward / reverse clutch D is switched, the rotation of the forward / reverse clutch D is reversed, and the rotational inertia force affects the start. This is to prevent power from affecting the start.

  For example, when the vehicle is traveling at a forward speed of 10 km / hr and switched to a reverse speed of 10 km / hr, the two main transmission clutches A are double-engaged to momentarily enter the mechanical lock state and apply the brake. In this way, when the forward / reverse switching lever 115 is moved away from the forward movement position, an operation for applying the brake to the forward / reverse clutch D is always performed, so that the same traveling performance can always be exhibited. That is, when the forward / reverse clutch D is operated by the forward / reverse switching lever 115, there are three possible patterns: when leaving the forward position, when passing through the neutral position, and when going to the reverse position. Since it is linked to the cutting operation from the forward position, it corresponds to the case of leaving the forward position.

  In a configuration in which the clutch packs 76, 76 of the two main transmission clutches A are double-engaged in conjunction with the switching operation of the forward / reverse clutch D (the operation in which the forward / reverse lever 115 is changed from the forward movement position to the reverse movement position). When the forward / reverse clutch D is switched by quickly operating the forward / reverse clutch D, the time during which the forward / reverse clutch D is in the neutral position is short, and the opposite direction when switching the forward / backward clutch D is ensured to ensure the brake time (the above-mentioned mechanical lock state) Is provided with an output delay that waits for about 0.2 to 3 seconds, so that the double engagement time of the two main transmission clutches A and B is lengthened, and the time for the forward / reverse clutch D to become neutral is secured. If it does so, the brake effect by the double gearing main transmission clutch A can be performed reliably, and the start feeling is stabilized.

  Further, when the forward or reverse state is turned off with the forward / reverse switching lever 115, the forward / backward clutch D is turned off (not forward / backward switching operation), and the hydraulic pressure of the forward / backward clutch D starts to be released and is turned off. During the double engagement of the clutch packs 76, 76 of the main transmission clutch A, the clutch pack 76 of the high / low transmission clutch B is operated to be disconnected so that the linkage with the rear axle 11 of the main transmission shaft 19 is cut off. You may make it the structure to keep.

  Since the double engagement of the clutch packs 76, 76 of the main transmission clutch A is directly connected to the rear wheel 63 via the high / low transmission clutch B, the travel counter shaft 6 is braked in the direction to stop. Depending on the situation, the vehicle will be braked suddenly. Therefore, when the clutch packs 76, 76 of the main transmission clutch A are double-engaged in conjunction with the disengagement operation of the forward / reverse clutch D, the high / low transmission clutch B is kept free so that the vehicle suddenly stops. Avoid such behavior.

  At this time, if the vehicle speed is higher than a specified value (about 2 km / h), for example, while traveling at 15 km / hr, the main transmission clutch A is not double-engaged even if the forward / reverse clutch D is disengaged. Make the configuration. This is because the inertial force of the airframe increases when the vehicle speed is high, so that the vehicle is braked when the cutting operation is performed. That is, even if the forward / reverse clutch D is disengaged, there is residual pressure due to pressure loss and brake torque is transmitted. This damages the main transmission clutch A that is braked, so that the brake control of the main transmission clutch A is not performed even if the forward / reverse clutch D is disengaged during high-speed traveling. It is important to maintain driving safety. In this way, the torque generated by the residual pressure of the forward / reverse clutch D has a greater effect on the mechanically locked main transmission clutch A, so that the main transmission clutch A is not double-engaged at a predetermined speed or higher.

  In the tractor according to another embodiment of the present invention having the hydraulic circuit diagram and the control block diagram shown in FIGS. 8 and 9, respectively, the working machine in the hydraulic circuit diagram and the control block diagram of the tractor shown in FIGS. 3 and 5, respectively. In addition to the main hydraulic pump motor M1 and the sub hydraulic pump motor M2 used in the lifting system hydraulic circuit, a motor M3 for operating the hydraulic pump for the traveling system mission and a motor M4 for operating the clutch lubrication system hydraulic pump are provided.

  Conventionally, the hydraulic pump of the traveling system in the transmission is driven by the engine, and the hydraulic pump is rotated while the engine is operating, so that the lubricating oil can be circulated in the hydraulic circuit even when no oil pressure is required. An extra load was applied to the engine to maintain the unloading hydraulic pressure.

  Therefore, in the tractor hydraulic system using the tractor hydraulic circuit diagram and the control block diagram shown in FIGS. 8 and 9, respectively, for raising and lowering the working machine such as a tillage device and driving the hydraulic clutch of the traveling transmission, etc. The hydraulic pump is configured to perform control to operate only the necessary motors among the motors M1 to M4 only when the hydraulic pump needs to be driven. At this time, if the controller is controlled separately by the motors M1 and M2 and the motors M3 and M4 shown in FIG. 9, it can be driven with good responsiveness because there is no communication line.

  It is desirable that the hydraulic pump motors M1 to M4 can be driven and controlled independently of each other. In addition, in order to independently drive and control the hydraulic pump motors M1 to M4 as described above, it is determined whether or not oil pressure is required. Whether or not each of the electric motors M1 to M4 is driven is determined by whether or not the actuator in the hydraulic circuit is operated. The actuator in the hydraulic circuit operates, for example, when the traveling system pump motor M3 in FIG. 8 must be driven when the forward / reverse clutch D is operated, so that the motor M3 is operated based on the operation of the forward / reverse switching lever 115. Will be driven. Further, in order to lubricate the forward / reverse clutch, the lubricating pump drive motor M4 is also driven at the same time. In this way, according to the present embodiment, oil is not fed to a portion where oil feeding is unnecessary, so there is no horsepower loss and there is an energy saving effect.

  However, it is desirable that the hydraulic pump for operating the transmission in the traveling system is configured to drive the engine. This is because the traveling clutch is operated almost by oil pressure while the vehicle is traveling, so there is little merit of driving the motors M1 to M4, and a loss of moving the pump via the motors M1 to M4 occurs. Because it will be. Therefore, for the traveling system, the loss is reduced by adopting a configuration that uses engine power.

 The configuration shown in FIG. 10 is another embodiment for shifting the PTO shaft 14 shown in FIG. 2, and as shown in the control block diagram of FIG. It is configured to be electrically switchable in two stages. In the embodiment of FIG. 10, there is a mechanical two-speed in the PTO shift 2, and this mechanical two-speed shift is performed by a lever, but the PTO shift 1 in FIG. 10 can be electrically shifted (standard and high speed). Therefore, the PTO shaft 14 can shift from 1st speed to 4th speed.

  In such a configuration, an energy saving mode switch 120 may be provided, and when the energy saving mode switch 120 is on, the energy saving operation may be performed by switching the PTO rotation speed. Therefore, for example, when the energy saving mode switch 120 is turned on, a predetermined (stored) energy saving engine speed is made effective. At this time, if the engine speed at the indicated position of the throttle lever is higher than the energy-saving engine speed, the energy-saving engine speed is set. However, since the rotation of the PTO shaft 14 also decreases when the engine speed is lowered, the PTO shaft 14 is electrically increased in speed. Thus, when the PTO shaft 14 is electrically shifted to the high speed side, energy-saving operation can be performed while maintaining the PTO rotation speed and vehicle speed set by the operator, so that both high-precision work and energy saving can be achieved.

  If the accelerator is fully open due to a large load and the energy saving engine speed cannot be achieved, the vehicle speed is reduced to reduce the load. When the vehicle speed is decreased, the rotation of the PTO shaft 14 is also followed to change from high speed to standard (lower than high speed).

  In addition, when the energy saving mode switch 120 is turned on, the engine speed is not immediately changed to the energy saving engine speed, but first, the work is performed at the engine speed or the like preset by the driver. When this rotational speed is lower than the energy-saving engine rotational speed, the efficiency is lowered. Therefore, only when the engine load is lower than a predetermined value, the main shift speed is increased. This is to prevent an engine stall if the vehicle speed is increased when the engine load is higher than a predetermined value.

  Further, when the energy saving mode switch 120 is turned on, the engine speed is set to an energy saving engine speed (the engine speed is reduced), so that the PTO is switched to the high speed side in order to maintain the PTO speed, and the main gear shift is also performed at a high speed. Switch to the side. By increasing the vehicle speed in this way, energy-saving operation becomes possible.

  In addition, when the engine speed is changed, it is easy for the operator to know that the energy saving operation state is established by displaying the energy saving operation state on the monitor 121 such as a lamp or a liquid crystal when moving to the energy saving operation. This will lead to an improvement in energy conservation awareness.

  In addition, it is possible to calculate the fuel consumption per hour and display it on a monitor such as a liquid crystal so that the fuel consumption per hour during normal operation and energy-saving operation can be compared. become.

  INDUSTRIAL APPLICABILITY The present invention can improve the operability of a work vehicle such as a tractor, and can be used for various work vehicles such as agriculture, building, and transportation.

DESCRIPTION OF SYMBOLS 1 Engine shaft 2 Input shaft 3 Output shaft 4 PTO interlocking shaft 5 Front wheel output shaft 6 Travel counter shaft 7 Front wheel drive shaft 8 Back counter shaft 9 PTO counter shaft 10 Rear differential shaft 11 Rear wheel shaft 12 Front differential shaft 13 Front wheel shaft 14 PTO shaft 15 , 17 Gear drive shaft 16 Pilot seat 18 PTO transmission shaft 19 Main transmission shaft 19 Main transmission shaft 20 Sub transmission shaft 21 Creep counter shaft 22 PTO forward / reverse switching shaft 23 PTO deceleration shaft 24 PTO reverse rotation shaft 25 Front wheel interlocking shaft 26 Input shaft 27 Subtransmission counter shaft 28 Front wheel interlocking shaft 30 Armrest 31 Input gear 32 PTO transmission gear 33 Main transmission gear 34 High / low speed switching gear 35 Subtransmission gear 36 Front wheel take-out gear 37 PTO forward / reverse switching gear 38 Subtransmission counter gear 39 Main transmission counter gear Gear 40 High / low speed switching gear 41 Front wheel drive switching gear 42 Forward / reverse switching gear 43 Back counter gear 44 PTO shift counter gear 45 Rear differential 46 Differential ring 47 Front differential 48 Input gear 49 Creep counter gear 50 PTO reduction gear 51 Front wheel interlocking gear 52 PTO reverse rotation gear 53 Drive pinion gear 54 Front wheel interlocking gear 55 Front wheel gear 56 Switching Drive counter gear 59 Counter shaft 60 Forward / reverse switching clutch pack 61 Front wheel 62 Engine 63 Rear wheel 65 Transmission case 66 PTO clutch pack 67 Front wheel drive clutch pack 73 Steering handle 76 Clutch packs 77F, 77R Return springs 78F, 78R Piston 80a Main hydraulic pump 80b Sub hydraulic pumps 81a, 81b Pressure reducing valve 82a Brake valve 82b Pressure control valve 83 Brake cylinder 85 Forward / reverse clutch Linda 86 forward-reverse clutch proportional pressure control valve (switching valve)
86F, 86R Solenoid 89 Main speed change (2-4) clutch proportional pressure control valve 90 Forward / reverse pressure increase solenoid 87, 88, 91, 92 Hydraulic clutch cylinder 93 Main speed change (1-3) clutch proportional pressure control valve 94 Switching control valve 95 High / low hydraulic clutch cylinders 96a, 96b Control valve 97 Differential lock control valve 98a Front wheel differential lock cylinder 98b Rear wheel differential lock cylinder 99 4WD switching clutch cylinder 100 Control processing device (controller)
100a Memory 100b Shifting position setting unit 101 at start time Main hydraulic circuit 103 Power steering device 104 PTO clutch cylinders 105, 106 PTO clutch proportional pressure control valve 107 Orbit roll 110 Forward clutch pressure sensor 111 Reverse clutch pressure sensor 112 Engine speed sensor 115 Forward / reverse switching lever 129 On / off control valve 120 Energy saving switch 121 Monitor 130, 131, 133 to 137, 139, 140 Gear 145, 146 Pressure sensor 167 Forward / reverse lever sensor 170 Vehicle speed sensor 172 Parking brake 173 PTO change lever 174 Brake Pedal 175 Accelerator pedal 175a Accelerator position sensor 176 Accelerator lever 177a, 177b Engine speed memory switch 178 , 178b sub-control lever 179 auxiliary shift lever 179a lever guide 180 switch box 181 operating panel 182 the draft ratio adjustment dial 183 raised position regulating dial
184 Tilt adjustment dial 185 4WD changeover switch 186 Manual raising / lowering switch 187 PTO on / off switch 188 PTO manual automatic switch 189 Differential lock switch 190 Working machine position lever 191 Elevating switch (working machine elevation switch)
192a, 192b Main shift increase / decrease switch
194 Cigarette lighter 197 Lower adjustment speed dial 199 AT shift road switch 199a AT shift road switch sensor 200 AT shift work switch 201 Connection sensitivity shift switch 201a Lamp 202 Connection sensitivity PTO switch 203 Horizontal sensitivity switch 204 Backup on / off switch 205 Auto lift on / off Switch 206 Auto brake on / off switch 207 Horizontal changeover switch 208 Three-point changeover switch 209 Auto accelerator switch 211 Lid 213 Meter panel 215 Display part A Main transmission clutch B High / low transmission clutch C Subtransmission gear transmission mechanism (subtransmission)
D Forward / reverse clutch E PTO clutch T Tractor body

Claims (2)

An engine (62), drive wheels (11 and / or 13) that are actuated by transmission of power of the engine (62), a forward / reverse switching operation means (115) for switching the traveling direction of the work vehicle back and forth, By operating the forward / reverse switching operation means (115), the forward / reverse switching device (D) for switching the driving wheel (11 and / or 13) to any one of the forward rotation direction, the stop direction and the reverse rotation direction, and the forward / reverse switching device ( Actuator (85) operated by hydraulic pressure for transmitting or not transmitting output of D) to drive wheel, and output of forward / reverse switching device (D) controlled by hydraulic oil pressure level for actuator (85) In a work vehicle provided with a hydraulic control device (100a) for
The hydraulic control device (100a) determines the hydraulic pressure switching elapsed time (T) and the output hydraulic pressure (T) until the actuator (85) is completely connected when the vehicle is stopped or moved forward or backward from the vehicle stop state and when the vehicle is switched back and forth alternately. A work vehicle comprising a hydraulic control unit having a different relationship with P).   In the case where the forward / reverse driving is alternately switched compared to the case of moving forward or backward from the vehicle stop state, the time until the actuator (85) is completely connected is shortened, and the output hydraulic pressure after the initial pressure (T1) is applied ( 2. The work vehicle according to claim 1, wherein a value of P) is increased.

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