JP2021185765A - Sulky field work vehicle - Google Patents

Abstract

To provide a sulky field work vehicle that can travel while reliably avoiding poor visibility and deterioration in maneuverability due to longitudinal inclination of a vehicle body.SOLUTION: A sulky field work vehicle includes: an inclination angle sensor 33 for detecting a longitudinal inclination angle of a vehicle body; and travel control means 37 for performing travel control for the vehicle body on the basis of detection information by the inclination angle sensor 33. When the longitudinal inclination angle of the vehicle body becomes a restraining angle that is equal to or larger than a set angle, the travel control means 37 restrains the vehicle body from travelling forward and permits the vehicle body to travel backward when performing the restraint.SELECTED DRAWING: Figure 9

Description

The present invention relates to a passenger-type field work vehicle.

The passenger-type field work vehicle includes, for example, a passenger management machine shown in Patent Document 1.

Japanese Unexamined Patent Publication No. 2016-78616

Riding-type field work vehicles may move from field to field over ridges. At this time, the higher the height of the ridge, the steeper the front-rear tilt angle of the vehicle body, and the steeper the driving unit tilts, making it difficult to see ahead in the traveling direction. It also makes it difficult to maneuver.

An object of the present invention is to provide a passenger-type field work vehicle capable of reliably avoiding deterioration of visibility and maneuverability due to a front-rear inclination of a vehicle body.

The passenger-type field work vehicle according to the present invention is
A tilt angle sensor that detects the front-rear tilt angle of the vehicle body and a travel control means that controls the travel of the vehicle body based on the detection information by the tilt angle sensor are provided, and the travel control means has the front-rear tilt angle. When the restraint angle is equal to or greater than the set angle, the vehicle body is restrained from traveling forward, and when the restraint is performed, the vehicle body is allowed to move backward.

In a passenger-type field work vehicle, it is generally performed by moving forward when climbing over a ridge, but by setting a front-rear tilt angle that deteriorates the line-of-sight and maneuverability in the direction of travel, it is possible to move forward. As a result, when the front-rear tilt angle of the vehicle body becomes the restraint angle (angle equal to or greater than the set angle), further forward travel is restrained, so that the front-rear tilt angle of the vehicle body becomes worse until the visibility ahead in the direction of travel and maneuverability deteriorate. It is possible to avoid a steep angle. Even if the forward driving is restrained, the vehicle can move backward, so that it is possible to reliably avoid the deterioration of the line-of-sight and maneuverability in the front of the driving direction.

Another passenger-type field work vehicle according to the present invention is
A tilt angle sensor that detects the front-rear tilt angle of the vehicle body and a travel control means that controls the travel of the vehicle body based on the detection information by the tilt angle sensor are provided, and the travel control means has the front-rear tilt angle. When the restraint angle is equal to or greater than the set angle, the vehicle body is restrained from traveling in the same travel direction as the travel direction when the front-rear tilt angle becomes the restraint angle, and when the restraint is performed, the front-rear tilt is performed. It is configured to allow the vehicle body to travel in the traveling direction opposite to the traveling direction when the angle becomes the restraining angle.

According to this configuration, by setting the front-rear tilt angle that deteriorates the line-of-sight and maneuverability in the traveling direction as the set angle, the front-rear tilt angle of the vehicle body becomes the restraint angle (more than the set angle) regardless of whether the vehicle is moving forward or backward. When it becomes (angle), it is restrained to travel in the same traveling direction as when the front-rear tilt angle becomes the restraint angle, so the front-rear tilt angle of the vehicle body until the visibility ahead of the traveling direction and the maneuverability deteriorate. Can be avoided from becoming a steep angle. Even if it is restrained to travel in the same driving direction as the driving direction when the front-rear tilt angle becomes the restraining angle, it is possible to travel in the opposite driving direction to the restrained driving direction. It is possible to drive while surely avoiding deterioration of sex.

In the present invention
A hydrostatic stepless speed change device in which power from an engine is input and the input power is changed and transmitted to a traveling device is provided, and the stepless speed change device is a drive for connecting a hydraulic pump and a hydraulic motor. It is preferable that the traveling control means has a circuit and an unload valve provided in the drive circuit, and is configured to perform the check by operating the unload valve.

According to this configuration, the drive circuit is equipped with an unload valve, and a predetermined check can be performed simply by linking the unload valve and the traveling control means. It is possible to obtain a passenger-type field work vehicle at low cost, which can surely avoid deterioration of visibility and maneuverability.

In the present invention
A coupling for interlocking and connecting a relay transmission shaft to which power from the engine is transmitted and an input shaft of the continuously variable transmission, and a rotary fan for supplying cooling air to the continuously variable transmission are provided. It is preferable that the rotary fan is supported by the coupling.

According to this configuration, the rotary fan can be placed near the continuously variable transmission simply by supporting the rotary fan on the coupling, and the rotary fan can be driven by the power transmitted from the relay transmission shaft to the input shaft. A cooling structure that efficiently cools the continuously variable transmission can be obtained at low cost.

In the present invention
It is preferable that the rotary fan has a boss portion that fits outside the coupling and a rotary blade that protrudes from the boss portion toward the radial outer side of the rotary fan.

According to this configuration, since the outer diameter of the boss portion becomes large, it is possible to obtain a rotary fan having a large air volume by increasing the number of rotary blades arranged in the circumferential direction of the boss portion.

It is a left side view which shows the whole of a passenger type management machine. It is a perspective view which shows the support structure of a steering wheel. It is a top view which shows the engine support part in the body frame. It is a side view which shows the support structure of an engine, and the intake duct. It is a front view which shows the support structure of an engine, and the intake duct. It is a top view which shows the power transmission structure with respect to the front wheel and the rear wheel. It is a front view which shows the coupling and a rotary fan. It is sectional drawing which shows the coupling and a rotary fan. It is a hydraulic circuit diagram of a continuously variable transmission, and is a block diagram of a running control. It is a flow chart of a running control. It is a block diagram of the traveling control which comprises another embodiment. FIG. 3 is a flow control diagram of a traveling control including another embodiment.

Hereinafter, embodiments that are an example of the present invention will be described with reference to the drawings.
In the following description, regarding the vehicle body of a passenger-type management machine (an example of a "passenger-type field work vehicle"), the direction of arrow F shown in FIG. 1 is "front of vehicle body" and the direction of arrow B is "rear of vehicle body". , The direction of the arrow U is "above the vehicle body", the direction of the arrow D is "below the vehicle body", the direction on the front side of the paper in FIG. 1 is "left side of the vehicle body", and the direction on the back side of the paper is "right side of the vehicle body".

[Overall passenger-type management machine]
As shown in FIG. 1, the passenger-type management machine includes a pair of left and right steerable and driveable front wheels 1 (an example of a traveling device) and a pair of left and right steerable and driveable rear wheels 2 (traveling). It is equipped with a self-propelled vehicle body (an example of the device). A driving portion 4 having an engine 3 is formed on the front portion of the vehicle body. A driving unit 5 is formed at the rear of the vehicle body. The driver unit 5 is provided with a driver's seat 6, a steering wheel 7 for steering the front wheels 1 and the rear wheels 2, and a cabin 8 for covering the boarding space. A spraying device 9 for spraying the chemical solution is provided at the front portion of the vehicle body. The spraying device 9 is provided with a pair of left and right side sprays separately provided on both lateral sides of a center spray boom 9a and a center spray boom 9a provided in front of the driving unit 4 in a state of extending along the width direction of the vehicle body. A boom 9b is provided. The left and right side spray booms 9b can be changed in posture to a spray posture extending from the support frame 9c toward the lateral outside of the vehicle body and a retracted posture extending from the support frame 9c toward the rear and upper side of the vehicle body. A drug tank 10 for storing the drug solution sprayed by the spraying device 9 is supported at the rear of the vehicle body.

[Steering wheel support structure]
As shown in FIG. 2, the steering post 11 that supports the steering wheel 7 is erected on the cross beam portion 13a of the gate-shaped support member 13 when viewed in the front-rear direction of the vehicle body. The support member 13 is supported by the left and right main frame portions 12a constituting the vehicle body frame 12. As shown in FIG. 2, rod-shaped support members 14 in the front-rear direction of the vehicle body are provided inside the cross beam portion 13a in a state of being lined up in the lateral width direction of the vehicle body. The bar-shaped support member 14 is composed of a round bar member. The hydraulic pipe 15 for the power steering device is piped in a state of passing vertically through a through hole provided in the cross beam portion 13a. The hydraulic pipe 15 is received and supported from below by the rod-shaped support member 14. A wire harness 43 is wired above the cross beam portion 13a.

[Structure related to engine]
As shown in FIGS. 3, 4, and 5, engine mount portions 16 are formed at two front and rear positions of the left and right main frame portions 12a constituting the vehicle body frame 12. The support of the engine 3 to the vehicle body frame 12 is performed by connecting the connecting portions 3a formed at the lower left and the lower right of the engine 3 to the engine mount portion 16 via cushion rubber. There is. The arrangement of the engine mount portion 16 of the vehicle body frame 12 is such that it can be shared to support engines having different specifications.

As shown in FIG. 4, the intake duct 18 is connected to the air cleaner 17 for the engine. The connection cylinder portion 18a of the intake duct 18 is externally fitted to the intake cylinder portion 17a of the air cleaner 17 via a tubular rubber collar 19 and is connected to the air cleaner 17. If the specifications of the engine are different and the intake cylinder of the air cleaner connected to the engine is thick, the connection cylinder 18a of the intake duct 18 can be fitted and connected to the intake cylinder of the air cleaner by not attaching the rubber collar 19. .. The intake duct 18 can be shared for intake of an air cleaner in engines having different specifications. As shown in FIGS. 4 and 5, the intake port 18b of the intake duct 18 is formed in an elongated rectangular shape in the vertical direction of the vehicle body. The arrangement height of the intake port 18b is a height between the height of the upper end 20a of the radiator 20 for the engine and the height of the lower end 20b of the radiator 20.

[Structure that drives the front and rear wheels]
The left and right front wheels 1 and the left and right rear wheels 2 are driven by transmitting power from the engine 3 based on the power transmission structure shown in FIG. In the power transmission structure, a mission 21 provided behind the engine 3 is provided. A hydrostatic continuously variable transmission 22 is connected to the front part of the mission 21. The power from the engine 3 is input to the continuously variable transmission 22 and is converted into a forward driving force and a reverse driving force by the continuously variable transmission 22 and input to the mission 21. The forward driving force and the reverse driving force input to the mission 21 are input to the front wheel drive case 24a in the front axle device 24 via the front rotating shaft 23 extending forward from the mission 21. The driving force input to the front wheel drive case 24a is input to the front wheel support case 24b extending downward from the left and right ends of the front wheel drive case 24a, and is transmitted from the front wheel support case 24b to the front wheel 1. The forward driving force and the reverse driving force input to the mission 21 are input to the rear wheel drive case 26a in the rear axle device 26 via the rear rotating shaft 25 extending backward from the mission 21. The driving force input to the rear wheel drive case 26a is input to the rear wheel support case 26b extending downward from the left and right ends of the rear wheel drive case 26a, and is transmitted from the rear wheel support case 26b to the rear wheels 2.

The input from the engine 3 to the continuously variable transmission 22 is performed by the power transmission mechanism 27 shown in FIG. The power transmission mechanism 27 includes a relay transmission shaft 28 provided in front of the input shaft 22a of the continuously variable transmission 22. The power of the output pulley 3b of the engine 3 is transmitted to the relay transmission shaft 28 via the transmission belt 29. The power of the relay transmission shaft 28 is transmitted to the input shaft 22a via the coupling 30 (see FIGS. 7 and 8) in which the relay transmission shaft 28 and the input shaft 22a are interlocked and connected.

As shown in FIGS. 7 and 8, the rotary fan 31 is supported by the coupling 30. The rotary fan 31 has a boss portion 31a that is externally fitted to the flange portion of the coupling 30, and a rotary blade 31b that protrudes from the boss portion 31a toward the radial outer side of the rotary fan 31. The boss portion 31a is fitted onto the coupling 30 and is interlocked with the coupling 30. Specifically, the interlocking connection of the boss portion 31a to the coupling 30 is performed by connecting the flange portion 31c provided inside the boss portion 31a and the flange 30a of the coupling 30 with the connecting bolt 31d. The rotary blades 31b are projected from a plurality of locations in the circumferential direction of the boss portion 31a. The coupling 30 is rotated by the power transmitted from the relay transmission shaft 28 to the input shaft 22a, the rotary fan 31 is driven by the coupling 30, and the cooling air is supplied to the stepless transmission 22 by the rotating rotary fan 31. ..

[Construction of continuously variable transmission]
As shown in FIG. 9, the stepless transmission 22 includes a variable displacement hydraulic pump P driven by power from the engine 3, a hydraulic motor M output to the transmission 21, a hydraulic pump P, and a hydraulic motor M. It has a pair of drive circuits 32 to be connected, and power from the engine 3 is input, and the input power is changed to a forward drive force and a reverse drive force and transmitted to the front wheels 1 and the rear wheels 2.

More specifically, in the continuously variable transmission 22, when the power from the engine 3 is input, the hydraulic pump P is driven by the input power. Power transmission from the engine 3 to the continuously variable transmission 22 is performed by the power transmission mechanism 27 shown in FIG. When the swash plate (not shown) of the hydraulic pump P is tilted to the forward side, the hydraulic pump P is shifted to the forward drive state, and the pressure oil discharged by the hydraulic pump P is the second of the pair of drive circuits 32. The hydraulic motor M is supplied to the hydraulic motor M by the drive circuit 32a of No. 1 to drive the hydraulic motor M to the forward side, and the forward driving force of the hydraulic motor M is transmitted to the front wheels 1 and the rear wheels 2 by being input to the mission 21. .. At this time, the pressure oil discharged by the hydraulic motor M is returned to the hydraulic pump P by the second drive circuit 32b of the pair of drive circuits 32.

When the swash plate (not shown) of the hydraulic pump P is tilted to the reverse side, the hydraulic pump P is shifted to the reverse drive state, and the pressure oil discharged by the hydraulic pump P is hydraulically motored by the second drive circuit 32b. The hydraulic motor M is supplied to the M and driven to the reverse side, and the reverse driving force of the hydraulic motor M is transmitted to the front wheels 1 and the rear wheels 2 by being input to the mission 21. At this time, the pressure oil discharged by the hydraulic motor M is returned to the hydraulic pump P by the first drive circuit 32a.

[Driving control configuration]
As shown in FIG. 9, the tilt angle sensor 33 for detecting the front-rear tilt angle of the vehicle body and the control device 34 are linked. A traveling direction sensor 35 for detecting the traveling direction of the vehicle body is linked to the control device 34. The traveling direction sensor 35 detects the traveling direction of the vehicle body based on the operation position of the forward / backward lever 36 that switches the traveling direction of the vehicle body between the forward direction and the reverse direction. As the traveling direction sensor, it is possible to adopt sensors having different detection targets, such as a sensor that detects the operation position of the forward / backward lever 36 and a sensor that detects the rotation direction of the front wheel 1 and the rear wheel 2.

The control device 34 is configured by using a microcomputer. The control device 34 is provided with a traveling control means 37 and a check angle setting means 38. In the restraint angle setting means 38, a front-rear tilt angle equal to or greater than a set angle set as a front-rear tilt angle of the vehicle body when the line of sight ahead in the traveling direction becomes poor is set and stored as a restraint angle [AK].

The travel control means 37 is configured to restrain the forward travel of the vehicle body when the front-rear tilt angle of the vehicle body becomes the restraint angle [AK], and is configured to allow the vehicle body to travel backward when the restraint is performed. ing. Specifically, in the traveling control means 37, as shown in FIG. 10, the detection information (detection tilt angle [A]) by the tilt angle sensor 33 is read, and the detection tilt angle [A] sets the check angle. It is determined whether or not it is equal to the restraint angle [AK] set by the means 38. If it is determined that they are equal, the detection information by the traveling direction sensor 35 is read, and it is determined whether or not the traveling direction of the vehicle body is the forward direction. When it is determined that the traveling direction is the forward direction, the forward traveling is restrained. Checking forward travel is performed while allowing reverse travel.

For example, when trying to get over a ridge by traveling forward, if the front-rear tilt angle of the vehicle body becomes equal to or greater than the set angle (checking angle [AK]), the traveling control means 37 restrains the forward traveling and the vehicle cannot travel further forward. .. However, the travel control means 37 allows the reverse travel, and the restraint of the forward travel can be avoided by the reverse travel.

As shown in FIG. 9, of the pair of drive circuits 32 in the continuously variable transmission 22, the first drive circuit 32a that supplies the pressure oil discharged by the hydraulic pump P in the forward drive state to the hydraulic motor M is unsuccessful. A load valve 39 is provided. The travel control means 37 restrains forward travel by operating the unload valve 39. That is, the traveling control means 37 operates the unload valve 39, and the hydraulic pump P in the forward drive state returns the pressure oil discharged to the first drive circuit 32a to the tank 44 by the unload valve 39, and the hydraulic motor M. Is stopped to drive the front wheel 1 and the rear wheel 2 to the forward side. Even if the travel control means 37 restrains the forward travel, when the vehicle body is moved backward, the forward / backward lever 36 is switched to the reverse position and the travel direction sensor 35 is in the reverse travel detection state. Based on this, the unload valve 39 is operated in a non-operating state to enable the reverse drive of the hydraulic motor M and enable the reverse drive of the front wheel 1 and the rear wheel 2.

[Another Embodiment]
(1) FIG. 11 is a block diagram showing a traveling control means 40 having another embodiment. In the traveling control means 40 provided with another embodiment, when the front-rear tilt angle of the vehicle body becomes the restraint angle [AK], the vehicle body is in the same traveling direction as the traveling direction when the front-rear tilt angle becomes the restraint angle [AK]. Is configured to restrain the vehicle from traveling, and when the restraint is performed, the vehicle body is allowed to travel in the traveling direction opposite to the traveling direction when the front-rear inclination angle becomes the restraining angle [AK]. It is configured in.

Specifically, in the traveling control means 40, as shown in FIG. 12, the detection information (detection tilt angle [A]) by the tilt angle sensor 33 is read, and the detection tilt angle [A] sets the check angle. It is determined whether or not it is equal to the restraint angle [AK] set by the means 38. If it is determined that they are equal, the detection information by the traveling direction sensor 35 is read, and it is determined whether or not the traveling direction of the vehicle body is the forward direction. When it is determined that the traveling direction is the forward direction, the forward traveling is restrained. Checking forward travel is performed while allowing reverse travel. When it is determined that the traveling direction is the reverse direction, the reverse traveling is checked. The check of the reverse running is performed while allowing the forward running.

As shown in FIG. 11, of the pair of drive circuits 32 in the continuously variable transmission 22, the first drive circuit 32a that supplies the pressure oil discharged by the hydraulic pump P in the forward drive state to the hydraulic motor M is the first. The unload valve 41 of 1 is provided. Of the pair of drive circuits 32, the second drive circuit 32b that supplies the pressure oil discharged by the hydraulic pump P in the reverse drive state to the hydraulic motor M is provided with a second unload valve 42.

The travel control means 40 restrains forward travel by operating the first unload valve 41. That is, the traveling control means 40 operates the first unload valve 41, and the hydraulic pump P in the forward drive state discharges the pressure oil to the first drive circuit 32a to the tank 44 by the first unload valve 41. It is returned to stop the hydraulic motor M, and the front wheel 1 and the rear wheel 2 are not driven to the forward side. Even if the travel control means 40 restrains the forward travel, when the operation of moving the vehicle body backward is performed, the forward / backward lever 36 is switched to the reverse position and the detection information by the travel direction sensor 35 is set to the reverse travel detection state. Based on this, the first unload valve 41 is operated in a non-operating state to enable the reverse drive of the hydraulic motor M and enable the reverse drive of the front wheel 1 and the rear wheel 2.

The travel control means 40 restrains the reverse travel by operating the second unload valve 42. That is, the traveling control means 40 operates the second unload valve 42, and the hydraulic pump P in the reverse drive state discharges the pressure oil to the second drive circuit 32b to the tank 44 by the second unload valve 42. It is returned to stop the hydraulic motor M, and the front wheel 1 and the rear wheel 2 are not driven to the reverse side. Even if the travel control means 40 restrains the reverse travel, when the operation of advancing the vehicle body is performed, the forward / backward lever 36 is switched to the forward position and the detection information by the travel direction sensor 35 is set to the forward travel detection state. Based on this, the second unload valve 42 is operated in a non-operating state to enable the forward drive of the hydraulic motor M and enable the forward drive of the front wheel 1 and the rear wheel 2.

(2) In the above-described embodiment, the forward travel is restrained by operating the unload valve 39 and the first unload valve 41, and the reverse travel is restrained by operating the second unload valve 42. The configuration example is shown, but it is not limited to this. For example, the vehicle may be provided with a forward clutch and a reverse clutch, and may be configured to restrain forward travel by disengaging the forward clutch and to restrain reverse travel by disengaging the reverse clutch.

(3) In the above-described embodiment, an example in which the front wheel 1 and the rear wheel 2 are provided is shown, but the present invention is not limited to this. For example, a crawler traveling device or a traveling device in which a wheel and a mini crawler are combined may be provided.

(4) In the above-described embodiment, the example in which the rotary fan 31 is provided is shown, but the rotary fan 31 may not be provided.

(5) A left / right tilt angle sensor for detecting the left / right tilt angle of the vehicle body is provided, and the travel control means similar to the travel control performed based on the detection information by the tilt angle sensor 33 and the detection information by the travel direction sensor 35. It is advantageous to configure the 40 to be performed based on the detection information by the left-right tilt angle sensor and the detection information by the traveling direction sensor 35. That is, when the left-right tilt angle of the vehicle body becomes a check-off angle equal to or larger than the set angle, when the travel direction sensor 35 detects forward travel, the travel control means 40 restrains forward travel while allowing reverse travel, and travels. When the direction sensor 35 detects the reverse travel, the travel control means 40 is configured to allow the forward travel and restrain the reverse travel.

The present invention is not limited to the passenger-type management machine, but can be applied to various passenger-type field work vehicles such as combine harvesters and rice transplanters.

1 Traveling device (front wheel)
2 Traveling device (rear wheel)
3 Engine 22 Continuously variable transmission 22a Input shaft 28 Relay transmission shaft 30 Coupling 31 Rotating fan 31a Boss 31b Rotating blade 32a Drive circuit (first drive circuit)
32b drive circuit (second drive circuit)
33 Tilt sensor 37 Travel control means 39 Unload valve 40 Travel control means 41 Unload valve (first unload valve)
42 unload valve (second unload valve)
AK check angle

Claims (5)

An inclination angle sensor that detects the front-rear inclination angle of the vehicle body,
A traveling control means for controlling the traveling of the vehicle body based on the detection information by the tilt angle sensor is provided.
The traveling control means is configured to restrain the forward traveling of the vehicle body when the front-rear tilt angle becomes a restraining angle equal to or larger than the set angle, and to allow the vehicle body to move backward when the restraining is performed. Type field work vehicle. An inclination angle sensor that detects the front-rear inclination angle of the vehicle body,
A traveling control means for controlling the traveling of the vehicle body based on the detection information by the tilt angle sensor is provided.
The traveling control means restrains the vehicle body from advancing in the same traveling direction as the traveling direction when the front-rear tilt angle becomes the restraining angle when the front-rear tilt angle becomes a restraining angle equal to or larger than the set angle. However, when the check is performed, the passenger-type field work vehicle is configured to allow the vehicle body to move in the direction opposite to the direction of travel when the front-rear tilt angle becomes the check angle. .. It is equipped with a hydrostatic continuously variable transmission that receives power from the engine and shifts the input power to transmit it to the traveling device.
The continuously variable transmission has a drive circuit for connecting a hydraulic pump and a hydraulic motor, and an unload valve provided in the drive circuit.
The passenger-type field work vehicle according to claim 1 or 2, wherein the traveling control means is configured to perform the check by operating the unload valve. A coupling that interlocks and connects the relay transmission shaft to which the power from the engine is transmitted and the input shaft of the continuously variable transmission.
A rotating fan that supplies cooling air to the continuously variable transmission is provided.
The passenger-type field work vehicle according to claim 3, wherein the rotary fan is supported by the coupling. The passenger according to claim 4, wherein the rotary fan has a boss portion that is externally fitted to the coupling and a rotary blade that protrudes from the boss portion toward the radial outer side of the rotary fan. Mold field work vehicle.

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