JP2503478B2 - Travel speed controller for mobile work equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling speed control device for a mobile work machine such as a combine or a tractor.

[Conventional technology]

A load sensor that detects the load of the engine and a control rack sensor that controls and interlocks the fuel injection amount of the engine are provided, a continuously variable transmission is provided in the traveling transmission, and the threshing device is handled based on the detection result of the control rack sensor. There is a technique for controlling the traveling speed so that the rotation speed of the body is constant (Japanese Patent Publication No. 56-21918).

[Problems to be solved by the invention]

In the traveling speed control device for the combine as described above, the load acting on the engine is close to the allowable limit,
Alternatively, when the allowable limit is exceeded, not only the engine and each part of the combine are overloaded, but also proper work of the thresher or the like becomes difficult.

Therefore, the present invention intends to provide a mobile work machine such as a combine that reduces the frequency of work exceeding the above-mentioned allowable limit and sets the work efficiency relatively high to perform work efficiently. is there.

[Means for solving problems]

The present invention is directed to a mobile work machine having a traveling device 9 and a work device mounted on the vehicle body, a rotation sensor 2 for detecting a rotation speed of an engine 1, and a control rack 3 for controlling and interlocking a fuel injection amount of the engine 1. A control rack sensor 4 for detecting the amount, a continuously variable transmission 6 provided in a traveling transmission device 5 for transmitting power from the engine 1 to the traveling device 9, and detection of the rotation sensor 2 and the control rack sensor 4. Based on the result, the continuously variable transmission 6 is relatedly controlled so that the rotation speed of the engine 1 is within the rotation control reference area C and the detected load of the control rack sensor 4 is maintained within the load control reference area D. The stepless speed change control means and the stepless speed control according to the detection frequency of the fully open position of the control rack sensor 4 in the predetermined work traveling stroke of the traveling device 9. A control reference area correcting means for correcting the load control reference area two speed control means, the structure of the travel speed control device for a mobile working machine comprising a.

[Operation of the invention]

For example, in the combine, the rotation of the engine 1 transmits power to the threshing device to rotate the handling cylinder to the threshing work state, and the traveling device 5 including the continuously variable transmission 6 to the traveling device 9. Power is transmitted. The engine 1 is subject to loads of the threshing device, the traveling device 9 and the other harvesting device. However, in order to ensure the threshing performance, the handling cylinder of the threshing device is constantly maintained at a constant rotation speed. If it is necessary and the load on the engine 1 fluctuates outside the set control reference region, the continuously variable transmission 6 is operated to shift to the control reference region, and the rotation of the threshing device or the like of the threshing device is maintained constant. To control.

That is, while the rotation speed of the engine 1 is detected by the rotation sensor 2 and the fuel supply amount by the control rack sensor 4 is being detected, the detection load of the control rack sensor 4 during rotation of the engine 1 is the rotation control reference region. The continuously variable transmission 6 in the traveling power transmission path is gear-shift controlled so that it is within the range C and within the load control reference area D.

In the predetermined work traveling stroke during such traveling control,
When the frequency of the fully open position of the control rack 3 is detected in the load detected by the control rack sensor 4 and the frequency of detection of the fully open position increases beyond a certain area, the load control reference area D is corrected to be lowered. ,Also,
When the amount is small, the correction is performed so as to increase the load control reference area D, and the traveling speed is controlled while correcting the output control reference area.

〔The invention's effect〕

As described above, when the rotation speed of the engine 1 detected by the rotation sensor 2 is in the rotation control reference area C and the load is detected by the control rack sensor 4, the detected load of the control rack sensor 4 is the load control reference area. The continuously variable transmission 6 is operated in an interlocking manner to control the traveling speed, and the load control reference area d of this control is set to the detection frequency of the fully open position of the control rack 3 in the predetermined work traveling stroke. Since the number is adjusted so that the control rack 3 does not reach the fully open position, the work can be efficiently performed without causing an unexpected overload.

〔Example〕

 Hereinafter, embodiments of the present invention shown in the drawings will be described.

The combine is configured as follows. A vehicle body 10 having a pair of left and right traveling devices 9, 9 in the form of a crawler is provided with a cockpit 11, an engine 1, a threshing device 7 provided with a handling barrel 8, a cutting device 12 arranged in front of the machine body, and the like. .

The handling cylinder 8 from the engine 1 by the belt transmission 13
The power is transmitted to the threshing device 7 such as, and the belt transmission device 14 is used to hydraulically drive the continuously variable transmission device 6, the traveling transmission device 5,
The left and right traveling devices 9, 9 are transmitted via the traveling shaft 15 and the like.

16 is a drive shaft that is directly driven by the engine 1,
The bearing 17 is supported by the bearing body 17 and is connected to the crankshaft of the engine 1 by a coupling 18. The traveling transmission device 5 is provided in the transmission case. The continuously variable transmission 6 is provided on the input side of the traveling transmission 5,
The arm of the swash plate 19 of the variable displacement hydraulic pump is rotated by the expansion and contraction operation of the operation cylinder 20 by hydraulic pressure, and is rotated from the neutral position to the forward high speed position and the reverse high speed position,
This is a configuration for controlling rotation transmission by a fixed displacement motor.

Numerals 21 and 21 are sprockets of traveling shafts 19 and 19 which can be supported on the left and right sides at the lower end of the transmission case of the traveling transmission device 5, and are driven by tensioning the crawlers which are the traveling devices 9 and 9. 2
Reference numeral 2 denotes a vehicle speed sensor, which detects the number of revolutions from a part of the transmission portion of the traveling transmission device 5 to detect the traveling speed of the traveling devices 9, 9.

As shown in FIG. 3, the cam shaft 23 of the engine 1 is provided with a cam gear 24 that rotates integrally.
The rotation sensor 2 detects the rotation of the engine and the rotation speed of the engine 1 is detected. 25 is a governor attached to the camshaft 23, 26 is a fuel injection pump,
Driven from.

The control rack 3 for adjusting the amount of fuel supplied from the fuel injection pump 26 to the fuel chamber of the engine 1 is rotated via a set arm 28 operated by a throttle lever 27 and a governor spring 29. In addition, the structure is such that the movement is controlled via the control arm 30 and the like which is also rotated by the governor 25, and the injection amount of fuel is proportionally determined by the movement amount of the control rack 3. The control rack sensor 4 is configured to detect the movement amount of the control rack 3.

The control device of the continuously variable transmission 6 can be manually operated, but when it is automatically controlled, it is performed by a computer (CPU). The rotation sensor 2, the control rack sensor 4, the vehicle speed sensor 22, In addition to the forward operation switch 31, the backward operation switch 32, etc. for selecting forward or reverse of the vehicle body, the maximum swash angle designating device 33 for designating and limiting the rotation angle of the swash shaft 19 and the swash plate By inputting information from the swash plate angle sensor 34 or the like for detecting an angle, the speed-increasing side output signal a and the deceleration-side output signal b are output, and the electromagnetic control valve 35 of the hydraulic circuit of the operating cylinder 20 is controlled and interlocked, The swash plate shaft 19 is linked.

The load detected by the control rack sensor 4 is averaged for each fixed mileage to obtain the detected load at the present time. Further, the rotation speed of the engine 1 at this time is detected by the rotation sensor 2 and averaged to obtain the detected rotation speed. The output curve (rotation speed-output) of the engine (FIGS. 4 and 5) and the load control reference area D as the rotation control reference area C which is the range of the appropriate rotation speed suitable for threshing on this output curve. Set it.

When the load is detected by the control rack sensor 4, the frequency of the fully open position E of the control rack 3 is simultaneously detected. For example, the working travel distance of the combine can be averaged over the entire field as much as possible depending on the number of fully open position e during the reciprocating or one round of mowing work stroke in the field. It is preferable to calculate the frequency of the fully open position. When the frequency increases beyond a certain area,
The load control reference area d is lowered, and conversely, when the load control reference area d is reduced, the load control reference area d is corrected to be raised, and the traveling speed is controlled continuously based on the corrected load reference. There is.

At the time of work, the detected load detected by the control rack sensor 4 is compared with the load control reference area D under the detected rotation speed detected by the rotation sensor 2, and as a result, the detected load is determined by the load control reference. When the rotation speed is within the rotation control reference area C within the proper range of the area D, the speed increasing side output signal a and the deceleration side output signal b are not transmitted, and the traveling speed is maintained as it is.

However, when the detection load increases and the detected rotation speed of the engine 1 drops below the rotation control reference area C of the rotation speed,
It approaches the fully open curve E. At this time, the deceleration side output signal B is transmitted, the electromagnetic control valve 35 is switched to the deceleration side, and the operation cylinder 20 is operated, and the swash plate angle of the swash plate shaft 19 is interlocked from the forward position side to the neutral position side. Then, the work traveling speed is reduced to reduce the load on the work device, and the detected rotation speed of the engine 1 is returned to the rotation speed within the rotation control reference area C. On the contrary, when the detected load decreases and the detected rotational speed of the engine 1 rises beyond the rotation control reference area C, the speed increasing side output signal a is transmitted at this time and the electromagnetic control valve 35 speeds up. Side, the operation cylinder 20 is operated, the swash plate angle of the swash plate shaft 19 is interlocked from the neutral position side to the forward position side,
The rotation speed of the engine 1 is returned to the rotation speed within the rotation control reference area C.

During the above control, the control rack sensor 4
When the frequency number of the fully open position E of the control rack 3 is detected by, when the frequency number is within a certain area, the load control reference area D, which is the control reference during the current control, is not changed, but is constant. When it is larger (or smaller) than the region, the load control reference region D is corrected to the decreasing side (or increasing side) and the traveling speed is controlled.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a block diagram, FIG. 2 is a partial transmission mechanism diagram, FIG. 3 is an enlarged sectional view of a part thereof, and FIG. FIG. 5 is a partially enlarged graph, FIG. 6 is a plan view, and FIG. 7 is a side view. In the figure, reference numeral 1 is an engine, 2 is a rotation sensor, 3 is a control rack, 4 is a control rack sensor, 5 is a traveling transmission device, 6 is a continuously variable transmission, 7 is a threshing device, 8 is a handling cylinder, and 9 is traveling. Shows the device.

Claims (1)

(57) [Claims] 1. A mobile work machine having a work device mounted on a vehicle body having a traveling device 9, a rotation sensor 2 for detecting a rotation speed of an engine 1, and a control rack 3 for controlling and interlocking a fuel injection amount of the engine 1. The control rack sensor 4 for detecting the amount of movement, the continuously variable transmission 6 provided in the traveling transmission device 5 for transmitting power from the engine 1 to the traveling device 9, the rotation sensor 2 and the control rack sensor 4 are provided. Based on the detection result, the continuously variable transmission 6 is relatedly controlled so that the rotation speed of the engine 1 is within the rotation control reference area C and the detected load of the control rack sensor 4 is maintained within the load control reference area D. The stepless speed change control means and the stepless speed control according to the detection frequency of the fully open position of the control rack sensor 4 in the predetermined work traveling stroke of the traveling device 9. The load control reference area and the control reference area correcting means for correcting the two, running speed control device for a mobile working machine comprising a speed control unit.