JP2763797B2 - Work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a work vehicle such as a riding type rice transplanter or an agricultural tractor, which is characterized by a configuration of speed change control of a traveling system.

[Conventional technology]

In a riding type rice transplanter, which is an example of a work vehicle, it has been proposed to equip a hydrostatic type continuously variable transmission or a belt type continuously variable transmission as a transmission for traveling. In this case, there is a configuration in which the speed change operation of the traveling transmission is performed by an actuator so that the artificial transmission speed is set by a shift lever (corresponding to an artificial operation tool).

[Problems to be solved by the invention]

When a riding type rice transplanter travels in a paddy field, the running resistance changes due to the amount of water in the paddy field, the hardness of the mud, the depth of the cultivator, etc., and the load on the engine also changes greatly. In such a case, the engine may be stopped.

In the riding type rice transplanter, after one planting process is completed, the rice planter turns around at the ridge and enters the next planting process. In this case, almost simultaneously with the steering operation of the front wheels, the raising operation of the seedling planting apparatus and the deceleration operation of the traveling transmission must be performed, and there is room for improvement in terms of simplification of turning operation. is there.

If it becomes necessary to replenish the seedlings during the above-described planting process, the main clutch is disengaged, the machine and the seedling planting device are temporarily stopped to replenish the seedlings. Operate the clutch to start the aircraft.
In this case, if the speed change device for traveling is not shifted to the low-speed side, when the main clutch is engaged, the aircraft suddenly starts, and the aircraft is lowered backward by the driving reaction force of the wheels. In some cases, the planting depth of seedlings may be too deep.

The present invention, in a work vehicle, by rationally controlling an actuator that performs a shift operation of a traveling transmission,
An object of the present invention is to prevent the engine from stopping, simplify the operation at the time of turning, and prevent malfunctions at the start.

[Means for solving the problem]

A feature of the present invention resides in that the work vehicle as described above is configured as follows.

(1) A first speed change unit and a second speed change unit for traveling, an actuator for speed changing the second speed change unit, and a speed change operation for shifting the first speed change unit to a work speed range and other speed ranges. And an artificial setting speed set by an artificial operation tool.
Control means for shifting the speed of the transmission by an actuator; and detection means for detecting whether or not the first transmission is shifted to the work travel shift range by the speed change operation part. 1 When the speed change portion is operated to shift to the work traveling speed change range, the detection value of the engine speed sensor for detecting the engine speed within the range below the artificially set speed set by the artificial operation tool falls within the set range. Automatic traveling control means for automatically shifting the second transmission portion by an actuator so as to be maintained.

(2) In the configuration of the above (1), the vehicle further includes turning state detecting means for detecting whether or not the aircraft is in a turning state, and the actuator controls the second transmission portion based on detection of turning start by the turning state detecting means. Based on automatic deceleration means for automatically shifting gears to a predetermined low-speed position, and detection of the end of turning by the turning state detecting means,
Toward the artificially set speed set by the artificial operation tool,
Automatic return means for automatically shifting the second transmission portion by the actuator.

(3) In the configuration according to the above (1) or (2), the second shift portion is automatically shifted to a predetermined low-speed position by the actuator at the time of starting operation of the body, and the speed is lower than the normal following speed of the actuator. There is provided automatic starting means for automatically shifting the second transmission section to an artificially set speed set by an artificial operation tool by an actuator.

[Action]

(I) According to the feature of claim 1, if the first transmission portion is shifted in a shift range other than the work travel shift range, such as when traveling on a road, the control means controls the second transmission portion by the actuator. The gear shift operation is performed.

By this, the operator operates the artificial operation device to set a desired artificially set speed, whereby the second transmission portion is shifted to the artificially set speed, and the operator operates the artificial operation device. Thereby, the second transmission portion can be shifted to an arbitrary artificially set speed.

Next, as in the case of work traveling, when the first transmission portion is shifted to the work traveling shift range, the automatic traveling control means is activated based on the detection of the detection means. Thus, even if the running resistance changes depending on the state of the work place, the second transmission portion is automatically shifted by the actuator, and the load (engine speed) applied to the engine is maintained within the set range.

In this case, if the running resistance becomes particularly small, the actuator causes the second speed change portion to perform a shift operation near the highest speed position. However, according to the features of claim 1, even if the running resistance becomes particularly small, The second shifting portion is not operated to shift to a higher speed side beyond the artificially set speed set by the artificial operation tool.

(Ii) According to the features of claim 2, similar to the case of claim 1, it has the “action” described in the preceding paragraph (i), and in addition to this, has the following “action”. I have.

It is preferable to turn the aircraft at a reduced traveling speed when turning, as opposed to a normal straight running, from the viewpoint of suppressing an increase in ride comfort and load on the engine. Thus, according to the feature of claim 2, when the operator starts turning the aircraft by operating the steering handle or the like, the second shift portion is automatically shifted to the predetermined low-speed position by the actuator. The operator does not need to operate the artificial operation tool on the low speed side.

When the turn is completed, the second transmission section is automatically operated by the actuator to change the speed to the artificially set speed set by the artificial operation device, so that the pilot operates the artificial operation device to the high-speed side with the end of the turn. In addition, it is not necessary to perform an operation of returning the second transmission unit to the original artificially set speed.

(Iii) According to the features of claim 3, similar to the case of claim 1 or 2, the “action” described in the preceding paragraph (i) or (ii) is provided. It has various “actions”.

According to the feature of claim 3, when the body is temporarily stopped and restarted, such as when replenishing seedlings in a riding type rice transplanter, the second transmission portion is automatically shifted to a predetermined low speed position by the actuator. The second shifting portion is operated by the actuator to slowly change the speed up to the artificially set speed set by the artificial operating tool after being operated. As a result, the aircraft starts smoothly with less shock.

〔The invention's effect〕

According to the feature of claim 1, in the work vehicle provided with the first and second transmission sections for traveling, an actuator for automatically performing a shift operation of the second transmission section whose upper limit can be set artificially is used. Thus, it is possible to avoid an unnecessary increase in the work traveling speed, and to prevent the engine from being stopped due to an increase in the traveling load during the work traveling, thereby improving the traveling performance of the work vehicle. Was.

In the state other than the time of the work traveling such as the time of traveling on the road with respect to the time of the above-mentioned work traveling, the speed of the work vehicle in the state other than the time of the work traveling can be changed because the second transmission unit can be arbitrarily shifted by the manual operation tool. There is no change by the automatic driving control means different from the driver's intentional shifting operation, and a shifting feeling that is not bothersome to the operator can be secured.

Further, the actuator for shifting the second transmission portion is used for the control means (the state where the actuator is operated by the artificial operation tool) and for the automatic traveling control means (the state where the actuator is operated based on the detection value of the rotation speed sensor). ), Which is advantageous in terms of simplification of the structure.

According to the feature of claim 2, the "effect of the invention" of the above-mentioned claim 1 is provided similarly to the case of the claim 1. In addition to the "effect of the invention", the following "invention" is provided. Of the effect.

According to the feature of claim 2, since the second transmission portion is automatically decelerated and accelerated by the actuator based on the start and end of the turn, the number of operations performed by the operator during the turn can be reduced. As a result, the operation at the time of turning can be simplified and the operability can be improved.

Further, the actuator for shifting the second transmission portion is also used for the automatic deceleration means and the automatic return means (the state in which the actuator is operated at the start and end of the turn), thereby simplifying the structure. This is more advantageous in terms of aspect.

According to the feature of claim 3, the “effect of the invention” of claim 1 or 2 is provided as in the case of claim 1 or 2. In addition to the “effect of the invention”, The following "effects of the invention" are provided.

According to the feature of claim 3, when the airframe is temporarily stopped and restarted, the second transmission portion is automatically decelerated by the actuator and the speed is increased again, so that the airframe is smooth with little shock. Improves work performance by preventing problems such as work start-up due to the machine being lowered backwards (such as temporary deepening of seedlings in a riding rice transplanter). I was able to.

Further, the actuator for shifting the second transmission portion is also used for automatic starting means (a state in which the actuator is operated upon temporary stop and start), which is further advantageous in terms of simplification of the structure. Becomes

〔Example〕

Hereinafter, an embodiment in which the present invention is applied to a riding type rice transplanter, which is an example of a work vehicle, will be described with reference to the drawings.

As shown in FIG. 3, an engine (3) is provided at the front of the body supported by the front wheels (1) and the rear wheels (2), a control unit (4) is provided at the center, and a seedling planting device (5) is provided at the rear. This makes up a riding rice transplanter. The power from the engine (3) is transmitted via the belt-type continuously variable transmission (6) (corresponding to the second transmission unit) and the gear transmission (7) (corresponding to the first transmission unit) to the front wheels (1) and (4). It is transmitted to the rear wheel (2) and transmitted to the seedling planting device (5) via the PTO shaft (8).

The gear transmission (7) is capable of shifting to two forward steps and one reverse step, and performs a shift operation by a first shift lever (20) (corresponding to a shift operation section). The belt-type continuously variable transmission (6) is a split pulley type as shown in FIG. 1, and the speed is changed by a tension pulley (19) that is oscillated by an electric cylinder (18) (corresponding to an actuator). A second shift lever (23) (corresponding to an artificial operation tool) is provided on a control panel (22) having a control handle (21).
A signal from a potentiometer (not shown) for detecting the operation position of the shift lever (23) is input to the control device (17). As a result, the electric cylinder (18) is operated by the control device (17) to expand and contract so that the artificially set speed is set by the second shift lever (23), and the belt-type continuously variable transmission (6) is shifted. Operated (corresponding to control means).

As shown in FIG. 3, the seedling planting device (5) comprises a planting mission case (9), a planting arm (10) and a planting stand (1).
1) it does not include the ground float consists of such, quadruplicate link mechanism extending from the machine body (12) before and after the axis (the P ₁₎ around the rolling freely with NaeUe device (5) Are linked. A single-acting elevating cylinder (13) for raising and lowering the four-link mechanism (12) is directly connected to the four-link mechanism (12) without using a buffer such as a spring. A double-acting rolling cylinder (14) for rolling the seedling planting device (5) is provided between the upper rear end and the support guide (37) on the back of the seedling rest (11). They are directly connected without a buffer.

As shown in FIG. 1, a first control valve (25) and a second control valve (26) for supplying and discharging hydraulic oil are provided for the lifting cylinder (13) and the rolling cylinder (14). ,
The first and second control valves (25) and (26) are operated by signals from the control device (17). As shown in FIG. 3 and FIG. 1, a rice field (G) is provided on the lower surface of the planting mission case (9).
A pair of right and left ground sensors (15R) and (15L) that follow the ground are provided, and the ground sensors (15R) and (15L)
Potentiometers (16R) and (16L) that detect the swing angle of
Is input to the control device (17).

Next, the flow of automatic control of the entire riding type rice transplanter will be described.

First, regarding the seedling planting device (5), FIG.
As shown in the figure, when the seedling is to be placed on the seedling nest (11), such as at the start of planting work, the seedling supply switch (24) of the control panel (22) is turned ON. Thus, the lifting cylinder (13) to a predetermined position where the PTO shaft (8) is substantially horizontal, seedling planting device (5) is raised operated (step (S _1), (S _2)). When the first shift lever (20) is operated to the reverse position (R) (corresponding to a shift range other than the shift range for work traveling), a signal from a reverse switch (not shown) for detecting this operation is transmitted to the control device (17). ) is input to, seedling planting device (5) is the highest position (PTO shaft (8) is raised operated at a higher position) than the position where the substantially horizontal (switch (S _3), (S _4)).

When the placement of the seedlings on the seedling rest (11) is completed and the seedling supply switch (24) is turned off, the operation switch (27) of the seedling planting device (5) described later is in a position other than the neutral position. When,
Since the seedling planting device (5) goes up and down unexpectedly, after turning off the seedling supply switch (24), the operation switch (27) must be returned to the neutral position once. raising and lowering operations of the planting device (5) is prevented from performing (step (S _5)).

An operation switch (27) for the seedling planting device (5) is provided on the control panel (22). When the operation switch (27) is operated to the raised position, the seedling planting device (5) is operated by the rolling cylinder (14). There are return operation in parallel with the fuselage, seedling planting device (5) is raised operated by the elevating cylinder (13) (step (S _6), (S _28)). When the operation switch (27) is operated to the neutral position, the seedling planting device (5)
There are parallel to the return operation with respect to the aircraft, the lifting operation of the seedling planting apparatus (5) is stopped (step (S _7),
(S _8)).

When the operation switch (27) is moved to the down position, the grounding sensors (15R) and (15L)
Seedling planting device (5) is lowered operation while in parallel to the return operation with respect to the machine body (step _{(S 9), (S 10} ),
(S _29)), ground sensors (15R), (when 15L) is lifted to ground in the paddy (G), seedling planting apparatus (5)
Control and rolling control are started. As a result, the raising / lowering cylinder (13) and the rolling cylinder (14) are expanded and contracted so that the angles of the right and left ground sensors (15R) and (15L) are maintained at the set values, and the seedling planting device (5) is operated. There is maintained at the set height from the paddy paddy while kept parallel with respect to (G) (G) (step (S _10),
(S _11)).

When the operation switch (27) is operated to the planting position, a planting clutch (not shown) is turned on, and the seedling planting device (5) starts planting seedlings. 5)
Elevation control and rolling control is performed (step _{(S 12), (S 13} ), (S 11)). In this case, the marker switch (28) of the steering panel (22) is operated to the right or left, (not shown) right or left side of the marker is out operation (step (S _14), (S ₁₅ )).

 Next, the control of the traveling relation will be described.

As shown in FIG. 2 (b) and FIG. 1, a main clutch (29) is provided on the gear transmission (7) side of the belt-type continuously variable transmission (6), and the main clutch (29) is disengaged. The clutch pedal (30) is provided. A rotation speed sensor (31) for detecting the rotation speed of the engine (3) is mounted on the engine (3) side of the belt type continuously variable transmission (6), and a signal thereof is input to the control device (17). ing.

At the start of work or during a planting operation, if the main clutch (29) is turned off by pressing the clutch pedal (30), this is detected by the clutch switch (32), and the belt type continuously variable The transmission (6) is automatically shifted to the lowest speed position by the electric cylinder (18). Next, when the clutch pedal (30) is returned to the engaged position, the belt-type continuously variable transmission (6) starts the second shift from that time (when the main clutch (29) is completely engaged). lever (23) is slowly accelerating operation to the human setting speed set by the aircraft to smoothly started (step (S _16), (S ₁₇₎₎ (corresponding to the automatic starting means).

The gear transmission (7) is, as described above, a forward two-stage reverse one
One speed forward type (corresponding to the speed range for work traveling) is used for planting work, and the second forward speed (corresponding to speed ranges other than the speed range for work traveling) is for road traveling. It is.
When the first transmission lever (20) of the gear transmission (7) is operated to the _first forward speed position (F ₁ ), the forward 1
A signal from a speed position switch (not shown) (corresponding to detection means) is input to the control device (17), and the operation switch (27)
There the process proceeds to step (S ₂₀₎ If it is the planting position (step _{(S 18), (S 19} )).

As shown in FIG. 1, the control panel (22) is provided with an accelerator lever (33) for operating the accelerator of the engine (3), and an accelerator for detecting that the accelerator lever (33) is at the fully open position. A switch (34) is provided. When the accelerator lever (33) is in the fully open position during the above-described planting operation, the rotation speed of the engine (3) detected by the rotation speed sensor (31) is maintained within a set range. The belt-type continuously variable transmission (6) is automatically shifted by the electric cylinder (18).

In this case, even if the running load is reduced and the engine speed of the engine (3) is greatly increased, the belt-type continuously variable transmission (6) exceeds the artificially set speed set by the second shift lever (23). but not the speed change operation to the high speed side (step (S _20), (S ₂₁₎₎ (corresponding to the automatic running control means). If the accelerator lever (33) is not in the fully open position during such planting operation, the belt-type continuously variable transmission (6) is manually set by the electric cylinder (18) and set by the second transmission lever (23). It is shift operation to the speed (step (S _20), (S ₂₂₎₎ (corresponding to control means).

If the operation switch (27) is operated to a position other than the planting position during the planting operation, it is determined that one planting process has been completed and the aircraft has reached the edge of the ridge (corresponding to the turning state detecting means). ), The belt type continuously variable transmission (6) is an electric cylinder (1
By 8) is automatically operated at the lowest speed position (step _{(S 18), (S 19} ), (S 23)), it can be performed pivot safe low speed in the case ridge (corresponding to the automatic deceleration means). Next, the operation switch (27) is used to complete the turning and start the next planting process.
(Corresponding to a turning state detecting means) when operated in planting position, step (S _10), the transition from (S ₂₀₎ to the step (S _22), a belt type continuously variable transmission (6) is an electric cylinder According to (18), the speed is changed to the artificially set speed set by the second speed change lever (23) (corresponding to an automatic return means).

When the process proceeds from step (S ₁₉ ) or (S ₂₀ ) to step (S ₂₁ ), the belt type is controlled so that the rotation speed of the engine (3) detected by the rotation speed sensor (31) is maintained within a set range. The continuously variable transmission (6) is an electric cylinder (18)
Returns to the state in which the shift operation is automatically performed. in this case,
Step belt type continuously variable transmission in (S ₂₁₎ (6)
Operating the speed is relatively slow the speed change operation to the electric cylinder (18), increasing when the process proceeds to step by operating the planting position the operation switch (27) during turning ends (S _21), the aircraft is slowly Speed up.

This riding type rice transplanter is provided with a self-diagnosis function for checking the abnormality of each part. When an abnormal value exceeding the normal range is detected from the rotation speed sensor (31), the engine (3)
It is determined that an abnormality has occurred or the rotation speed sensor (31) has failed, and the first abnormality lamp (35) of the control panel (22) shown in FIG. 1 blinks. As a result, the functions of the control section (I) and the running-related control section (II) of the seedling planting apparatus (5) as shown in FIGS. 2 (a) and (b) are stopped. Speed sensor (3
When the signal from 1) returns to the normal range, both functions are restored automatically (step (S _24)).

When no signal or an abnormal signal comes from the switches or potentiometers provided in each part, in a plurality of second abnormal lamps (36) of the control panel (22),
The portion corresponding to the portion provided with the switch or potentiometer flashes, and the function provided with the switch or potentiometer stops. Engine (3)
When once abnormal signal after stop and restart operation is off, function that has been stopped is restored (step (S _25),
(S _26)). If the software in the control unit (17) goes out of control, the first abnormality lamp (35) is a step (S ₂₄₎
Flashes in the opposite phase to that of the control section (I),
(II) function stops. Returning to the engine (3) once properly after restart the stop operation, both functions returns (step (S _27)).

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

The drawings show an embodiment of the work vehicle according to the present invention, FIG. 1 shows the linked state of various parts of a control panel, a belt-type continuously variable transmission, and the like, and FIG. 2 (A) shows the first half of the whole automatic control. FIG. 2 (b) is a diagram showing a latter half of the entire automatic control;
FIG. 3 is an overall side view of the riding type rice transplanter. (3) ... engine, (6) ... second transmission section, (7) ...
... 1st transmission section, (18) ... actuator, (20) ...
Shift operation section, (23) ... artificial operation tool, (31) ... rotation speed sensor.

──────────────────────────────────────────────────の Continued on front page (51) Int.Cl. ⁶ Identification code FI F16H 63:12

Claims (3)

(57) [Claims] A first speed change portion for driving and a second speed change portion for driving; an actuator for shifting the second speed change portion; and a first speed change portion. ) Is provided with a shift operation portion (20) for shifting to a work travel shift range and a shift range other than the above, and an artificially set speed set by an artificial operation tool (23).
Control means for shifting the second transmission portion (6) by the actuator (18); and whether the first transmission portion (7) has been shifted to the work traveling shift range by the shift operation portion (20). Detection means for detecting whether or not the first transmission portion (7) is shifted to the work traveling shift range based on the detection of the detection means, and is set by the manual operation tool (23). The second speed change section is controlled by the actuator (18) such that the detection value of the rotation speed sensor (31) for detecting the rotation speed of the engine (3) is maintained within a set range within a range not more than an artificially set speed. (6) A work vehicle equipped with automatic traveling control means for automatically shifting gears. A turning state detecting means for detecting whether or not the body is in a turning state, wherein the actuator (18) controls the second transmission portion ( 6) the automatic deceleration means for automatically shifting the gear to a predetermined low-speed position; and the artificially set speed set by the artificial operation tool (23) based on the detection of the end of turning by the turning state detecting means. 2. The work vehicle according to claim 1, further comprising automatic return means for automatically shifting the second transmission portion (6) by the actuator (18). 3. The second shift section (6) is automatically shifted to a predetermined low-speed position by the actuator (18) when the body is started, and the speed is lower than the normal following speed of the actuator (18). In the said actuator (18)
The second transmission section (6) is connected to the artificial operation tool (2
3. The work vehicle according to claim 1, further comprising an automatic start means for automatically performing a speed change operation to the artificially set speed set by 3).