JP3235804B2 - Crawler type tractor control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to relates to a device for controlling a track-type tractor such as a bulldozer, a particularly easy speed change operation, a control device of the steering-gear.

[0002]

BACKGROUND OF THE INVENTION Control of steering-gear of a conventional track-type tractor, juxtaposed left steering lever 41L and MigimisaoMuko lever 41R for operating the right and left steering in front of the operator's seat as shown in FIG. 5 is, these levers are respectively linked coupled to the clutch valve to HidariMisaoMukai clutch and MigimisaoMuko clutch (not shown) for controlling, respectively it (not shown). Also,
In the vicinity of the operator seat, mission lever 42 for selecting a speed stage from the forward first speed (F1) to the forward third speed (F3), and one reverse speed from (R1) to reverse third speed (R3)
Its There is disposed, the mission lever 42 the speed stages up to the forward first speed to forward third speed and reverse first speed reverse third speed
Clutch valve for controlling the respective clutch for respectively selecting
(Not shown) . When the transmission lever 42 is in the F1 position, the crawler-type tractor moves to the first forward speed (F
The vehicle travels at 1), travels at the second forward speed (F2) at the position of F2, and travels at the third forward speed (F3) at the position of F3. Also, R
1st reverse speed (R1) at 1 position, 2 reverse speed at R2 position
At the speeds (R2) and R3, the crawler-type tractor travels at the third reverse speed (R3).

[0003] In another conventional crawler-type tractor steering shift control device, as shown in FIG. 6, an operation lever 51 for operating forward / reverse switching and left / right steering is provided in front of an operator seat. The lever 51 is connected to a potentiometer that converts the front and rear and left and right operation amounts into an electric signal. A forward speed lever 52F for controlling the forward speed and a reverse speed lever 52R for controlling the reverse speed are juxtaposed near the operation sheet, and these speed levers 52F, 52R are provided side by side.
Is connected to a potentiometer that converts the front and rear operation amounts into an electric signal. When the operation lever 51 is operated in the forward (F) direction, an electric signal is input from the potentiometer to the microcomputer, and the microcomputer controls the transmission control valve to advance (F).
Select Then, the forward speed lever 52F is moved to Fmin.
Forward electrical signal corresponding to the operation amount for operating the Fmax position from the position is input <br/> force from the potentiometer to the microcomputer, the microcomputer in accordance with the operation amount of the forward speed lever 52F and controls the transmission control valve Select a speed. Then, an electric signal the operation lever 51 corresponding to the operation amount for operating the left is input from the potentiometer to the microcomputer, the microcomputer performs forward HidariMisaoMukai by controlling the steering motor control valve. When the operation lever 51 is operated to the right, an electric signal corresponding to the operation amount is input from the potentiometer to the microcomputer, and the microcomputer controls the steering motor control valve to perform forward right steering.

When the operating lever 51 is operated in the backward (R) direction, an electric signal is input from the potentiometer to the microcomputer, and the microcomputer controls the transmission control valve to select reverse (R). When the reverse speed lever 52R is operated from the Rmin position to the Rmax position, an electric signal corresponding to the operation amount is input to the microcomputer from the potentiometer, and the microcomputer controls the transmission control valve to control the reverse speed lever 52R according to the operation amount. Select the reverse speed. Then, an electric signal the operation lever 51 corresponding to the operation amount for operating <br/> the left is input to the from <br/> microcomputer potentiometer, microcomputer backward left controls the steering motor control valve Steer. When the operation lever 51 is operated to the right, an electric signal corresponding to the operation amount is input to the microcomputer from the potentiometer, and the microcomputer controls the steering motor control valve to perform reverse right steering.

[0005]

However, in general, the operation of the bulldozer is performed in a cycle as shown in FIG. 7, and the movement is performed at a high vehicle speed, and during the operation, the vehicle speed becomes suitable for operating the work machine. The vehicle speed is selected. For example, FIG.
The at steering-gear shift control device shown, shift 1, shift 2 and shift 3 either steering levers may 41L (see FIG. 7),
Since the user must release the hand from 41R and operate the transmission lever 42 to change the speed stage, the operation is complicated. In the case shown in FIG. 6, the operation lever 5 is switched in the case of switching from forward movement to reverse movement , that is , in the case of shift 2 (see FIG. 7).
It is good to operate backward (R) without releasing your hand from 1 ,
In the case of the first shift (see FIG. 7), the forward speed lever 52F must be operated by releasing the hand from the operating lever 51, and in the third shift (see FIG. 7), the hand must be released from the operating lever 51. The reverse speed lever 52R must be operated, and the operation is complicated.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and easily switches between a vehicle speed selected by a forward speed lever or a reverse speed lever and a maximum speed.
To provide crawler-type tractor control device that enables speed switching
It is intended to be.

[0007]

Means for Solving the Problems To achieve the above object,
First, a first embodiment of a crawler-type tractor control device according to the present invention will be described.
Ming detects the operable operation lever in the longitudinal and lateral directions, a sensor for outputting an electric signal corresponding to the steering operation amount of the left and right directions of the operation lever, the front-rear direction of the operation of the operation lever detection Means, a forward speed lever capable of setting a forward speed, detecting means for detecting an operation position of the forward speed lever, a reverse speed lever capable of setting a reverse speed, and detection for detecting an operating position of the reverse speed lever Means, detected by the sensor and each of the detection means
Based on the respective signals, the control device of the crawler type tractor and a control device for controlling the speed and the left and right steering of the forward-reverse, to the operating lever, the forward speed lever
Or the speed set by the reverse speed lever
According to the forward or backward movement selected by the operating lever
A changeover switch for switching between the maximum speed and the maximum speed is provided . The second invention is based on the first invention.
Each time the changeover switch is operated, the speed set by the forward speed lever or the reverse speed lever and the forward speed
Or switch between the maximum speed according to reverse
Configuration.

[0008]

According to the first aspect, the operation is performed in the front-rear direction and the left-right direction.
The forward / backward switching and left / right steering
A changeover switch is set on one operation lever
In addition, the changeover switch separates the operation lever
The forward and reverse speed levers
Of the forward speed and reverse speed set respectively.
Any speed and currently selected by the operating lever
Between the maximum speed corresponding to the forward or reverse
The effective speed is switched. This allows the operation
The operator removes his / her hand from the operating lever during gear shifting operations.
Without having to operate the same selector switch
The speed that is effective during traveling is set between the set speed and the maximum speed.
The gear can be changed by switching between
Can be operated without moving your finger when making . According to the second invention,
Each time the same switch is operated (for example, pressed) once
Set by the forward or reverse speed lever.
Speed and forward selection currently selected by operating lever
Or between the maximum speed according to reverse and when traveling.
Speed can be switched.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.do itDETAILED DESCRIPTION OF THE INVENTION
You. FIG. 1 is a cab of a crawler type tractor embodying the present invention.
FIG. 3 is a diagram conceptually showing the arrangement of the operation levers. As shown in FIG.
OperationLever 1,Forward speed lever 2FandReverse speed
Bar 2R is located near the operation sheetHave been.Operation
Bar 1 is installed so that it can be operated in the pattern shown in FIG.
Operating lever 1ToPush button switch 1a
It is attached. Forward speed lever 2F and reverse speed lever
-2R operates in the pattern shown in Figure 3.obtainSo installed
F1 is the first forward speed, F2 is the second forward speed, F3 is the front
R3 is the first reverse speed, R2 is the second reverse speed, R3
Indicates the third reverse speed. FIG. 4 shows the cradle of the track type tractor.
Control transmission and steering
1 shows an example of a circuit of a control device according to an embodiment of the present invention. Smell
The operation of the potentiometer 11 is as follows.
In the pattern shown in `` Right steering '' position direction and `` Left steering ''
When operated in the “direction” direction,
The switch 12F outputs an electric signal S1 of the
Bar 1 is closed when operated in the "forward" position direction,
Switch 12R is closed when operated in the "reverse" position.
Is done. Forward speed lever 2F is in first forward speed (F1)
Switch 131 is in the forward position, and in the forward second speed (F2) position,
When the switch 132 is in the forward third speed (F3) position,
Chi 133RespectivelyClosed and reverse speed lever 2R
Is in the reverse first speed (R1) position, the switch 141 is
In the second speed (R2) position, the switch 142 is in the reverse third speed.
In the position (R3), the switch 143 isRespectivelyClosed
You.Also,When push button switch 1a is pressed, switch 1
a is closedHold the stateAnd pushbuttons again
Press switch 1aThis hold is releasedSwitch 1a
ButBe openedIs like.further,Push buttons
With switch 1a closed,Operate lever 1 forward and backward
Push button switch 1a when operated to the neutral or neutral position
Is opened, and the forward speed lever 2F or the reverse speed lever is
When the bar 2R is operated in the front and rear direction, the push button switch 1
a is opened,The output of the signal S2 stops.Like
Is.

The signal forming circuit 15 includes switches 12F, 12R, 1a, 131, 132, 133, which are selectively closed by operation of the operating lever 1, push button switch 1a, forward speed lever 2F and reverse speed lever 2R. 1
The parallel signals SA, SB, and SC having the logical levels shown in Table 1 are formed in correspondence with 41, 142, and 143.

The circuit 15 is an AND circuit, an OR circuit,
Since the configuration can be easily made using a logic circuit such as an inverter, the description of the circuit configuration is omitted.

The central processing unit 20 (hereinafter abbreviated as CPU) receives the above-mentioned signals S1, S2, SA, SB, and SC and executes the processing described later. The memories 21F and 21R store the speed stages for the forward and reverse traveling commanded by the signal forming circuit 15, respectively.

The drive circuit 22 includes valve drive solenoids 23F, 23R, 231, 232, 233 in a transmission (not shown) using a planetary gear set.
Is selectively driven based on a command from the CPU 20. Incidentally, the valve 24F actuated solenoid 23F, the 23R, 24R previous controls the corresponding respective hydraulic cylinders (not shown) transmission is intended to select each of the reverse and solenoid 2
Valves 241, 242 operated by 31, 232, 233
, 243 control the corresponding hydraulic cylinders (not shown) to select the first, second, and third speed stages in the forward and reverse travels, respectively. Therefore, for example, when the solenoid 23F and the solenoid 231 are energized, the transmission is in the first forward speed. The drive circuit 25 controls the valve drive solenoids 26R, 26L, 27R, 27L in the steering clutch brake (not shown) by the CPU 2.
Selective driving is performed based on a 0 command. In addition, the valve 28R operated by the solenoids 26R and 27R
, Carried out MigimisaoMuko to control the 2 9 R, solenoid 26L,
Performing HidariMisaoMukai by controlling the valves 28L, 2 9 L actuated by 27L.

Next, the operation of the apparatus according to this embodiment will be described. The CPU20 determines the signal outputted from the signal forming circuit 15 SA, SB, the combination of logic levels of the SC on the basis of the relationship of Table 1, the signal SA, SB, S
When C is 1,1,1 and 1,0,1 and 1,
Value 1 indicating the speed stage of the forward each memory 21F in the case of 1,0, loads the value 2 and value 3, the case of 0,1,1, when the 0,0,1 and 0,1,0 it to the case of
A value 1, a value 2, and a value 3 indicating the reverse speed stage are loaded into the memory 21R, respectively . Therefore, for example, when the operator operates the operation lever 1 and the forward speed lever 2F to select the first forward speed (F1), the signal forming circuit 15 outputs
The signals SA, SB and SC of 1, 1 are output,
If the value 1 is loaded into the memory 1F, the CPU 20 outputs a command to the drive circuit 22 if the content of the memory 21F is 1, and the valves 24 operated by the solenoids 23F and 231, respectively.
The vehicle is driven at the first forward speed (F1) by controlling F and 241. Next, when the push button switch 1a is pressed, the switch 1a is closed, and the signals SA, SB, SC of 1, 1, 0 are output from the signal forming circuit 15 , and the value 3 is stored in the memory 21F.
Is loaded. If the content of the memory 21F is 3, the CPU 20 outputs a command to the drive circuit 22 and the solenoid 2
The vehicle is driven at the third forward speed (F3) by controlling the valves 24F, 243 operated by 3F, 233. When the push button switch 1a is pressed again, the switch 1a is opened, and the signals SA, SB, SC of the position where the operation lever 1 and the forward speed lever 2F are selected, that is, the first forward speed (F1).
Are output from the signal forming circuit 15 , and the value 1 is loaded into the memory 21F. And CPU
20 is a drive circuit 22 if the content of the memory 21F is 1
To the solenoid 23F and the solenoid 231
To control the valves 24F and 241, respectively, to operate the vehicle at the first forward speed. The switch 1a by pressing the push button switch 1a is closed, the signal forming circuit 15 from 1,1,0 consisting signals SA, SB, SC is output, the value 3 in the memory 21F is loaded, the forward third speed (F
3) When the vehicle is running, the forward speed lever 2
When F is operated to the second forward speed (F2) position, the switch 1a is opened and the switch 132 is closed. Then, the signals SA, SB,... Of the position selected by the operation lever 1 and the forward speed lever 2F, ie, the second forward speed (F2).
Signals having SC of 1, 0, 1 are output from the signal forming circuit 15 and the value 2 is loaded into the memory 21F. Memory 21F
When the value 2 is loaded into CPU20 outputs a command to the drive circuit 22, its solenoid 23F and the solenoid 232
By controlling the valves 24F and 242 to be operated respectively , the vehicle is driven at the second forward speed. As described above , when the vehicle is running at the third forward speed by pressing the push button switch 1a,
Operate the forward speed lever 2F in the front-rear direction to advance 1st speed (F
In the position 1), the switch 1a is opened and the switch 131 is closed. The signals SA, SB and SC of the position selected by the operating lever 1 and the forward speed lever 2F, that is, the first forward speed (F1) signal SA, SB, SC are output from the signal forming circuit 15 and the values are stored in the memory 21F. 1 is loaded. When the value 1 is loaded into the memory 21F, C
The PU 20 outputs a command to the drive circuit 22 and the solenoid 2
Valve 2 operated by 3F and solenoid 231 respectively
The vehicle is driven at the first forward speed (F1) by controlling 4F and 241.

Next, the reverse speed lever 2R is moved to the reverse first speed (R
Operate to the position of 1) and operate the operation lever 1 backward.
When in the " reverse " position, switch 141 and switch 1
2R is closed , the signals SA, SB, SC consisting of 0, 1, 1 are output from the signal closing circuit 15 , and the value 1 is loaded into the memory 21R. If the content of the memory 21R is 1, the CPU 20 outputs a command to the drive circuit 22, and the valves 24R, 24R operated by the solenoids 23R, 231, respectively .
Controls 24 1 to drive the vehicle in reverse first speed (R1) and. Next, when the push button switch 1a is pressed, the switch 1
is closed , the signals SA, SB, SC consisting of 0, 1, 0 are output from the signal forming circuit 15 , and the value 3 is loaded into the memory 21R. The CPU20 outputs a command to the drive circuit 22 if the content is a value 3 of the memory 21R, drive the vehicle in reverse third speed (R3) by controlling the valve 24R, 243 which is operated by a solenoid 23R, 233. next,
When the push-button switch 1a is pressed again, the switch 1a is opened, and the signals SA, SA of the position where the operation lever 1 and the reverse speed lever 2R are selected, that is, the first reverse speed (F1).
Signals in which SB and SC are 0, 1, and 1 are output from the signal forming circuit 15 , and the value 1 is loaded into the memory 21R. The CPU20 outputs a command to the drive circuit 22 if the content is a value 1 in the memory 21R, run the vehicle at one reverse speed by controlling the valve 24R, 241 are operated respectively by a solenoid 23R and the solenoid 231 (R1) Let it. Also,
When the push button switch 1a is pressed, the switch 1a is closed, and the signals SA, S of 0, 1, 0 from the signal forming circuit 15
B, SC is output to the memory 21R value 3 is loaded, the state where the vehicle is traveling in reverse third speed (R3),
When the reverse speed lever 2R is operated to the second reverse speed (R2), the switch 1a is opened and the switch 142 is closed. Then, a signal in which the signals SA, SB, SC of the position selected by the operation lever 1 and the reverse speed lever 2R, that is, the second reverse speed (R2) are 0, 0, 1 is output from the signal forming circuit 15 and the value is stored in the memory 21R. 2 is loaded. When the value 2 is loaded into the memory 21R, the CPU 20 outputs a command to the drive circuit 22, and the valves 24R and 24 operated by the solenoid 23R and the solenoid 232, respectively.
2 to control the vehicle to run at the second reverse speed (R2). As described above, when the state of the vehicle in reverse third speed by pressing the push button switch 1a (R3) is traveling, when the position of the one reverse speed by operating the rear advancing speed lever 2R in the longitudinal direction (R1) , Switch 1a is opened and switch 141 is closed. Then, a signal in which the signals SA, SB, SC of the position selected by the operation lever 1 and the reverse speed lever 2R, that is, the reverse first speed (R1) 0, 1, 1 is output from the signal forming circuit 15 and the value is stored in the memory 21R. 1 is loaded. When the value 1 is loaded into the memory 21R, the CPU 20 outputs a command to the drive circuit 22, and the valves 24R, 24 operated by the solenoid 23R and the solenoid 231, respectively.
Driving the vehicle at the rear proceeds first speed by controlling one. Also,
Traveling at the maximum speed (3rd forward or 3rd reverse)
Move the operating lever 1 forward or backward
Is operated, the switch 1a is opened, and
Select with forward speed lever 2F or reverse speed lever 2R
Drive at the selected vehicle speed.

Next, the steering operation will be described. Now, when the operating lever 1 is operated by the operator in the " right steering " or " left steering " position direction of the pattern shown in FIG. 2, a signal S1 corresponding to the operating direction and the operation amount is output from the potentiometer. You. C
PU20 either the operating lever 1 on the basis of the signal S1 is operated in the right steering direction, and determine if they are being operated in HidariMisaoMukai direction, and D / A converter 30 and the driving circuit 2
5 through, in accordance with the operation amount, the solenoid 26R valve drive in steering clutch brake (not shown)
, 27R operated by valves 28R, 29R to steer to the right or solenoid 2 for valve actuation.
Valves 28L, 29L operated by 6L, 27L
Control and steer left.

The operation of the push button switch 1a is performed in the following cases, for example . That is, rows dozing or ripping operations in the forward first speed (F1)
After work end I, and backward with one reverse speed (R1), when increasing the reverse speed, the vehicle backward third speed (R3) by pressing the button switch 1a push without removing the hand operating lever 1 runs . Also, a state in which the push button switch 1a is pressed.
Forward at 3rd speed (F3) (that is, at the maximum speed)
Press the push button switch 1a again when the
And the speed set by the forward speed lever 2F (forward speed
It is also possible to travel at the first speed or the second forward speed.

In short, the above embodiment is based on the following technical idea.
This is one embodiment. That is, operation in the front-back direction and left-right direction
Possible operating levers and the amount of operation of the operating levers in the horizontal direction
A sensor that outputs an electrical signal corresponding to the
Detection means for detecting the operation of the
Possible forward speed levers and operating positions of the forward speed levers
And a reverse speed lever operable forward and backward
Detecting means for detecting the operating position of the reverse speed lever
And a signal detected by the sensor and the detecting means.
Control forward / backward speed and left / right steering based on signal
Control device for crawler type tractor having control device
And the operation lever is provided with a forward speed lever or a reverse speed.
The speed selected by the lever, the highest speed according to forward and backward travel
Switching means (for example, an electric switch)
Control of a crawler-type tractor characterized by providing
Press the electric switch again to set the forward speed lever
Or return to the speed selected by the reverse speed lever
I am going to control it.

According to the above technical idea, the hand of the operating lever is
Just push the electric switch without releasing, and you can easily move forward.
Or you can choose the maximum reverse speed, and again,
Just press the same electrical switch and the forward speed lever or
Can be the speed selected by the reverse speed lever
Thus, the lever operation is not complicated.

[0019]

As described above, according to the steering / shift control apparatus of the present invention , for example, a ripping or dosing operation is performed at the first forward speed (F1) and the reverse first speed (R) is performed.
When the reverse speed is set to 3rd speed (R3) to increase the reverse speed while moving backward in 1), the reverse speed can be easily set to 3rd speed (R3) simply by pushing the push button switch without releasing the hand of the operation lever. Since it is possible, the lever operation is not complicated. Ma
By pressing the same push button switch again,
It is possible to switch from the third reverse speed to the first reverse speed. This
Operate the same push button switch without moving your finger
By doing so, the gear shifting operation can be performed. Therefore, the operation for
Operation of the push button switch
The operability is good, and the speed change operation can be surely performed.
Especially when moving forward, such as during typical work on bulldozers
Switching between maximum speed and forward low speed, and reverse low speed and rear
Continuous switching to and from the maximum speed
Shift operation can be performed by simple operation,
Can be improved. Also, operate the same push button switch once.
Each time you move, the set speed and the current selection
Switch the speed between the maximum speed according to the forward or reverse
Very easy to use with pushbutton switches
Since the speed change operation can be performed quickly and reliably, the operability is good.

[Brief description of the drawings]

FIG. 1 is a view conceptually showing an arrangement of operation levers in a cab of a crawler type tractor.

FIG. 2 is a diagram showing an operation pattern of an operation lever.

FIG. 3 is a diagram showing an operation pattern of a forward / reverse speed lever.

FIG. 4 is a diagram showing a circuit example of a control device of the present invention.

FIG. 5 is a diagram showing a conventional steering / shift control device.

FIG. 6 is a diagram showing another conventional steering / shift control device.

FIG. 7 is a diagram showing a work cycle of the bulldozer.

[Explanation of symbols]

1 ... operation lever, 1a ... push button switch, 2F
... Forward speed lever, 2R ... Reverse speed lever, 11 ... Po
Te Nshometa, 12F, 12R, 131, 132 ,
133, 141, 142, 143 ... switch, 20 ...
Central processing unit, 21F, 21R ... memory, 22, 2
5 ... Drive circuit, 23F, 23R, 231, 232, 2
33, 26L, 26R, 27L, 27R ... solenoid,
24F, 24R, 241, 242, 243, 28L,
28R, 29L, 29R ... Valve

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hisao Asada 23 Tsutsuzucho, Komatsu-shi, Ishikawa Prefecture Examiner at Awazu Plant, Komatsu Manufacturing Co., Ltd. 58) Fields surveyed (Int. Cl. ⁷ , DB name) B62D 11/00 B60K 20/00

Claims (2)

(57) [Claims] Detection [1 claim] and operable control lever in the longitudinal and lateral directions, a sensor for outputting an electric signal corresponding to the steering operation amount of the left and right directions of the operation lever, the front-rear direction of the operation of the operating lever Detecting means, a forward speed lever capable of setting a forward speed, a detecting means for detecting an operation position of the forward speed lever, a reverse speed lever capable of setting a reverse speed, and a reverse speed lever. track with a detecting means for detecting an operation position, based on said sensor and each of the signal the detected by the detecting means, and a control device for controlling the speed and left <br/> right steering of the forward-reverse The control device for a tractor, wherein the operation lever is provided with the forward speed lever or the reverse speed.
The speed set by the lever and the operation lever
Between the maximum speed according to the selected forward or reverse
A control device for a crawler type tractor, characterized by comprising a changeover switch capable of switching. 2. A speed set by a forward speed lever or a reverse speed lever every time the changeover switch is operated.
Switch between degrees and maximum speed for forward or reverse
Control device for track-type tractor according to claim 1, characterized in that the so that.