JP4442333B2 - Traveling vehicle - Google Patents

Traveling vehicle Download PDF

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Publication number
JP4442333B2
JP4442333B2 JP2004183904A JP2004183904A JP4442333B2 JP 4442333 B2 JP4442333 B2 JP 4442333B2 JP 2004183904 A JP2004183904 A JP 2004183904A JP 2004183904 A JP2004183904 A JP 2004183904A JP 4442333 B2 JP4442333 B2 JP 4442333B2
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arm
reverse
high speed
lever
opening
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JP2006009829A (en
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神谷  寿
哲 加藤
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Iseki and Co Ltd
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Iseki and Co Ltd
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Priority to JP2004183904A priority Critical patent/JP4442333B2/en
Priority to KR1020050049577A priority patent/KR100694654B1/en
Priority to CNB2005100790612A priority patent/CN100416141C/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00Arrangement or mounting of transmissions in vehicles
    • B60K17/04Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C11/00Transplanting machines
    • A01C11/02Transplanting machines for seedlings

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Arrangement Or Mounting Of Control Devices For Change-Speed Gearing (AREA)
  • Control Of Fluid Gearings (AREA)

Description

この発明は、田植機やトラクタ等に利用される走行車両に関する。   The present invention relates to a traveling vehicle used for a rice transplanter, a tractor, or the like.

従来、特許文献1に示されているように、アクセルペダルは、アクセル操作回動ア−ムと位置決め軸に設けられたア−ムとが2本の上下操作ロッドにて連繋されてあり、変速レバ−を中立位置から前進最高速位置又は後進最高速位置に向けて操作するほど、ア−ムの回動により上操作ロッド又は下操作ロッドを押してアクセル操作回動ア−ムを一方向又は他方向に回動させて操作ワイヤ−を引っ張ってアクセル操作機構を全開方向に向けて作動させエンジンの回転を上げるようにした技術が存在する。
特開2003−333907号公報(図9)
Conventionally, as disclosed in Patent Document 1, an accelerator pedal has an accelerator operation pivot arm and an arm provided on a positioning shaft that are connected by two vertical operation rods. The more the lever is operated from the neutral position to the highest forward speed position or the highest reverse speed position, the upper or lower operation rod is pushed by turning the arm to move the accelerator operation turning arm in one direction or the other. There is a technique in which an engine operating mechanism is operated in a fully open direction by rotating an operating wire in a direction to increase the rotation of the engine.
Japanese Patent Laying-Open No. 2003-333907 (FIG. 9)

かかる従来技術のものでは、前進高速域及び後進高速域でエンジンの変速回転速度を共に高速側へ連動させる構成が複雑で、変速操作精度の正確性を欠く問題があつた。   In such a prior art, there is a problem in that the structure for interlocking the engine speed to the high speed side in the forward high speed range and the reverse high speed range is complicated, and the accuracy of the speed change operation is lacking.

本発明の課題は、上記従来の問題点を解消し、変速操作連動構成を簡単にして、変速操作精度の向上を図ることにある。   An object of the present invention is to eliminate the above-mentioned conventional problems, simplify the gear shifting operation interlocking configuration, and improve the gear shifting operation accuracy.

この発明は、上記課題を解決すべく次のような技術的手段を講じた。   In order to solve the above problems, the present invention has taken the following technical means.

すなわち、請求項1に記載の本発明は、モータの駆動で変速ア−ムを一方向に操作することにより、前進高速域から前後進中立域を介して後進高速域まで変速できる前後進変速装置を備え、当接カムにより変速ア−ムに連繋され該変速ア−ムに連動して、カム形状によって前後進中立域から前進高速域及び後進高速域への作動で同じ方向に作動し、別の変速装置を高速側へ操作する連動ア−ムを設け、連動ア−ムを付勢する付勢手段により、変速ア−ムを前後進中立域へ付勢する構成とし、車体カバーのステップ部には、前後進変速装置の上方に対応する部分を開放した開口部を設け、該開口部を覆うステップ上のシートに、めくり上げて開口部を開放できるシート開閉部を設け、開放された開口部を介して足で操作できる連結ピンを、連動アームから上方に突出させて設けた走行車両とする。 That is, the present invention according to claim 1 is a forward / reverse transmission device capable of shifting from a forward high speed range to a reverse high speed range through a forward / reverse neutral range by operating a speed change arm in one direction by driving a motor. It is connected to the transmission arm by the abutment cam, and is operated in the same direction by the operation from the forward / reverse neutral zone to the forward high speed region and the reverse high speed region by the cam shape in conjunction with the transmission arm. And a stepping portion of the vehicle body cover, wherein the gearing arm is biased to the forward / reverse neutral region by the biasing means for biasing the gearing arm. Is provided with an opening that opens the corresponding part above the forward / reverse transmission, and a seat opening / closing part that can be opened up by opening the opening on the seat on the step that covers the opening. Linking pins that can be operated with feet through the section Projecting upward from over arm and traveling vehicle provided.

変速ア−ムの一方向への回動操作に伴い、走行速度が前後進中立域から前進高速域まで変速され、変速ア−ムの他方向への回動操作に伴い、前後進中立域から後進高速域まで変速される。   The traveling speed is shifted from the forward / reverse neutral range to the forward high speed range with the rotation operation in one direction of the shift arm, and from the forward / reverse neutral range with the rotation operation in the other direction of the shift arm. The speed is changed to the reverse high speed range.

変速ア−ムの一方向又は他方向への回動操作で当接カムが連動ア−ムを直接作動して、別の変速装置、例えば、エンジンの変速回転速度を高速側に変速操作する。   The abutting cam directly operates the interlocking arm by the rotation operation of the speed change arm in one direction or the other direction, and the speed change operation of another speed change device, for example, the speed change speed of the engine is changed to the high speed side.

このように別の変速装置への連動構成が従来のような複雑な構成を要せず、簡単な構成で足り、しかも、その連動構成はカム機構によるため、作動が正確で安定する。   In this way, the interlocking structure to another transmission does not require a complicated structure as in the prior art, and a simple structure is sufficient, and the interlocking structure is a cam mechanism, so that the operation is accurate and stable.

また、連動ア−ムの付勢手段が変速ア−ムの前後進中立保持機構を兼用することになり、部品点数を少なくしてコスト低減を図ることができる。 Further, the urging means of the interlocking arm also serves as the forward / backward neutral holding mechanism of the transmission arm, so that the number of parts can be reduced and the cost can be reduced.

以上要するに、請求項1の本発明によれば、前進高速域及び後進高速域で別の変速装置を共に高速側へ連動させる構成が簡単であり、しかも、変速操作精度の正確化及び安定化を図ることができる。   In short, according to the first aspect of the present invention, it is easy to construct a structure in which different transmissions are interlocked to the high speed side in both the forward high speed range and the reverse high speed range, and the speed change operation accuracy is accurate and stabilized. Can be planned.

また連動ア−ムの付勢手段が変速ア−ムの前後進中立保持機構を兼用できるので、変速ア−ムの付勢手段が不要となり安価に実施することができる。そして、連結ピンを足で容易に操作できるので、電気系統などの故障対応ができる。しかも、開口部から前後進変速装置のメンテナンスも容易に行うことができる。 In addition , since the urging means of the interlocking arm can also be used as the forward / reverse neutral holding mechanism of the transmission arm, the urging means of the transmission arm is not necessary and can be implemented at low cost. And since a connection pin can be easily operated with a foot | leg, it can respond to failures, such as an electric system. Moreover, maintenance of the forward / reverse transmission can be easily performed from the opening.

この発明の実施例を図面に基づき説明する。   An embodiment of the present invention will be described with reference to the drawings.

図1及び図2は、走行車両の一例として乗用田植機を示すものであり、車体1の前後には走行車輪としての左右一対の前輪2,2及び後輪3,3が架設されている。車体上前部には上面に操作パネル4aを有する操作ボックス4及びステアリングハンドル5等を有する操縦装置が設置され、また、車体後方部には昇降可能な苗植付部6が装備されている。操縦装置の後側に運転席9が設置され、運転席の下側に田植機の各部に動力を伝達するエンジンEが搭載されている。   FIGS. 1 and 2 show a riding rice transplanter as an example of a traveling vehicle. A pair of left and right front wheels 2 and 2 and rear wheels 3 and 3 serving as traveling wheels are installed before and after a vehicle body 1. An operation box 4 having an operation panel 4a on the upper surface and a steering device having a steering handle 5 and the like are installed in the front upper part of the vehicle body, and a seedling planting part 6 that can be moved up and down is provided in the rear part of the vehicle body. A driver's seat 9 is installed on the rear side of the control device, and an engine E that transmits power to each part of the rice transplanter is mounted below the driver's seat.

苗植付部6は、車体の後部に昇降リンク機構7を介して昇降可能に装着され、昇降用油圧シリンダ8の伸縮作動により昇降する構成としている。昇降リンク機構7には苗植付部6の昇降位置を検出する昇降リンクセンサ14が設けられている。   The seedling planting portion 6 is mounted on the rear portion of the vehicle body through a lifting link mechanism 7 so as to be able to be lifted and lowered by a telescopic operation of the lifting hydraulic cylinder 8. The lift link mechanism 7 is provided with a lift link sensor 14 that detects the lift position of the seedling planting unit 6.

また、この苗植付部6には、左右に往復動する苗載タンク11、1株分の苗を切取って土中に植込む植込杆を有する植付装置12,12…、苗植付面を滑走しながら整地するサイドフロ−ト13S及びセンタフロ−ト13C等を備えている。センタフロ−ト13Cには、該フロ−トの迎い角を検出するフロ−ト迎い角センサが設けられ、該センサからの信号が制御部に入力されるようになっている。   In addition, the seedling planting unit 6 includes a seedling tank 11 that reciprocates left and right, a planting device 12, 12 that has a planting basket that cuts out one seedling and transplants it into the soil. A side float 13S and a center float 13C for leveling while sliding on the attached surface are provided. The center float 13C is provided with a float angle sensor that detects the angle of attack of the float, and a signal from the sensor is input to the control unit.

エンジンEの回転動力は、エンジン出力軸16からベルト17を介して油圧式無段変速装置(HST)18の入力軸19に伝えられ、HST18の出力軸からミッションケ−ス10のミッション入力軸に伝えられるようになっている。   The rotational power of the engine E is transmitted from the engine output shaft 16 to the input shaft 19 of the hydraulic continuously variable transmission (HST) 18 via the belt 17, and from the output shaft of the HST 18 to the mission input shaft of the mission case 10. It has come to be communicated.

なお、前記苗植付部6への動力伝達は、前記ミッションケ−ス10内のミッション装置から取り出される作業機用取出伝動軸37を介して車体後部に設けた植付クラッチケ−ス38内に伝達され、そこから植付伝動軸39によって苗植付部6へ伝達されるようになっている。   The power transmission to the seedling planting section 6 is conducted in a planting clutch case 38 provided at the rear of the vehicle body via a work machine take-out transmission shaft 37 taken out from the mission device in the mission case 10. From there, it is transmitted to the seedling planting part 6 by the planting transmission shaft 39.

ステアリングハンドル5近くには変速レバ−(HSTレバ−)20が配置され、この変速レバ−20の「中立」位置を挟む前後方向の操作でHST18を駆動し機体の前進及び後進制御を司るように構成されている。つまり、変速レバ−20の操作位置を変速レバ−センサ(HSTレバ−センサ)21で検出し、それに応じてHSTモ−タ22によりピニオンギヤ23、減速扇形ギヤ24、作動ロッド25を介して変速ア−ム(トラニオンア−ム)26を回動操作し、HST18の斜板角度を変えて速度調節するものであり、変速レバ−20が「中立」位置にある時は速度が零で、変速レバ−を前進操作域に操作すると中立位置からの距離に応じた速度の前進速となり、後進操作域に操作すると中立位置からの距離に応じた速度の後進速となる。なお、前記変速ア−ム(トラニオンア−ム)26部には、該ア−ム位置を検出するポテンションセンサとしてトラニオンア−ムセンサ27を設けている。変速ア−ム位置を直接センサ27で感知することにより中立位置精度の向上を図ることができる。また、HSTモ−タ22をボンネット15内に配置するようにすると、泥や水のかかる恐れがなくなり、品質確保が容易にできる。   A shift lever (HST lever) 20 is disposed near the steering handle 5, and the HST 18 is driven by the operation in the front-rear direction across the “neutral” position of the shift lever 20 so as to control forward and backward movement of the airframe. It is configured. In other words, the operating position of the shift lever 20 is detected by a shift lever sensor (HST lever sensor) 21 and the HST motor 22 accordingly detects the shift lever via the pinion gear 23, the reduction fan gear 24, and the operating rod 25. -Turnion arm 26 is rotated and the swash plate angle of HST 18 is changed to adjust the speed. When shift lever 20 is in the "neutral" position, the speed is zero and the shift lever When the button is operated in the forward operation range, the forward speed becomes a speed corresponding to the distance from the neutral position, and when operated in the reverse direction, the reverse speed becomes a speed corresponding to the distance from the neutral position. In addition, a trunnion arm sensor 27 is provided in the shift arm (trunnion arm) 26 as a potentiometer for detecting the arm position. By directly detecting the shift arm position with the sensor 27, the neutral position accuracy can be improved. Further, if the HST motor 22 is arranged in the hood 15, there is no risk of applying mud or water, and quality can be easily ensured.

変速ア−ム26はトラニオン軸26aと共に回動する構成であり、この変速ア−ム26には当接カム28を突設し、該当接カム28によりアクセル用連動ア−ム30を作動させるべく連動構成している。該アクセル用連動ア−ム30は、一端側の支軸Qを支点として揺動作動するよう枢支して設け、連動ア−ムの他端側にはエンジンEのスロットルア−ム32に連繋するアクセルワイヤ33を連動連結している。また、この連動ア−ム30には前記接当カム28の接当する側において中立位置Nを起点として前進カム31Fと後進カム31Rが形成され、そして、その前進側と後進側とではカム形状が異なり、それぞれに対応して適切な連動変速ができるようになっている。また、連動ア−ム30を付勢する手段として、前記スロットルア−ム32にトルクスプリング34を設けることにより、前記変速ア−ム26を前後進中立域へ付勢する構成としている。   The transmission arm 26 is configured to rotate together with the trunnion shaft 26a. A contact cam 28 is provided on the transmission arm 26 so that the accelerator interlocking arm 30 is operated by the contact cam 28. Linked configuration. The accelerator interlocking arm 30 is pivotally supported so as to swing about the support shaft Q on one end side, and is connected to the throttle arm 32 of the engine E on the other end side of the interlocking arm. The accelerator wire 33 to be interlocked is connected. Further, the interlocking arm 30 is formed with a forward cam 31F and a reverse cam 31R starting from a neutral position N on the side where the contact cam 28 contacts, and a cam shape on the forward side and the reverse side. Are different, and appropriate gear shifting can be performed corresponding to each. Further, as a means for urging the interlocking arm 30, a torque spring 34 is provided on the throttle arm 32 so as to urge the speed change arm 26 to the forward / reverse neutral region.

変速レバ−20を前後進中立域から前進高速位置まで操作すると、HSTモ−タ22により変速ア−ム26が回動し、この変速ア−ム26の回動に伴って前進速度が高速域まで変速される。そして、同時に変速ア−ム26の回動動作に連動して当接カム28がアクセル用連動ア−ム30を押して該連動ア−ムを支軸Q周りに回動作動させ、アクセルワイヤ33を引っ張ってスロットルア−ム32を全開方向に作動させエンジンEの回転を高速側にアップする。   When the shift lever 20 is operated from the forward / backward neutral range to the forward high speed position, the shift arm 26 is rotated by the HST motor 22 and the forward speed is increased in the high speed range as the shift arm 26 rotates. Is shifted to. At the same time, the abutting cam 28 pushes the accelerator interlocking arm 30 in conjunction with the rotational movement of the speed change arm 26 to rotate the interlocking arm around the support shaft Q. By pulling, the throttle arm 32 is operated in the fully open direction, and the rotation of the engine E is increased to the high speed side.

また、変速レバ−20を前後進中立域から後進高速位置まで操作すると、HSTモ−タ22の作動で変速ア−ム26を回動させ、この変速ア−ム26の回動に伴い後進速度が高速域まで変速される。これと同時に変速ア−ム26の回動動作に連動して当接カム28がアクセル用連動ア−ム30を押して該連動ア−ムを支軸Q周りに回動作動させ、アクセルワイヤ33を引っ張ってスロットルア−ム32を全開方向に作動させエンジンEの回転を高速側にアップする。   Further, when the shift lever 20 is operated from the forward / backward neutral range to the reverse high speed position, the shift arm 26 is rotated by the operation of the HST motor 22, and the reverse speed is accompanied by the rotation of the shift arm 26. Is shifted to the high speed range. At the same time, the abutting cam 28 pushes the accelerator interlocking arm 30 in conjunction with the rotational movement of the speed change arm 26 to rotate the interlocking arm about the support shaft Q, so that the accelerator wire 33 is moved. By pulling, the throttle arm 32 is operated in the fully open direction, and the rotation of the engine E is increased to the high speed side.

図6に示すように、車体カバ−40のステップ部には、HST18の上方に対応する部分を開放して開口部41を設けている。この開口部41はステップ上のシ−ト(マット)42によって覆うようにし、かつ、シ−トの一部をシ−ト開閉部42aによって開閉自在な構成としている。そして、シ−ト開閉部42aをめくり上げると、開放された開口部41を通じて変速ア−ム26やアクセル連動ア−ム30等を運転位置からフット(足)操作できるように構成している。このフット操作を容易にするため、例えば、当接カム28やアクセル連動ア−ム30に対するアクセルワイヤ33の連結ピン43等を上方に高く突出させておけば、これをもってフット操作が容易にでき、電気系統などの故障対応策として便利である。しかも、この開口部からHSTのメンテナンスも容易に行うことができる。   As shown in FIG. 6, an opening 41 is provided in the step portion of the vehicle body cover 40 by opening a portion corresponding to the upper side of the HST 18. The opening 41 is covered by a sheet (mat) 42 on the step, and a part of the sheet can be opened and closed by a sheet opening / closing part 42a. When the seat opening / closing part 42a is turned up, the shift arm 26, the accelerator interlocking arm 30 and the like can be operated from the driving position through the opened opening 41. In order to facilitate this foot operation, for example, if the connecting pin 43 of the accelerator wire 33 with respect to the abutting cam 28 or the accelerator interlocking arm 30 protrudes high upward, the foot operation can be facilitated. It is convenient as a countermeasure for failure of electrical systems. In addition, maintenance of the HST can be easily performed from this opening.

また、前記操作ボックス4の下方部位には、有段変速操作される主変速レバ−46があり、機体を路上走行させる「移動」位置、機体走行及び苗植付部共に動力の伝動を断つ「中立}位置、通常植付作業等で機体走行及び苗植付部共に駆動する「植付」位置等を設け、ミッションケ−ス内の主変速部の伝動を切り替えるようになっており、そして、この主変速レバ−にはその操作位置を検出する主変速レバ−センサ47が設けられ、該センサから制御部へ検出信号が入力されるようになっている。   Further, a main transmission lever 46 that is operated stepwise is provided at a lower part of the operation box 4, and a “movement” position where the aircraft is driven on the road, and the transmission of power is cut off at both the aircraft running and the seedling planting part. Neutral} position, "planting" position that drives both the aircraft traveling and seedling planting part in normal planting work, etc., and switching the transmission of the main transmission part in the mission case, and The main transmission lever is provided with a main transmission lever sensor 47 for detecting the operation position, and a detection signal is input from the sensor to the control unit.

更に、車体後部には、走行車体の前後方向での傾斜角を検出するピッチングセンサ48が設けられ、該センサから制御部へ検出信号が入力されるようになっている。   Further, a pitching sensor 48 that detects an inclination angle of the traveling vehicle body in the front-rear direction is provided at the rear portion of the vehicle body, and a detection signal is input from the sensor to the control unit.

次に、図7び図8に示す実施例について説明する。   Next, the embodiment shown in FIGS. 7 and 8 will be described.

制御部44の入力側には、HSTレバ−(変速レバ−)20の操作位置を検出するHSTレバ−センサ(変速レバ−センサ)21、変速ア−ム(トラニオンア−ム)の位置を検出するトラニオンア−ムセンサ27、センタフロ−ト13Cの迎い角を検出するフロ−ト迎い角センサ45、苗植付部6の昇降位置を検出する昇降リンクセンサ14、主変速レバ−46の操作位置を検出する主変速レバ−センサ47が接続されてあり、これら各種の検出情報に基づいて制御部44の出力側に設けられたHSTモ−タ22が作動制御されるようになっている。   On the input side of the control unit 44, the position of the HST lever sensor (shift lever sensor) 21 for detecting the operation position of the HST lever (shift lever) 20 and the position of the shift arm (trunion arm) are detected. A trunnion arm sensor 27, a float angle sensor 45 for detecting the angle of attack of the center float 13C, an elevating link sensor 14 for detecting the elevating position of the seedling planting section 6, and an operating position of the main transmission lever 46 are detected. A main transmission lever sensor 47 is connected, and the operation of the HST motor 22 provided on the output side of the control unit 44 is controlled based on these various detection information.

フロ−ト迎い角センサ45の検出に基づいて、センタフロ−トが垂れ下がり状態(苗植付部対地浮上状態)のときは、路上走行と判断して、HSTレバ−の急激な操作に関係なくモ−タ22により遅いスピ−ドでトラニオンア−ムを作動させることにより、路上でのレバ−操作時に、急停止、急発進を防止できる。また、昇降リンクセンサ14の検出に基づいて、苗植付部6が高い位置で昇降制御されるときは、耕盤が深い深田であると判断して、上記同様遅いスピ−ドでトラニオンア−ムを作動させることにより、急な増減速を防止して変速時の車輪2,3のスリップ走行を防止する。また、主変速レバ−センサ47の検出に基づいて、主変速レバ−46が高速である路上走行速(移動速)の位置に操作されているときは、上記同様遅いスピ−ドでトラニオンア−ムを作動させることにより、急な増減速を防止してオペレ−タに不快感を与えないようにしている。そして、上述の場合以外、すなわちセンタフロ−トが接地状態で且つ苗植付部6が低い位置で昇降制御され且つ主変速レバ−46が路上走行速以外(植付速)のときは、苗植付等の圃場内での通常状態の走行と判断して、HSTレバ−操作と合せて早くトラニオンア−ムを作動させることによって変速操作に対する変速作動の追従性を高め、植付時における畦際での瞬時の停止、並びに畦への乗り上げを防止できる。   Based on the detection by the float angle sensor 45, when the center float is in a suspended state (the seedling planting part is floating above the ground), it is determined that the vehicle is traveling on the road, and the motor is controlled regardless of the rapid operation of the HST lever. -By operating the trunnion arm at a slower speed by the motor 22, it is possible to prevent sudden stop and sudden start at the time of lever operation on the road. Moreover, when the raising / lowering control of the seedling planting unit 6 is performed at a high position based on the detection of the lifting link sensor 14, it is determined that the tiller is deep Fukada, and the trunnion arm has a slow speed as described above. By operating the, the sudden acceleration / deceleration is prevented to prevent the wheels 2 and 3 from slipping during shifting. Further, when the main transmission lever 46 is operated at a high road traveling speed (moving speed) position based on the detection of the main transmission lever sensor 47, the trunnion arm operates at a slow speed as described above. By actuating, the sudden acceleration / deceleration is prevented so that the operator does not feel uncomfortable. Except for the above case, that is, when the center float is in a grounded state and the seedling planting portion 6 is controlled to be raised and lowered and the main transmission lever 46 is other than the road traveling speed (planting speed), the seedling planting is performed. It is judged that the vehicle is traveling in a normal state in a field such as a paddle, and the trunnion arm is actuated early together with the HST lever operation to improve the follow-up performance of the shift operation with respect to the shift operation. It is possible to prevent an instantaneous stop and climbing on the heel.

更に、図9及び図10に示す実施例について説明すると、制御部44の入力側には、HSTレバ−20の操作位置を検出するHSTレバ−センサ21、走行車体の前後傾斜を検出するピッチングセンサ48が接続されてあり、これら各種の検出情報に基づいて制御部44の出力側に設けられたHSTモ−タ22が作動制御されるようになっている。つまり、HSTレバ−20の操作によってHSTレバ−センサ21が操作位置を検出し、その検出値に応じてHSTモ−タ22が作動して走行速度が変速制御される。そこで、機体の前後方向の前上がり傾斜角が所定値以上に大きく傾斜すると、ピッチングセンサ48による傾斜角検出結果に基づき、HSTモ−タ22が作動し、HSTレバ−センサ値より所定量減速側に対応するトラニオンセンサ値となるように制御される。また、車体の前上がり傾斜が所定角以上に達しない場合には、HSTレバ−センサ値に対応するトラニオンア−ムセンサ値となるようHSTモ−タを制御する。以上のように、湿田等において本機が所定以上の前上がり傾斜状態で走行する場合には、自動的にHSTが減速されるので、エンジンの出力不足を回避することができ、走行性能が安定することになる。尚、圃場の凹凸等で一時的に本機が傾斜することにより減速されて、頻繁に増減速を繰り返すことでオペレ−タに違和感を与えるのを防止するべく、本機の前上がり傾斜状態を所定時間以上継続して検出する場合のみ減速する構成とし、深田や湿田等の走行負荷が大きい場合に適確に減速するようにしてもよい。また、本機の前上がり傾斜状態で変速装置18のみを減速させてエンジンEの回転は減速させない構成とすれば、エンジンの出力不足を円滑に回避することができる。   Further, the embodiment shown in FIGS. 9 and 10 will be described. On the input side of the control unit 44, an HST lever sensor 21 for detecting the operation position of the HST lever 20 and a pitching sensor for detecting the front and rear inclination of the traveling vehicle body are provided. 48 is connected, and the operation of the HST motor 22 provided on the output side of the control unit 44 is controlled based on these various types of detection information. That is, the operation position of the HST lever sensor 21 is detected by the operation of the HST lever 20, and the HST motor 22 is operated according to the detected value, and the traveling speed is controlled. Therefore, when the forward rising inclination angle in the front-rear direction of the fuselage is greatly increased to a predetermined value or more, the HST motor 22 is operated based on the inclination angle detection result by the pitching sensor 48, and a predetermined amount of deceleration side from the HST lever sensor value. The trunnion sensor value corresponding to is controlled. In addition, when the forward tilt of the vehicle body does not reach a predetermined angle or more, the HST motor is controlled so that the trunnion arm sensor value corresponding to the HST lever sensor value is obtained. As described above, when the machine travels in a wet paddy field or the like with the front rising slope exceeding a predetermined value, the HST is automatically decelerated, so that insufficient engine output can be avoided and the running performance is stable. Will do. In order to prevent the machine from decelerating temporarily due to unevenness in the field, etc., and frequently increasing and decelerating repeatedly, the operator will not be able to set the machine to rise forward. It may be configured to decelerate only when it is detected continuously for a predetermined time or more, and may be appropriately decelerated when a traveling load such as Fukada or Wetland is large. Also, if only the transmission 18 is decelerated and the rotation of the engine E is not decelerated while the machine is tilted forward, the engine output shortage can be avoided smoothly.

また、上記のようにHSTとアクセルを連動した構成のものにおいて、HSTレバ−の操作位置に対してHSTトラニオンア−ムの開度及びアクセル開度をそれぞれ図11の(a),(b)に示すような関係に設定する。すなわち、レバ−の操作位置と変速比(HSTトラニオンア−ムの開度レバ−の操作位置)との関係を、前記レバ−の操作位置が低速域のときは該レバ−の変化に対して前記変速比の変化が小さくなり、前記レバ−の操作位置が高速域のときは該レバ−の変化に対して前記変速比の変化が大きくなるように、制御部44により図11の(a)のように曲線状に設定する。また、レバ−の操作位置とアクセル開度(スロットルア−ム32の操作位置)との関係を、前記レバ−の操作位置が低速域のときは該レバ−の変化に対して前記アクセル開度の変化が大きくなり、前記レバ−の操作位置が高速域のときは該レバ−の変化に対して前記アクセル開度の変化が小さくなるように、連動ア−ム30のカム形状を適宜設定することによって図11の(b)のように曲線状に設定し、低速域でのエンジンの出力不足を防止している。これにより、エンジンEから変速装置18を介して車輪2,3へ伝動されることから、レバ−の操作位置と本機の車速との関係は、前記(a)+前記(b)により得られる図11の(c)に示すような比例的な関係となり、オペレ−タがレバ−により所望の車速に容易に操作することができ、変速操作性が向上する。   Further, in the configuration in which the HST and the accelerator are linked as described above, the opening degree of the HST trunnion arm and the accelerator opening degree with respect to the operation position of the HST lever are shown in FIGS. 11A and 11B, respectively. Set the relationship as shown. In other words, the relationship between the lever operating position and the gear ratio (the operating position of the opening lever of the HST trunnion arm) is as follows with respect to the change of the lever when the lever operating position is in the low speed range. When the change ratio of the gear ratio is small and the lever operating position is in the high speed range, the control section 44 causes the change of the gear ratio to increase with respect to the change of the lever. Set to be curved. Further, the relationship between the lever operating position and the accelerator opening (the operating position of the throttle arm 32) is as follows. When the lever operating position is in the low speed range, the accelerator opening with respect to the change in the lever. When the lever operating position is in the high speed range, the cam shape of the interlocking arm 30 is appropriately set so that the change in the accelerator opening is reduced with respect to the lever change. Accordingly, the curve is set as shown in FIG. 11B to prevent the engine output from being insufficient in the low speed range. Thus, since the engine E is transmitted to the wheels 2 and 3 via the transmission 18, the relationship between the lever operating position and the vehicle speed of the machine is obtained by (a) + (b). The proportional relationship is as shown in FIG. 11 (c), and the operator can easily operate to a desired vehicle speed by the lever, and the shift operability is improved.

田植機の側面図Side view of rice transplanter 同上平面図Same as above 同上要部の平面図Top view of the main part HSTの操作連動構成を示す側面図Side view showing operation interlocking configuration of HST 同上平面図Same as above 同上要部の斜視図Perspective view of the main part 制御ブロック図Control block diagram フロチャ−トFloat 制御ブロック図Control block diagram フロ−チャ−トFlow chart HSTレバ−位置とHSTトラニオンア−ム開度及びアクセル開度 との関係を示す図The figure which shows the relationship between HST lever position and HST trunnion arm opening and accelerator opening

1 走行車体 18 油圧式無段変速装置(HST)
20 変速レバ− 21 変速レバ−センサ
22 HSTモ−タ 26 変速ア−ム
27 トラニオンア−ムセンサ 28 当接カム
30 アクセル用連動ア−ム 31F 前進カム
31R 後進カム 32 スロットルア−ム
33 アクセルワイヤ 34 付勢手段(トルクスプリング)
1 Traveling body 18 Hydraulic continuously variable transmission (HST)
20 shift lever 21 shift lever sensor 22 HST motor 26 shift arm 27 trunnion arm sensor 28 abutting cam 30 accelerator interlocking arm 31F forward cam 31R reverse cam 32 throttle arm 33 accelerator wire 34 attached Force means (torque spring)

Claims (1)

モータの駆動で変速ア−ムを一方向に操作することにより、前進高速域から前後進中立域を介して後進高速域まで変速できる前後進変速装置を備え、当接カムにより変速ア−ムに連繋され該変速ア−ムに連動して、カム形状によって前後進中立域から前進高速域及び後進高速域への作動で同じ方向に作動し、別の変速装置を高速側へ操作する連動ア−ムを設け、連動ア−ムを付勢する付勢手段により、変速ア−ムを前後進中立域へ付勢する構成とし、車体カバーのステップ部には、前後進変速装置の上方に対応する部分を開放した開口部を設け、該開口部を覆うステップ上のシートに、めくり上げて開口部を開放できるシート開閉部を設け、開放された開口部を介して足で操作できる連結ピンを、連動アームから上方に突出させて設けた走行車両。 It is equipped with a forward / reverse transmission that can shift from the forward high speed range to the reverse high speed range through the forward / reverse neutral range by operating the speed change arm in one direction by driving the motor. Linked and linked to the gearshift arm, the cam shape makes it possible to operate in the same direction from the forward / reverse neutral zone to the forward high speed zone and the reverse high speed zone, and operate another transmission to the high speed side. The shift arm is biased to the forward / reverse neutral region by biasing means for biasing the interlocking arm, and the step portion of the vehicle body cover corresponds to the upper portion of the forward / reverse transmission. Provided with an opening that opens the part, a seat opening and closing part that can be opened up by opening up the sheet on the step covering the opening, and a connecting pin that can be operated with a foot through the opened opening, Travel provided by protruding upward from the interlocking arm Both.
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JP6032132B2 (en) * 2013-05-31 2016-11-24 井関農機株式会社 Work vehicle
CN107366739B (en) * 2017-06-06 2019-03-08 浙江大学宁波理工学院 The electric speed regulation mechanism and its investigating method of agricultural machinery HST transmission system
KR102053016B1 (en) * 2018-02-05 2020-01-08 동양물산기업 주식회사 Pland transportation machine with function of adjusting rice seed tank
US10496125B1 (en) * 2018-08-06 2019-12-03 Deere & Company Twin pedal hydrostatic transmission with automatic throttle
CN110566661B (en) * 2019-07-30 2021-02-09 浙江大学宁波理工学院 Electric push rod speed regulating device for HST stepless speed change of agricultural machinery
CN113115613A (en) * 2020-08-28 2021-07-16 丰疆智能(深圳)有限公司 Rice transplanter with control panel

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CN2110345U (en) * 1991-04-08 1992-07-22 王华良 Automatic rice transplanter with manipulator for separating and transplanting rice seedlings
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