JPH01106774A - Change gear for remote controllable travel working vehicle - Google Patents

Abstract

PURPOSE:To improve controllability by making the changeover of speed change and of forward-backward travel possible by only operating one travel speed change lever of a transmitter of a remote control device. CONSTITUTION:A transmitter 49 is provided with a power source switch 51, an engine switch 52, a travel switch 54, a mower switch 55 to start a mower and a brake switch 56 respectively. Travel speed change levers 57, 58 turning up and down, and right and left are also provided to perform the changeover of speed change and of forward-backward travel. The transmitter 49 feeds signals issued from each of the switches 51, 52, 54, 56 and the lever 57 into a microcomputer circuit, and then transmits the signals through a FM transmitting module from an antenna 59. On the side of a working vehicle, a receiving antenna 65 provided on the side of the vehicle receives a transmitted wave, which is input through a FM receiving module into the microcomputer circuit. Various apparatus on the vehicle 2 are operated on the signals fed from the microcomputer circuit to make the unmanned travel of the vehicle possible.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application This invention relates to a transmission device for a traveling work vehicle that can be operated not only manually but also remotely.

(B) Conventional Technology In the case of remote-controllable traveling work vehicles, the vehicle must be able to shift gears and switch between forward and backward motion automatically from a distance from the vehicle.

For this reason, most of them use wireless radio control (such as Japanese Utility Model Application Laid-open No. 62-47473).

(c) Problems to be Solved by the Invention However, since this type of mobile work vehicle must not only travel, but also perform various tasks, there are a large number of locations that must be operated. Therefore, the number of control levers is proportionally large, and smooth operation cannot be performed without skill. In particular, since driving-related gear changes and forward/reverse switching are closely related, if these are separate operating levers, the operator may be confused and make operating errors.

(d) Means for Solving the Problems Therefore, the present invention provides a remotely controllable traveling work vehicle that performs speed change and forward/reverse switching using a continuously variable transmission and a forward/reverse switching device. Hydraulic cylinders are connected to the operating member and the operating member of the forward/reverse switching device, respectively, and each electromagnetic valve for controlling these hydraulic cylinders is connected to a signal emitted from a single traveling gear shift lever provided in a transmitter of the remote control device. The above-mentioned problems were solved by receiving and activating the signal using the receiver of the remote control device.

(e) Effect As a result, when remotely controlling this traveling work vehicle, there is only one traveling shift lever on the remote control device for the operation levers for shifting the vehicle and switching forward and backward. Just by operating this lever, you can change the vehicle speed and switch between forward and backward movement.

(F) Embodiments Hereinafter, embodiments of the present invention will be explained regarding a traveling work vehicle equipped with a rotary type mower at the front.

FIG. 1 is a side view thereof.

The traveling work vehicle itself has a main body part 1. Running part 2. It has a conventional structure consisting of a control section 3, etc., and is equipped with a mower 5 at the front thereof by a three-point linkage mechanism 4.

Fig. 2 is a sectional view showing a part of the transmission device of this work vehicle;
Figure 3 is a side view showing the operational relationship, and Figure 4 is a plan view showing the shape of the guide plate of the travel lever. Therefore, a continuously variable transmission 6 is adopted, and in particular, a differential planetary mechanism type continuously variable transmission 6 is adopted because it can output zero output and has a wide shift range. Since the device 7 has a simple structure, a gear slide type device was adopted. That is, the continuously variable transmission 6 shown in FIG.
The power input to the input shaft 8 is transmitted to the left and right axles (not shown), which are the final output shafts. It has a forward/reverse switching device 7.

The continuously variable transmission 6 has an input shaft 8 and an output shaft 9, respectively.
The input disc 10 and output disc 11 connected to ), and by changing the position of the shifting ring 13 from the top to the bottom of the conical surface, the shifting is achieved. The differential planetary mechanism transmission described above is used.

The forward/reverse switching device 7 is a gear slide type, and a switching gear 14 is slidably and securely fitted onto the output shaft 9, and the switching gear 14 is slid to transmit either the forward rotation system or the reverse rotation system as described below. It is designed to connect with the system (
(Above illustrations omitted).

In addition, in these operations, the shift ring 13 is moved by the fork 15. Arm 16. This is done by rotating the traveling lever 19 in the left-right direction in FIG. 3 via the operating member 18 consisting of the lever 17. Arm 21. Lever 22. The above-mentioned traveling lever 19 is interlocked with the operation member 24 consisting of the arch lever 23, and this -
Shifting and switching between forward and backward movement are performed by moving the main travel lever 19 back and forth one time to the left and right. These movements of the traveling lever 19 are guided by a substantially U-shaped guide 25 shown in FIG.

By the way, 1 and above are manual operations, but when remote controlling, it must be done automatically, so each hydraulic cylinder is connected to various operating members, including the travel lever 19 mentioned above, and these hydraulic cylinders are controlled automatically. It is designed to operate automatically (without interfering with manual operation).

FIG. 5 is a layout diagram of each hydraulic cylinder, and the operating member 18 (traveling lever 19) of the above-mentioned continuously variable transmission 6 includes a hydraulic cylinder 26 and a solenoid type directional switching valve (electromagnetic valve) 2.
7 are connected to each other, and the operating member 24 (lever 22) of the forward/reverse switching device 7 is also connected to a hydraulic cylinder 28. Solenoid valve 2
Connect 9. As a result, when either of the solenoids 27a and 27b of the electromagnetic valve 27 is energized, the rod 26a of the hydraulic cylinder 26 extends, and accordingly, the travel lever 19 (shift ring 13) of the continuously variable transmission 6
Shift to the high speed side and increase the speed. However, the amount of velocity at this time, that is, the amount of extension of the rod 26a, is measured by the potentiometer 30 and fed back. In addition,
Before this speed change operation, the position of the travel lever 19 in the guide 25 must be selected as either the forward position or the reverse position, and this is done by the aforementioned hydraulic cylinder 28 and electromagnetic valve 29. That is, first of all, when switching between two forward and forward directions, the output of the continuously variable transmission 6 must be set to zero, so the rod 26a of the hydraulic cylinder 26 that controls this must be shortened to the minimum (confirming this state). is performed using the microswitch 31).

In this state, the solenoids 29a, 2 of the solenoid valve 29
9b is energized to extend the rod 28a, and the lever 22 is moved to set either forward or forward movement (
Microsinches 32 and 33 are installed to confirm that the vehicle is in the predetermined forward and backward movement position).

The above is the speed system, that is, the remote control of gear shifting and forward/backward movement, but this work vehicle also requires the following operations and operations.

First of all, there is a latch operation that connects and disconnects the power system from the engine to the continuously variable transmission 6 and the like.

This is done using a hydraulic cylinder 34 and a solenoid valve 35, and it is also necessary to start and stop the mower 5, which is two working machines, and to raise and lower it.
In addition, it is necessary to operate the left and right side clutches for steering, which are operated by hydraulic cylinders 40, 41.
This is done using solenoid valves 42 and 43, respectively. That is, solenoid valve 3
By energizing the solenoids 35a and 35b of No. 5 and extending and retracting the rod 34a of the hydraulic cylinder 34 (confirm the extension and retraction position with the micro switch 44 and 45), carefully operate the latch lever, etc. that moves, and also activate the solenoid of the solenoid valve 38. 38
a, 38b are energized to activate the rod 36 of the hydraulic cylinder 36.
By extending and retracting a (confirm the extended/retracted position with the microswitches 46 and 47), the starting lever of the mower 5 and the like are operated. moreover.

By energizing the solenoids 42a and 43a of the solenoid valves 42.43, the rod 40a of the hydraulic cylinder 40.41 is activated.
, 41a to operate the left and right side clutch levers.

By the way, in the case of automatic operation of 9 or more, the operator does not ride the vehicle, so-called remote control is performed, and here a radio-controlled remote control device 48 is used.

FIG. 6 is a block diagram of this remote control device 48,
This remote control device 48 consists of a box-shaped transmitter 49 held in the operator's hand and a receiver 50 built into the work vehicle. FIG. 7 is a perspective view of the transmitter 49, which includes a power switch 51. In addition to an engine switch 52, a running switch 54 is provided which controls the latch for running.
Mower switch 55 for starting the mower 5. Brake switches 56 are provided for braking the entire vehicle (activating both side clutches). In addition, a travel gear shift lever 57 is provided which can be rotated vertically and horizontally to change gears and change forward and backward movement, and vertical movement is used to change forward and backward movement, and left and right movement is used to change speed.

Further, the lifting and lowering of the mower 5 and the running (turning) of the vehicle itself are performed by a swinging mower lever 58 having the same structure. In this case, the vertical movement is lifting and the left/right movement is turning. In addition, 59 is an antenna, 60 is an ammeter, and 61 is a grip. In addition,
The relationship between these Ta units and operations is shown below.

On the other hand, the remote control device 48 shown in FIG.

Among these, the transmitter 49 sends signals from the aforementioned switches 51, 52, 54, 55, 56 and levers 57, 58 to the microcomputer circuit 62 through the A/D converter 62, etc.
3 and the antenna 5 through the FM transmitting module 64.
Broadcast from 9. The antenna 65 also connects this to the receiver 50 side.
The received signals are input to a microcomputer circuit 67 through an FM receiving module 66, where various signals 1, such as the aforementioned potentiometer 30 and A/D converter 68, and an inclination sensor (not shown) 69. which detects the inclination of the vehicle. Various microswitches 31 to 47 mentioned above, manual radio control,
A signal from an automatic changeover switch 70, etc. is taken in, processed, and sent to each hydraulic cylinder 26 through a current amplification circuit 71.
It outputs externally to the solenoid valves 27 to 43 of 41. Note that the external output includes not only the control of these electromagnetic valves 27 to 43, but also a lamp indicating whether the receiving state is normal, a tilt lamp 72 indicating the degree of tilt, and the like.

The lamp 72a shown in FIG.
3 so that it can be raised and lowered by a lifting device 74, and a transparent tube 72b surrounding this lamp 72a is colored in various colors. As a result, the color of the tilt light 72 changes depending on the degree of tilt (signal amount from the tilt sensor 69), so danger can be reliably detected.

What is shown in FIGS. 9 and 10 is a connector box 75 used for electrical wiring in this case, and this box 75 is configured to be waterproof and dustproof, and male and female plug-in type connectors 76a, 76b are centrally arranged and wired. That is, the insertion holes 77 are formed on both walls of the box 75.
, and insert connectors 76a and 7 into this insertion hole 77.
6b is passed through and connected in the box 75. Note that a grommet 79 is fitted around the conductor 78,
This grommet 79 is inserted into the insertion hole 77 and sealed. At this time, in order to facilitate the connection of the connectors 76a and 76b, a hole is provided on one or both walls of the box 75 that communicates with the insertion hole 77 from the upper edge. It would be convenient if a cutout 80 or the like is provided to allow for this.

(g) Effects of the Invention Since the present invention has been described above, when a traveling work vehicle is remotely controlled without an operator riding it, the traveling gear shift lever 57 of the transmitter 49 of the remote control device 48 -It is easy to operate, as it is possible to change the speed of the vehicle by simply operating the book, i.e., shifting and switching between forward and backward movement.
Operation errors are less likely to occur. During this operation, the greater the amount of movement of the traveling speed change lever 57, the higher the speed, so the feeling is good and matches the actual driving feeling.

[Brief explanation of the drawing]

FIG. 1 is a side view of a traveling work vehicle according to the present invention. Fig. 2 is a sectional view showing a part of the transmission device of this work vehicle;
FIG. 3 is a side view showing the operational relationship thereof, and FIG. 4 is a plan view showing the shape of the guide plate of the travel lever. Fig. 5 is a layout diagram of each hydraulic cylinder, Fig. 6 is a block diagram of the remote control device, Fig. 7 is a perspective view of the transmitter, and Fig. 8 is a diagram showing the vertical structure of the tilt light! J-side view, FIG. 9 is a perspective view of the electrical wiring box, and FIG. 10 is a side sectional view. (Symbol) 6... Continuously variable transmission 7... Forward/forward switching device 18... Operating member 24... Operating member 26... Hydraulic cylinder 27... Solenoid valve 28... Hydraulic cylinder 29... Solenoid valve 48... Remote control device 49... Transmitter 50... Receiver 57... Traveling gear shift lever Patent applicant Seirei Kogyo Co., Ltd. Agent Patent attorney Yoshi Itano Figure 7 A9 Mower Fη°゛Figure 8

Claims (1)

[Claims] In a remotely controllable traveling work vehicle that performs gear change and forward/reverse switching using a continuously variable transmission (6) and a forward/reverse switching device (7), an operating member (18) of the continuously variable transmission (6) is provided.
) and the operating member (24) of the forward/reverse switching device (7) are connected to hydraulic cylinders (26) and (28), respectively, and each electromagnetic valve (27) controls these hydraulic cylinders (26) and (28). ), (29) are sent to the receiver (50) of the remote control device (48) by transmitting a signal from a traveling gear shift lever (57) provided on the transmitter (49) of the remote control device (48).
) A transmission for a remote-controlled traveling work vehicle, which is operated by