JPH01135954A - Running speed control device in running vehicle for work - Google Patents

Abstract

PURPOSE:To perform a fine speed change of running so as to enhance accuracy of the running for work by providing a running speed change control mechanism which outputs a control instruction to forward and reverse selecting solenoid valves and continuously variable transmission acceleration and deceleration selecting solenoid valves. CONSTITUTION:A control part 9 inputs signals from a lever angle detecting sensor 4, forward and reverse detecting switch 5, reaping clutch detecting switch 11, reaping speed detecting switch 12 and a subspeed change detecting switch 16. And the control part 9 outputs a control instruction to forward and reverse selecting solenoid valves 13F, 13R and continuously variable transmission acceleration and deceleration selecting solenoid valves 14H, 14L. Thus enabling a fine running speed to be attained in accordance with a work condition, high accurate running for work can be performed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a travel speed control device for a work vehicle equipped with a continuously variable travel transmission mechanism, such as a combine harvester or a tractor.

[Prior Art and Problems to be Solved by the Invention] Generally, some work vehicles of this type are equipped with a continuously variable speed mechanism. In this device, the traveling gear is changed by operating a gear shift operating tool such as a lever, but conventionally, when steady low-speed running is required, such as when traveling for work, the gear shifting operating tool is operated. There was a problem where the vehicle could be operated at high speed by mistake and be driven at high speed. Therefore, even if you cut off the high speed side and set the gear change operation tool to the highest speed position, there are some cars that will only run at the highest speed within the cut range. However, with this device, when the high-speed side is cut, the gear shift operating tool is only effective up to the range that the operating stroke is cut, and the high-speed side beyond this exists as a meaningless stroke range, and furthermore, the gear shift operation tool is effective only up to the cut range. The rate of change in speed when operating the operating tools is large, and even a slight shift operation can cause a large change in speed, making it difficult to fine-tune the traveling speed. It has the disadvantage of not being able to perform highly accurate work travel.

[Means for solving the problem] In view of the above-mentioned circumstances, the present invention was devised for the purpose of providing a traveling speed control device for a work vehicle that can eliminate these drawbacks. , inputs the detection signals from the operation position detection means for detecting the operation position of the speed change operation tool and the speed detection means for detecting the traveling speed, and issues a shift control command to the continuously variable traveling transmission mechanism based on these signals. In a working vehicle comprising a traveling speed change control mechanism that outputs a
The high-speed setting range of the speed setting value set based on the detection signal from the operation position detection means is cut, and the remaining low-speed speed setting value is used for high-speed operation in which the operating stroke of the speed change operating tool is cut. The present invention is characterized in that a setting value converting means is provided for converting the speed setting value so that it is set in a range that extends to .

With this configuration, when the high-speed driving range is cut, the present invention makes it possible to effectively utilize the operating stroke of the gear shift operating tool up to the cut range to perform gear shifting operations with a small speed change rate. It is.

[Example] Next, an example of the present invention will be described based on the drawings. In the drawings, reference numeral 1 denotes a traveling body of a combine harvester, and a speed change operation lever 3 is disposed on the side of a driver's seat 2 of the traveling body 1 to perform stepless speed change operations from V1 to V9 for forward and forward travel. There is. At the base of the shift operating lever 3, there is a lever angle detection sensor 4 that detects the operating angle of the lever 3, and a forward/reverse sensor that detects when the shift operating lever 3 is operated to the forward F side and the reverse R side. A detection switch 5 is provided. On the other hand, reference numeral 6 denotes a speed change pulley constituting a continuously variable traveling transmission mechanism, in which the movable split pulley counters the stationary split pulley by cylinder operation based on valve switching, which will be described later. By moving in the axial direction of the shaft 7, the diameter of the pulley changes in size, thereby performing stepless traveling speed change.However, in which speed change position of the speed change pulley 6, the movable side split pulley is located. In other words, a speed detection sensor 8 is provided to detect the traveling speed.

Reference numeral 9 denotes a control section configured using a microcomputer, and in addition to the sensor 4.8 and the switch 5, the control section 9 also detects whether or not the reaping clutch 10 is in the engaged state. a reaping clutch detection switch 11 that detects whether the reaping speed is high speed H, a reaping speed detection switch 12 that detects whether the reaping speed is high speed H, and a sub-shift lever 15.
A signal from an auxiliary speed change detection switch 16 for detecting whether or not the speed change position is at the low speed position iL is inputted.

Then, the control unit 9 performs 1 based on these input signals.
Solenoid valve 13F for forward/forward switching, 13R1 Solenoid valve 14 for continuously variable speed increase/deceleration switching■,
It constitutes a traveling speed change control mechanism that outputs control commands to be described later to 14L.

Next, an example of this control system will be explained using a flow chart. First, as the main routine of the system, when the system is started, data is read and initial settings are made. Then, data conversion control is performed, and then speed control is performed based on the data set here.

First, the system for data conversion control, which is a subroutine, will be explained. Here, the detection value of the lever angle detection sensor 4 indicates that the shift operation lever 3 is at the maximum forward speed VF.
The minimum value (for example, "0") is set when the lever is operated to the 9th position, and the maximum value is set when the VR9 position is operated to the maximum reverse speed, and the actual detection value of the lever angle detection sensor 4 is set. It is determined whether P1 is smaller than the neutral value Vc when the lever 3 is operated to the neutral position N (Pl<Vc), and if the judgment is made that it is smaller, that is, the lever 3 is operated toward the forward traveling position. neutral value Vc
The value obtained by subtracting the detected value P1 from the value (Vc - P□) is the speed standard value, and the value obtained by subtracting the neutral value Vc from the detected value P1 (P□ - Vc) when the operation is performed toward the reverse running position is the speed standard value. P
Set as c.

If the mowing detection switch 11 is in the mowing driving state where it is ON and the auxiliary shift detection switch 16 makes a NO determination because the speed is not low, the mowing speed detection switch 12 is not determined. , when the previous determination is made that the sub-shift detection switch 16 is at low speed, and when the previous determination is made that the mowing speed detection switch 12 is at high speed H, the speed reference value P
The value obtained by multiplying c by the conversion constant A (however, O<A<1) (
Pc X A) is set as the speed setting value Vs,
As a result, the high speed setting value is cut, and this value is extended to the entire operating stroke of the gear shift operation lever 3. On the other hand, if it is determined that this is not the case, the speed reference value Pc is directly set as the speed setting value Vs.

On the other hand, a speed detection value Ps (Vwork≦Ps≦VS) is set based on the detection signal from the speed detection sensor 8, and the process returns to the main routine.

Next, the speed control which is the next subroutine will be explained based on the data set by the data conversion control described above. Here, the magnitude of the speed setting value Vs and the speed detection value Ps is compared and determined. and speed setting value V
When it is determined that s is smaller than the speed detection value Ps (Vs<Ps), that is, when it is determined that the travel gear shift lever 3 is being operated to a lower speed than the travel speed, the stepless Solenoid valve 14IJ for speed reduction switching
-ON operation, and conversely, the speed set value Vs is larger (V
s>Ps), the solenoid valve 14H for speed increase switching is turned ON, and the speed setting value V is
If s and speed detection value Ps are equal, both valves 14H
114L is used as a reference, and in this way, continuously variable speed is achieved.

In the embodiment of the present invention configured as described above, the stepless traveling shift is performed by operating the shift operating lever 3 as described above; The corresponding speed setting value Vs is calculated based on the lever detection value P4 detected based on the position. This speed setting value Vs is determined when the reaping clutch 10 is engaged and the reaping clutch detection switch 11 is turned on when constant low-speed running is required, such as when performing reaping work. If the gear shift lever is in a high speed state, or if the auxiliary shift lever is in a low speed state but the reaping shift clutch is in a high speed state, it will be converted to a small value multiplied by the conversion constant A. Then, based on this converted small value, that is, with the high speed side cut off, and in the remaining shift range, the travel shift control is performed in the entire shift range from Vl to V of the shift operation lever 3. That will happen. As a result, the gear shift operation lever 3
When operating the machine, all operating strokes can be used effectively even during high-speed cutting.

Moreover, if the amount of operation is the same, the change in travel speed will be smaller and the speed change rate will be moderated. Therefore, it is possible to make delicate speed adjustments when necessary, and to avoid sudden speed changes. This eliminates the need for cutting, allowing for highly accurate mowing work.

It should be noted that the present invention is of course not limited to the above embodiments, but the cut on the high speed side.

It may be possible to switch automatically when the work clutch is turned ON or L, such as a reaping clutch, and the number of cuts on the high-speed running side may be changed not only to - stages but also in stages as necessary, and furthermore, by setting dials, etc. It is also possible to perform the process steplessly.

[Operations and Effects] In short, the present invention is configured as described above, and when performing stepless traveling speed change using the speed change operating tool, high speed The side setting range is cut, and the speed change control is performed using the set value on the low speed side.Moreover, this running speed change operation only on the low speed side is achieved over a wide range up to the operation stroke on the high speed side where the speed change operation tool is cut. Therefore, the cut operation stroke of the shift operating tool on the high-speed side as in the past can be used as an effective shift operating range, and the traveling shift amount is small relative to the operating amount of the shift operating tool. As a result, it is possible to prevent a sudden change in speed due to a slight speed change operation, and it is possible to carry out delicate travel speed changes according to the work situation, allowing highly accurate work travel.

[Brief explanation of the drawing]

The drawings show an embodiment of a traveling speed control device for a working vehicle according to the present invention. Figure 1 is a plan view of the combine harvester, Figure 2 is a perspective view of the main parts of the driver's seat, Figure 3 is a front view of the travel gear shift lever, Figure 4 is a plan view of the lever guide, and Figure 5 is stepless travel. Figure 6 is a power transmission circuit diagram, Figure 7 is a program circuit diagram of the control system, Figure 8 is a flowchart of the main routine in the control system, Figure 9 is a data conversion diagram. Flowchart of the control system, FIG. 10 is a flowchart of the speed control system, FIG. 11 is a graph showing the relationship between lever position and lever detection value, and FIG. 12 is a graph showing the relationship between lever position and shift setting value. It is a graph diagram. In the figure, 1 is the traveling machine body, 3 is the traveling gear lever, 4 is the lever angle detection sensor, 6 is the continuously variable transmission pulley, 8 is the speed detection sensor, 9 is the control unit, 11 is the reaping clutch detection switch, and 12 is the reaping The speed detection switch 16 is an auxiliary speed change detection switch. Patent applicant Mitsubishi Agricultural Machinery Co., Ltd. Figure 6g. Yogo, 'q 'y, - Heze Yo - To Yukuichi 1 To

Claims (1)

[Claims] 1) Detection signals from an operation position detection means for detecting the operation position of the speed change operating tool and a speed detection means for detecting the traveling speed are input, and based on these, the continuously variable traveling speed is controlled. In a work vehicle equipped with a traveling speed change control mechanism that outputs a speed change control command to the mechanism, the traveling speed change control mechanism has a speed setting value that is set based on a detection signal from an operation position detection means. A setting value for converting the speed setting value so that the high speed side setting range is cut and the remaining low speed side speed setting value after the cut is set in the range up to the high speed operation range where the operation stroke of the speed change operating tool is cut. A travel speed control device for a work vehicle, characterized in that it is provided with a conversion means. 2) The cutting of the high-speed setting range of the set value converting means, if there is an auxiliary gear-shift travel operating tool, is performed during work traveling when the auxiliary gear-shift traveling operating tool is set to the high-speed side. A travel speed control device for a working vehicle as claimed in claim 1.