JPH0370683A - Steering speed change driving device for crawler tractor - Google Patents

Abstract

PURPOSE:To improve speed change controllability by providing such a constitution that a transmission is drive-controlled by reading a speed change shift from a memory by an output of a sensor for detecting operation of an operating lever in the longitudinal and lateral directions and by an output of a knob switch provided in the operating lever. CONSTITUTION:A potentiometer 11, which outputs a voltage signal of value corresponding to an operating amount of an operating lever when it is controlled to right and left turn position directions, and a potentiometer 12, which outputs a voltage signal of value corresponding to an operating value of the operating lever when it is controlled to forward and reverse position directions, are provided. The respective output signals are input to a CPU20 through A/D converters 14, 15 and an input circuit 16. By this CPU20, when a knob switch 2, provided in the operating lever, is operated, a corresponding speed shift is read from a memory 21, which stores each speed shift for forward and reverse directions, and displayed in a display device 3, while a transmission is controlled through driving circuits 23, 25.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a steering and speed change control device for a crawler-type tractor.
In particular, the present invention relates to a steering and speed change control device that allows easy speed change operations.

[Prior Art] A conventional steering/speed control device for a track-type tractor has a steering lever for turning to the right, which is operated with the right hand, and a steering lever for turning to the left, which is operated by the left hand, arranged side by side in front of the operator's seat. These levers are each linked to separate steering valves that control the right steering clutch and the left steering clutch. In addition, a right brake pedal operated with the right foot and a left brake pedal operated with the left foot are installed side by side at the front foot of the operator seat.

In order for a crawler-type tractor to turn, an external force is applied to turn the track when going down a slope or when the work equipment is under load, and even during normal driving there is a large amount of running resistance. Since it is not possible to reliably perform the necessary turning just by disengaging the clutch, it is necessary to press the brake pedal in addition to operating the clutch lever.

Therefore, by selectively operating each of the left and right steering levers to disengage any left or right clutch, and at the same time by selectively operating each of the left and right brake pedals to apply brakes to any left or right crawler track, the desired track type tractor can be operated. It can be turned in the direction of

Further, the track type tractor is provided with a mi-engine lever near the steering link lever, and this lever is linked and connected to a speed selection valve of the transmission. Therefore, the speed stage of the transmission is selected by operating the mission lever.

In addition to the steering and gear-related control levers, levers and pedals for various work equipment are installed near the driver's seat to perform the required work, and a dexel pedal to control the amount of fuel to the engine is located near the driver's seat. It is located at the feet of the

By operating the above-mentioned rice levers and pedals, the operator adjusts the engine output, controls the transmission of rotational force to the left and right tracks, operates the work equipment, and selects the mission according to the conditions to perform the required work. It is carried out.

By the way, it is troublesome for the operator to selectively operate the two steering levers, the two brake pedals, the transmission lever, and the work equipment lever as necessary, so turning the tractor in the left and right directions is done in one motion. It is desirable to operate the lever, but if the left and right steering valves are linked to one lever, an extremely large load will be applied to the lever, so it is necessary to operate the lever quickly and accurately. It becomes difficult to perform.

In addition, in conventional track-type tractors, forward and backward movement is selected using a transmission lever, so for example, when a track-type tractor that is moving forward is moved backward and the steering direction is changed, at least two levers including the mission lever are used. When it is necessary to operate one pedal and also to operate the work equipment at the same time, it becomes an extremely heavy burden on the operator.

Recently, as a countermeasure, electrical sensors have been attached to levers and pedals to convert pedal and lever operations by operators into electrical signals, and these electrical signals are used to control electromagnetic valves based on predetermined conditions by a microcomputer. Track-type tractors have also been developed that enable operation with a single lever by creating operating signals and using hydraulic pressure to operate each transmission and brake.

Next, a patent application filed in 1983 concerning a track-type tractor, invented by the present inventor, utilizes the above-mentioned electric waves (4.i) to select the transmission stage with a switch, and performs steering and forward/backward operation with a single lever. -113786 will be explained.

FIG. 5 shows a part of the driver's seat of a tracked tractor whose steering is controlled by a mission selection switch and a single lever steering lever. Lever 5 shown in Figure 5
Reference numeral 0 denotes a steering lever, and as shown in FIG. 6, when the lever is upright in the center, the traveling mechanism is in a neutral state and the laminar tractor is stopped.

When the driver's seat is tilted away from the driver's seat, the driving sensor installed in the lever activates and sends output to the electronic circuit installed in the control device.
The electronic circuit outputs an output according to conditions preset in the circuit to connect the forward clutch, and the tractor moves straight forward.

When the control lever 50 is tilted to the left (l) while tilting the control lever 50 in the opposite direction, the rotation sensor installed on the lever operates and sends the output to the electronic circuit installed in the control device, and the electronic circuit adjusts to the conditions set in advance in the circuit. Therefore, the clutch of the left running track is disengaged and the brake is applied, and the track type tractor turns leftward.

When the operating lever 50 is tilted to the right while being tilted in the opposite direction, the tractor turns to the right in the same manner as described above.

When the control lever 50 is tilted toward the driver's seat, a travel sensor provided on the lever operates and sends an output to an electronic circuit provided in the control device, and the electronic circuit outputs the output according to conditions set in the circuit in advance. Then, the reverse side clutch is connected, and the track type tractor moves straight backward.

If you tilt the operating lever 50 toward the front and then to the left,
A turning sensor installed on the lever operates and sends an output to an electronic circuit installed in the control device, and the electronic circuit disengages the clutch of the crawler track on the left side of the tracked tractor's body and applies the brake, according to the conditions set in the circuit in advance. The tracked tractor turns to the left without moving backwards.

When the operating lever 50 is tilted to the right while being tilted forward, the Type 2 tractor turns to the right of the vehicle body instead of going backwards due to the same function as described above.

The mission stage selected when operating the operating lever 50 is determined by a group of switches 9 that have been pressed in advance or are provided on the switch board 52.
For example, 52F152p2.52F3.52R1,5
A total of six switches, 2R, 2, and 52R3, are provided, and when one of 52F1.52F2.52F3 is selected, the electronic circuit to which each switch output is input stores the signal, By operating the operating lever 50 in the opposite direction, the forward mission I is changed from the stored signal according to conditions predetermined in the electronic circuit.
II control signal is output, the forward clutch is connected as described above, and the crawler tractor moves forward.

When any one of 52R1, 52R2, and 52R:5 is selected, the electronic circuit to which the respective switch output is input stores the signal, and the signal is predetermined in the electronic circuit by operating the operating lever 50 in the forward direction. According to the stored conditions, a reverse mission control signal is output from the stored signal, the reverse clutch is connected as described above, and the crawler tractor moves backward.

When 52F1- or 52R1 is selected from the switch board 52, the electronic circuit to which the respective switch signal is input stores the signal, and the signal is preset in the electronic circuit by operating the operating lever 50 in the opposite direction or in the forward direction. According to the specified conditions, the -speed signal is selected and outputted, the clutch is connected as described above, and the track type tractor moves at one speed, either forward or reverse. Similarly 52F2.5
2R2, the track type tractor moves forward or backward in second gear according to the operation of the control lever.

52F2.52r (Selecting 3 similarly selects forward 2nd speed and reverse 3rd speed.

It is also proposed that a switch 51 is provided on the knob of the operating lever, and that by pressing the switch while the vehicle is running, the speed gear can be shifted by one step.

[Problems to be Solved by the Invention] As described above, the conventional traveling and operating machine requiring a plurality of levers places a heavy burden on the operator in work n:7. 58-113786
Although the above-mentioned problems will be solved if the switch is equipped with a switch, it is preferable to use a switch for electrical mission selection because of its value.Furthermore, if there is a switch, the reliability will decrease as the number of parts increases.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and provide a control device for a track-type tractor that is easy to operate and excellent in terms of reliability and cost.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides a lever that can be operated in the front-rear direction and left-right direction, and an electric signal corresponding to the amount of operation of the lever in the front-rear direction. a first sensor that outputs an electric signal, a second sensor that outputs an electric signal corresponding to the amount of operation of the lever in the left and right direction, a transmission mechanism that changes the speed gear, and a transmission mechanism that changes the speed based on the output signal from the first sensor. In the track-type tractor steering and speed change control system, the speed change control device includes means for controlling traveling based on the output signal from the second sensor, and means for controlling the steering based on the output signal from the second sensor. a memory for recording a speed setting value of the mechanism, a memory for recording a set speed value to be executed by the transmission mechanism for switching between forward and reverse speed stages, a knob switch attached to the operating lever, and the knob switch. means for rewriting the contents of the memory for recording the speed setting value to be executed by pressing the button, with the contents selectively read out from the memory for recording the speed setting value of the transmission mechanism according to predetermined conditions. It is characterized by a lever that can be operated in the front-rear direction and the left-right direction, a first sensor that outputs an electric signal corresponding to the amount of operation of the lever in the front-rear direction, and a lever that can be operated in the left-right direction. a second sensor that outputs an electrical signal corresponding to the amount of electricity; a transmission mechanism that selects speed stages in the forward and reverse directions; and means for controlling travel based on the output signal from the first sensor. , a track type tractor steering and transmission control device comprising means for controlling steering based on an output signal from a second sensor, wherein the speed change mechanism is configured to switch between speed stages in the forward direction and in the forward and reverse directions. a memory for recording a set speed value to be executed; a knob switch attached to the operating lever; and means for changing the contents of the memory for recording the set speed value to be executed by pressing the knob switch according to predetermined conditions. It is characterized by having the following.

[Function] In the present invention, the speed stage of the traveling mechanism of the tractor can be specified by operating the knob switch provided on the operating lever, so the speed stage of the traveling mechanism can be specified without operating multiple levers or complicated electric circuits. You can get the excellent effect of being able to choose.

[Tip example] Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 (FIG. 1) conceptually shows the situation inside the driver's seat of a track-type tractor controlled by a device according to the present invention.

The lever 1 shown in FIG. 1 is installed so that it can be operated in the pattern shown in FIG. 2, and a push-button switch 2 is attached to the knob l.

Reference numeral 3 denotes an indicator provided on the front panel 4 of the driver's seat, which displays the speed stage currently selected by the transmission.

5 is a brake pedal, and 6 is a neutral lock switch for carrying out operations to be described later.

FIG. 3 shows an example of an implementation circuit of a control device according to the present invention that controls the transmission and steering of the track type tractor.

In the figure, the potentiometer 11 is connected to the lever l.
In response, when the machine is operated in the direction of the ``turn right'' position and the ``turn left'' position in the pattern shown in Figure 2,
It outputs a voltage signal S1 having a value corresponding to the manipulated variables in those directions. Also, potentiometer 1
2 responds when the lever 1 is operated in the "forward" position direction and the "backward position direction" in the pattern shown in FIG. It outputs a voltage signal S2, and the output signals sl and s2 of each of these potentiometers 11 and 12 are analog-to-digital converters (hereinafter abbreviated as ADC).
14.15 into a digital value.

The potentiometer 17 responds to the brake pedal 5 (see FIG. 1) and outputs a voltage signal S3 corresponding to the amount of depression of the brake pedal, and this output signal S3 is input to the analog-to-digital converter 18. Ru.

The knob switch 2 (see FIG. 1) outputs a signal S4 for switching the transmission when the knob switch 2 is closed, and is provided on the knob LA of the lever.

The neutral lock switch 6 (see FIG. 1) outputs a signal S5 for forcing the transmission into the neutral position when the neutral lock switch 6 is closed, and is provided in front of the lever.

The input circuit 16 receives each of the above signals S1, S2, s3, S
This is for sampling and temporary storage for sequentially reading 4, S5, into the central processing circuit 20.

The central processing unit 20 (hereinafter abbreviated as CPU) receives the signals S1, S2, S3, s4, and s5 and executes the processing described below.

The memory 21 is for recording command information based on predetermined speed setting conditions, and the memories 22F, 22T (
is used to store the forward and reverse speed stages selected by operating the knob switch 2. The selected speed stage is displayed on a display 3 disposed at a suitable position on the front panel 4 of the driver's seat, as shown in FIG.

The drive circuit 23 connects valve drive solenoids 26F, 26R1261, 262, and 263 in a transmission (not shown) using a planetary gear device to the above C.
It is selectively driven based on a command from the PU 20. Moreover, the valves 27F and 27R operated by the solenoids 26F and 26)-t are connected to the corresponding separate extraction cylinders.
(not shown) to select forward or reverse movement of the transmission, and solenoid 261-
Valve 271.272.2 driven by 262.263
Reference numeral 73 is for controlling corresponding hydraulic cylinders (not shown) to select the first, second, and third speed stages for forward and reverse travel, respectively. Therefore, for example, when 26F and solenoid 261 are energized, the gears of the transmission are engaged in first forward speed.

The drive circuit 25 has two servo machines on each side that operate a left clutch valve 29LA, a right clutch valve 29RA, a left brake valve 29LB, and a right brake valve 29RB.
8LA, 28R, 28LH, and 28J (B is driven separately based on commands from the CPU 20 inputted via a digital-to-analog converter (hereinafter referred to as DAC) 24).

The operating positions of the above-mentioned valves 29L, 29RA, 29LB and 29RB are the servo mechanisms 28LA and 28.
They are held correctly by the R persons 29LH and 29RB, respectively, according to the commands of the sensor CPU 20.

Each of the above circuits has a pass line 20. Each input signal to the central processing port B20 and each output signal from the central processing circuit 20 are connected to each other through the pass line 2 Oct.
It is transmitted between each circuit via.

Next, the operation of the device according to this embodiment will be explained in detail with reference to the circuit diagram of FIG.

The transmission gears of the tractor, that is, first, second, and third gears are recorded in advance in the memory 21 in the order of memory addresses.

The operating lever is in neutral, i.e. potentiometer 12
is in the center and the signal S2 is inputting a value indicating stop to the CPU 20. When the knob switch 2 is closed and the signal S4 is input to the CPU, the CPU 20 outputs the signal from the first address of the memory 21. Take out the 1st gear and store it in memory 22F.
and 221 (recorded in.

Next, by operating the operating lever l, the signal S2 indicating the forward movement from the potentiometers 1 and 2 is sent to the ADC 15, the input circuit 16,
When transmitted to the CPU 20 via the pass line 20α, the CPU 20 receives the signal recorded from the memory 22F.
゛Take out the 1st speed °°, drive circuit 23 and DAC 24
outputs a signal for forward 1st speed. Therefore, depending on the signal input to the drive circuit 23, the forward and first speed solenoid 26
F and 261 are energized, valves 27F and 271 work,
Transmission gears, not shown in the drawings, are engaged with the first forward gear.

In the above state, the operating lever 1 is tilted to the right, and the signal S1 indicating a right turn from the potentiometer 11 is sent to the ADC 14,
CPU 20 via input circuit 16 and pass line 20q
When the signal is transmitted to the drive port Ii'825 from the CPLI20,
The signal output to the left latch has been changed to
28 LA The output to L A is maintained as it is, but the output to the right latch is changed, and the operation to valve 29R is cut off, and the right clutch is removed and the left brake servo mechanism 28t, Although the output to B is maintained as it is, the output to the right brake servo mechanism 28RB is changed, 29rtB is cut off, and the right brake is applied.

Therefore, the tracked tractor turns to the right. In the above state, when the operating lever 1 is tilted to the left and the signal S1 indicating a right turn from the potentiometer 11 is transmitted to the CPU 20 via the pass line 20α, the drive circuit 25 is transmitted from the CPU 20 to the drive circuit 25.
The signal output to the right clutch servo machine f has been changed.
The output to f128RA is changed to A, the valve 29LA is deactivated, the left clutch is removed, and the output to the right brake servo mechanism 28RB is maintained as it is, but the left brake servo mechanism 28tB is The output is changed, 29LH is turned off, and the left brake is applied. The tracked tractor therefore turns to the left.

Further, when the operating lever 1 is operated, a signal S2 indicating reverse movement from the potentiometer 12 is transmitted to the ADC 15 and the input circuit 16.
, is transmitted to the CPU 20 via the pass line 20α, the CPU 20 takes out the signal “1st speed recorded from the memory 227” and outputs a signal for reverse 1st speed to the drive circuit 23 and DAC 24. Therefore, the drive circuit 23, the reverse solenoid 26R and the first speed solenoid 261 are energized, the valves 27R and 27. are operated, and the transmission gear (not shown in the drawing) is engaged with the first reverse speed.

In addition, the Fl and R1 lamps on the display 3 shown in FIG. 1 are lit to indicate that the gear selected for the mission is forward,
Displays that the vehicle is in 1st gear for both reverse.

In the above state, the operating lever 1 is tilted to the right, and the signal S1 indicating a right turn from the potentiometer 11 is transmitted to the lotus line 2.
0 (when transmitted to the CPU 20 via L, the CPU 20
The signal output to the latch drive circuit 25 is changed, and the output to the left clutch servo mechanism 28 LA is maintained as it is, but the output is changed to the right latch servo mechanism fi 8 R^, and the output is changed to the left clutch servo mechanism 28 LA. was disconnected and the right clutch was removed,
The output to the left brake servo mechanism 28LH is maintained as it is, but the output to the right brake servo mechanism JR28RB changes, 29RB is disconnected, and the right brake is applied.
Therefore, the track type tractor turns to the right, facing toward the front of the driver's seat of the vehicle body.

In the above state, the operating lever 1 is tilted to the left, and the signal S1 indicating a right turn from the potentiometer 11 is transmitted to the ADC 14.
, input circuit 16, pass line 20 (CPU via L)
20, the signal output from CP[J20 to the drive circuit 25 is changed, and the signal output from CP[J20 to the drive circuit 25 is changed, and the signal output from CP[J20 to the drive circuit 25 is changed.
The output of I\ to 8R is held as it is, but when the left latch is used, the output is changed to 8, and the output is changed to valve 2.
9t, 8 is disconnected, the left clutch is removed, the output to the right brake servo machine fM 28 RB is maintained as it is, but the output to the left brake servo machine lateral 28LB is changed, 29LB is disconnected and the left clutch is disconnected. The brakes are applied. Therefore, the tractor turns to the left with respect to the front direction of the vehicle body.

In the above explanation, since the knob switch 2 was pressed only once, the signal "1 speed °' was selected from the memory 21, but if the knob switch 2 was pressed twice in succession, the address in the memory 21 to be recalled advances by one more, and the signal "1 speed °' is selected from the memory 21. is selected, and if you press it three times, "3rd speed" will be selected in the same way, and if you press it four more times, "°l speed" will be selected again if only up to 3rd speed is recorded in the memory.

In this case, the display 3 displays F2, F3, R2, R3, etc., which are selected for both forward and reverse travel.

In the above explanation, it was explained that 1st, 2nd, and 3rd gears are selected according to the order in which knob switch 2 is pressed, but depending on the initial setting, 3rd, 2nd, and 1st gears may be selected in the reverse order. You can also make it selectable.

Furthermore, since the memory has a small storage capacity, it can be constructed using a simple electronic circuit.

Next, the operation of the speed change steering system according to the present invention while the vehicle is running will be explained.

By operating the operating lever l, a signal S2 indicating forward movement from the potentiometer 12 is sent to C via the pass line 20.
A description will be given of the state in which the information is being transmitted to the PU 20. When the knob switch 2 is closed once and the signal S4 is input to the CPU, the CP[20] takes out the speed designation signal from the next address read earlier in the memory 21 and stores it in the forward command value memory 22.
Rewrite the contents of F, but do not rewrite the contents of reverse command value 22R. Therefore, the contents recorded in 22F until now are I
Only the speed is changed. Therefore, if the content of the memory 22F up to now is 1 speed and the tractor is traveling in 1st speed, the content of memory 22F is changed to 2nd speed.

Therefore, when the signal s2 indicating the second forward speed is transmitted to the CP[J20 via the pass line 20 (l), the CPU 20
A signal for the second forward speed is output to the drive circuit 23. Therefore, the forward solenoid 2 is
The 6F and 2nd speed renoids 262 are energized and the valve 27
F and 272 work, and the '' gear of the transmission, which is not shown in the drawing, is engaged with the second forward gear. Therefore, the tractor is shifted to second speed and travels forward.

If you press it twice in succession while driving, just like when stopped, the gear will advance by two gears, and if it was in 1st gear, °2nd gear will be selected, and the readout address will be set before the highest gear. When this happens, it returns to ``1st gear'' and is selected again.

Also, in the same way as above, follow the order in which you press the knob switches.
I explained that the gears are selected in the order of 1st, 2nd, and 3rd gears, but
Depending on the initial setting, 3rd gear, 2nd gear, or 1st gear I'
It is also possible to select in lff order.

In this case, the reverse display on the display does not change, but the forward display changes to F2F3.9 Next, operate the operating lever 1 to signal the reverse from the potentiometer 12. S2 is ADC 15, input circuit 16
, when the 9-knob switch 2 is input to the CPU, the CPU 20 specifies the speed from the next address read earlier in the memory 21. The signal is collected and the contents of the reverse command value memory 22R are rewritten, but the contents of the forward command value 22)- are not rewritten.
The contents recorded in 2R are changed by only one speed. Therefore, if the content of the memory 22R so far is 1st speed and the tracked tractor is running backwards in 1st speed, then the memory 22R
The content of 2R is changed to 2nd speed.

Therefore, when the signal S2 indicating two reverse speeds is transmitted to the CPU 20 via the pass line 20α, the CPU 20 outputs a signal for two reverse speeds to the drive circuit 23. Therefore, the signal input to the drive circuit 23 causes the reverse solenoid 26 to
R and 2nd speed renoids 262 are energized and the valve 27R
272 is activated, and the transmission gear (not shown in the drawing) is engaged with the second forward speed.9Therefore, the tractor is shifted to the second speed and travels backward.

If you press it twice in succession while driving, just like when stopped, the gear will advance by two gears, and if it was previously 1st gear, ``2nd gear'' will be selected, and the readout address will change from the R high gear. When it comes first, it returns to ``1st gear'' and is selected again.

Also, in the same way as above, it was explained that 1st, 2nd, and 3rd gears are selected according to the order in which the knob switch is pressed, but depending on how the initial settings are made, 3rd, 2nd, and l
It is also possible to select in the order of speed.

In this case, the forward display section of the display is not changed, but the reverse display section is changed and displayed as R2R3.

Next, another example of an actual hfj based on the present invention will be explained.

FIG. 4 shows an example of an implementation circuit of the control device according to the present invention for controlling the transmission and steering of the track type tractor described above.

In the same figure, potentiometer 1 is the lever 1.
In response to the operation in the ``clockwise turn'' position direction and ``left turn'' position direction of the pattern shown in FIG.
It outputs 1. In addition, the potentiometer 12
is a value corresponding to the amount of operation in those directions in response to when the lever 1 is operated in the "'forward °' position direction and the "° backward °° position direction" of the pattern shown in Fig. 2. The output signals S1 and S2 of each of these potentiometers 11 and 12 are outputted from an analog-to-digital converter (hereinafter abbreviated as ADC) 1.
4.15 into a digital value.

The potentiometer 17 responds to the brake pedal 5 (see FIG. 1) and outputs a voltage signal S3 corresponding to the amount of depression of the brake pedal, and this output signal S3 is input to the ADC], 8. be done.

The knob switch 2 (see FIG. 1) outputs a signal S4 for switching the transmission when it is opened, and is provided on one knob of the lever.

A neutral lock switch 6 (see FIG. 1) outputs a signal S5 for forcibly placing the transmission in the neutral position when it is opened, and is provided in front of the lever.

The input circuit 16 receives each of the above signals S1. S2, s3, S4
, S5 are used for sampling and temporary storage for sequentially reading the data into the central processing circuit 20.

The central processing unit 20 (hereinafter abbreviated as CPU) receives the signals sl, s2, s3, S4, and S5 and executes the processing described below.

The memories 22F-22R are for storing the forward and reverse speeds selected by operating the knob switch 2 (%).The selected speeds are stored on the front panel 4 of the driver's seat as shown in FIG. The drive circuit 23 includes valve drive solenoids 26F, 26R1261, 262 in a transmission (not shown) using a planetary gear system.
-263 is selectively driven based on a command from the CPU 20. The valves 27r, 27R operated by the solenoids 26F and 26R control the corresponding extraction pressure cylinders (not shown) to select forward and reverse movement of the transmission, respectively. Valve 27 driven by .262.263
1.272.273 controls each corresponding hydraulic cylinder (not shown) to adjust the speed stage, l, in the forward and reverse directions.
3rd speed, 2nd speed, and 3rd speed. Therefore, for example, when 26F and solenoid 261 are energized, the gears of the transmission are engaged in first forward speed.

The drive circuit 25 operates each servo machine fil128L8, 28RA, 2.9LB, 29+(B
is a digital-to-analog converter (hereinafter referred to as DAC) 24
They are each driven separately based on commands from the CPU 20 inputted via the CPU 20. In addition, each of the above valves 29LA
, 29R8, 2LB, and 29FLB operating positions are:
Servo 81 Sugi 28L 8, 28R person, 29LB, 29Rn
According to the commands of the CPL 120, each of them is held correctly.

Each of the above circuits has a pass line 20. Each input signal to the CPU 20 and each output signal from the CPU 20 are transmitted to and from each circuit via the path line 20G.

Next, the operation of this pointed embodiment will be explained in detail with reference to the circuit diagram of FIG.

Operation lever 1 is neutral, i.e. potentiometer ■
2 is the center and the value indicating that the signal S2 is stopped is set by the CPU 20.
When the knob switch 2 is closed once within a predetermined time while the input is being input to Command recording memory 22F and reverse command recording memory 22. to be recorded.

Next, by operating the bar L, a signal S2 indicating advance from the potentiometer 12 is sent to the ADCl 5, the input circuit 16,
When transmitted to the CPU 20 via the pass line 20α, the CPU 20 takes out the recorded signal “1st speed °°” from the forward command recording memory 22F, and sends the forward command to the drive circuit 25 via the drive circuit 23 and DAC 24. Outputs 1st speed signal.

Therefore, the forward solenoid 26F and the 1st speed solenoid 261 are energized by the signal input to the drive circuit 23, the valves 27) and 27° operate, and the missigon gear (not shown in the drawing) is activated to the 1st forward speed. The tractor is set in series and travels forward.

In the above state, the operating lever 1 is tilted to the right, and the signal sl from the potentiometer 11 indicating a right turn is sent to the ADC 14,
CPU 20 via input circuit 16 and pass line 20α
, the signal output from the CPU 20 to the drive circuit 25 is changed, and the left clutch servo machine 128t,
The output to the right-hand latch engine ff'428 RA is maintained, but the output to the right-hand latch engine ff'428 RA is changed, so valve 29FL8 is disconnected, the right clutch is disengaged, and the left-hand brake engine ff'428 RA is disconnected. The output to the oval 28LB is maintained as it is, but the output to the right brake servo mechanism 28Rn is changed, so the valve 29RB is turned off and the right brake is applied. Therefore, the tracked tractor turns to the right.

In the above state, the operating lever 1 is tilted to the left, and the signal S1 indicating right turn from the potentiometer 11 is sent to the ADC 14.
CPU 20 via input circuit 16 and pass line 20
When the signal is transmitted to the drive circuit 25 from the CPU 20, the signal is changed to the right clutch servo machine 128aA.
The output to is held as it is, but the output is changed to the left latch servo l'1I28L8, so the valve 29LA is disconnected, the left clutch is disengaged, and the right brake servo 1fift! The output to 28uB is maintained as it is, but the left brake is used on the left brake machine fi! The output to I28LB is changed, thus opening valve 29LB and applying the left brake.

The tracked tractor therefore turns to the left.

Also, by operating the operating lever 1, the potentiometer 12
The signal S2 indicating backward movement from the ADC 15 and the input circuit 16
, is transmitted to the CPU 20 via the pass line 20a, the CPU 20 takes out the recorded signal "1st speed" from the reverse command value recording memory 228F and sends the reverse 1st speed signal to the drive circuit 23 and the drive circuit 25. Output.

Therefore, the reverse solenoid 26R and the 1st speed solenoid 261 are energized by the signal input to the drive circuit 23, the valves 27R and 271 are activated, and the gear of the transmission (not shown in the drawing) is moved to the reverse 1st gear. g, the tractor is shifted to reverse first speed and travels backward.

In addition, the Fl and R1 lamps on the display 3 shown in FIG. 1 are lit to indicate that the gear selected for the mission is forward,
Displays that both reverse and reverse are 1*.

In the above state, the operating lever 1 is tilted to the right, and the signal S1 indicating a right turn from the potentiometer 11 is sent to the ADC 14.
CPU 20 via input circuit 16 and pass line 20a
When the signal is transmitted to the drive circuit 25 from the CPU 20, the signal output from the CPU 20 to the drive circuit 25 is changed, and the signal output from the CPU 20 to the drive circuit 25 is changed.
The output to FII28 L8 is maintained as it is, but the output is changed to the right latch s-bo+ff1ffI28[8, valve 2Qrt8 is disconnected, the right clutch is removed, and the output is output to the left brake servo machine side 28LB. is held as it is, but the output to the right brake engine 28RB is changed, 29.8 is cut off, and the brake is applied. Therefore, the track type tractor turns to the right, facing toward the front of the driver's seat of the vehicle body.

In the above state, the operating lever 1 is tilted to the left, and the signal sl indicating right turn from the potentiometer 11 is sent to the ADC 14.
CPU 20 via input circuit 16 and pass line 20a
, the signal output from the CPU 20 to the drive circuit 25 is changed, and the output to the right clutch servo mechanism 28R8 is maintained as it is, but the output to the left clutch servo mechanism 28L8 is changed. The valve 29L^ was disconnected, the left clutch was removed, and the right brake engine l'128
The output to RB is maintained as is, but the output to the left brake servo machine side 28LB is changed, 29LB is cut off, and the left brake is applied. Therefore, the track type tractor turns to the left, facing toward the front of the driver's seat of the vehicle body.

In the above explanation, since the knob switch was pressed only once, the central processing unit 20 outputs the signal "1st gear pa", but if it is pressed twice within a predetermined time, it will output "2", and if it is pressed three times, it will output "3". If you press ``Speed Pa'' four more times, ``1st speed Pa'' will be selected again.

In my explanation above, I explained that 1st, 2nd, and 3rd gears are selected according to the order in which you press the knob switch, but depending on how you set them initially, the order of 3rd, 2nd, and 1st gears may be reversed. You can also make it selectable with .

In this case, the display displays the selected speed F3, R2, F3R3, etc. for both forward and reverse travel.

Next, the operation of the speed change steering system according to the present invention while the vehicle is running will be explained.

By operating the operating lever l, a signal S2 indicating advance from the potentiometer 12 is sent to C via the pass line 208.
A description will be given of the state in which the information is being transmitted to the PU 20. When the knob switch 2 is closed once and the signal S4 is input to the CPU, the contents of the forward command value memory 22F are rewritten, and the contents of the reverse command recording memory 22r (are not rewritten. Therefore, the contents of the backward command recording memory 22r (not recorded) are not rewritten. Therefore, if the content of the memory 22F up to now is the 1st gear and the tracked tractor is traveling in the 1st gear, the content of the memory 22) will be changed to the 2nd gear. Ru.

Therefore, when the signal S2 indicating the second forward speed is transmitted to the CPU 20 via the pass line 20α, the CPU 20 outputs the second forward speed signal to the drive circuit 23. Therefore, the forward solenoid 26F is activated by the signal input to the drive circuit 23.
Then, the second speed solenoid 262 is energized, the valves 27F and 272 are activated, and the transmission gear (not shown in the drawing) is engaged with the second forward speed. The signal input to the drive circuit 25 is not changed, and the left and right clutch motors are
! 28LA and 28RA are energized and the two valves L8 and 2
9FL8 is working, the clutch not shown in the drawing is engaged, and the left and right brake motor TF12 is engaged.
8t, B and 28RB are energized, valves 29LB and 29RB are working, and the brake remains released. Therefore, the crawler tractor is shifted to second speed and travels forward.

Even while driving, if you press it three times in a row within a predetermined period of time, it will advance to 2nd gear, just like when you are stopped, and if you press it three times, it will advance to 3rd gear.22
When the content of F becomes 3rd speed or higher, "1st speed" is selected again.

Also, in the same way as above, follow the order in which you press the knob switches.
I explained that the gears are selected in the order of 1st, 2nd, and 3rd gears, but
Depending on how the initial settings are made, it is also possible to select in the order of 3rd gear, 2nd gear, and 1st gear.

In this case, the reverse display on the display is not changed, but the forward display is changed to the selected gear F2F32.

Next, by operating the operating lever 1, a signal S2 indicating reverse movement from the potentiometer 12 is transmitted to the ADC 15 and the input circuit 16.
, will be explained with reference to a state in which the information is transmitted to the CPU 20 via the pass line 20a. When the knob switch 2 is closed once within a predetermined period of time and only one signal S4 is input to the CPU within the predetermined period of time, the CPU 20 rewrites the contents of the reverse command value memory 22R and moves forward. The contents of the command value memory 22F are not rewritten, so the contents previously recorded in the memory 22R are changed by one speed. Therefore, if the content of the memory 22R up to now is 1st speed and the track type tractor is running backwards in 1st speed, the content of the memory 22R is changed to 2nd speed.

Therefore, when the contents of the memory 22R indicating the second reverse speed are transmitted to the CPU 20 via the pass line 20a, the CPU 2
0 outputs a second reverse speed signal to the drive circuit 23. Therefore, the signal input to the drive circuit 23 energizes the reverse solenoid 26R and the 2nd speed solenoid 262, causing the valves 271 (and 272) to operate, and the transmission gear (not shown in the drawing) to mesh with the 2nd speed reverse gear. be done.

Since the signal input to the drive circuit 25 is not changed, the left and right clutch servo machines 128LA and 28]-18 are energized, the valves 29LA and 29R8 are working, and the clutches not shown in the drawing are engaged. The left and right brake servos 6m, 28LB and 28RB are energized, valves 29t, B and 29RB are working, and the brakes remain released. Therefore, the track type tractor is shifted to second speed and travels backward.

Even while driving, if you press it three times in a row within a predetermined period of time, it will advance to 2nd gear, and if you press it three times, it will advance to 3rd gear.When the contents of memory 22)-- reach 3rd gear or higher, it will go back to "1st gear". is selected.

Also, in the same way as above, I explained that 1st, 2nd, and 3rd gears are selected according to the order in which you press the knob switches, but depending on how you initially set them, 3rd, 2nd, and 1st gears can be selected in the opposite order. It is also possible to select in this order.

In this case, the forward display on the display does not change, but the reverse display changes to the selected gear such as R2, R3, etc.

[Effect of the Invention 1] As explained above, according to the present invention, the speed stage of the traveling mechanism of the tractor can be specified by operating the knob switch provided on the operating lever, so that multiple lever operations,
It is possible to obtain the excellent effect of being able to select the speed stage of travel without a complicated electric circuit.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of a driver's seat of a tracked tractor according to an embodiment of the present invention. FIG. 2 is a diagram showing an operation lever operation button of a track type tractor according to an embodiment of the present invention. FIG. 3 shows I of a tracked tractor according to an embodiment of the present invention.
II control device circuit diagram. FIG. 4 is a circuit diagram of a control device for a track type tractor according to another embodiment of the present invention. FIG. 5 is a schematic diagram of the driver's seat of a conventional track-type tractor. FIG. 6 is a diagram showing the operation lever operation button of a conventional track type tractor. 1... Operation lever 2... Push button switch 3... Display 4... Panel 5... Brake pedal 6... Lock switch 11.12...Potentiometer 14, ■5...
... Analog-digital converter 16 ... Input circuit 17 ... Potentiometer 18 ... Analog-digital converter 20 ...
...Computer 20'n...Pass line 21...Memory 22F, 22R...Memory 23.25...Drive circuit 24...Digital-analog conversion circuit 26F,
26R5261, 262, 263 Solenoid 27F, 27R, 271, 272, 273 Valve 28L 8, 28LH, 28RA, 28RB...
Servo mechanism 29LA-29t, B, 29pt8, 29RB...
... Valve 50 ... Operation lever 51 ... Switch 52 ... Switch 53 ... Indicator

Claims (1)

[Claims] 1. A lever that can be operated in the front-rear direction and the left-right direction, a first sensor that outputs an electric signal corresponding to the amount of operation of the lever in the front-rear direction, and a lever that can be operated in the left-right direction of the lever. a second sensor that outputs an electrical signal corresponding to the amount of operation; a transmission mechanism that switches speed stages; a means for controlling travel based on the output signal from the first sensor; and an output signal from the second sensor. A track type tractor steering and transmission control device comprising: a means for controlling steering based on a memory for recording a speed setting value of the transmission mechanism for switching each speed stage in a forward and reverse direction; a memory for recording a set speed value to be executed by the transmission mechanism for switching each speed stage; and a knob switch attached to the operating lever;
and means for rewriting the contents of the memory for recording the set speed value to be executed by pressing the knob switch with the contents selectively read out from the memory for recording the speed set value of the transmission mechanism under predetermined conditions. A track-type tractor steering and speed control device characterized by the following: 2. The means for rewriting the contents of the memory that records the set speed value to be executed by pressing the knob switch rewrites both forward and backward speed values recorded in the memory when the lever is in the neutral position. The track type tractor steering and speed change control device according to claim 1. 3. The means for rewriting the contents of the memory for recording the set speed value to be executed by pressing the knob switch rewrites the forward speed value recorded in the memory when the lever is in the forward position; 2. The track type tractor steering and speed change control device according to claim 1, wherein when the lever is in the reverse position, the reverse speed value recorded in the memory is rewritten. 4. The predetermined condition for rewriting the contents of the memory that records the speed setting value to be executed is that by pressing the knob switch, the speed command recorded in the memory that records the speed setting value of the transmission mechanism 2. The track type tractor steering and transmission control device according to claim 1, wherein the values are selected in accordance with the order of memory addresses. 5. A lever that can be operated in the front-back and left-right directions, a first sensor that outputs an electric signal corresponding to the amount of operation of the lever in the front-back direction, and a first sensor that outputs an electric signal that corresponds to the amount of operation of the lever in the left-right direction. a second sensor that outputs an electrical signal; a transmission mechanism that switches speed stages in the forward and reverse directions; a means for controlling travel based on the output signal from the first sensor; In a track-type tractor steering and transmission control device comprising a means for controlling steering based on an output signal of a vehicle, a set speed value to be executed by the transmission mechanism for switching between speed stages in the forward direction and in the forward and reverse directions is recorded. It is characterized by comprising a memory, a knob switch attached to the operating lever, and means for changing the contents of the memory for recording the set speed value to be executed by pressing the knob switch according to predetermined conditions. A track-type tractor steering and speed control device. 6. The predetermined condition is that by pressing a knob switch within a certain period of time, the set speed value is changed in a predetermined order depending on the number of times the knob switch is pressed within a certain period of time. Track-type tractor steering and speed control device.