JPH05123011A - Traveling control unit for farm working machine - Google Patents

Abstract

PURPOSE:To provide the title control unit designed to reduce the vibration and noise due to the traveling control in a state of excessive engine output power by making, prior to change gear ratio regulation, the control actuation for maintaining the number of engine revolutions within a specified range irrespective of the extent of accelerator operation. CONSTITUTION:An accelerator lever-driving motor 18 and an operational mechanism A for a sub-transmission 2 are actuated so as to maintain the number of revolutions of an engine 1 within a specified range. The motor, the operational mechanism and a revolution counter 17 are mutually linked so as to drive the motor 18 prior to the mechanism A.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for automatically adjusting a transmission and an accelerator of an agricultural working machine such as a rice transplanter according to the magnitude of a load acting on an engine.

[0002]

2. Description of the Related Art In a rice transplanter, a tachometer for detecting the number of revolutions of an engine and a detection value of this tachometer are maintained at a set value, as disclosed in Japanese Patent Laid-Open No. 3-19611. As described above, there has been a load-sensitive automatic transmission that is provided with an actuator that shift-operates the traveling transmission, and the load acting on the engine is made appropriate by the vehicle speed control by this. That is, even if there is a change in planting work resistance or running resistance due to softness of the wetland, or a change in load such as an increase in running resistance during turning, control is performed so that the vehicle can run satisfactorily without stalling.

[0003]

However, in the conventional vehicle speed control, in order to effectively bring out the engine output, the engine speed in the fully opened state of the accelerator is maintained within the set range. In some cases, the output may be too unfavorable and vibration and noise may increase, which leaves room for improvement. An object of the present invention is to suppress vibration and noise to a low level when the traveling load is light to improve the working environment.

[0004]

To achieve the above object, the present invention is provided with a sensor for detecting an operation amount of an accelerator operation tool and a rotation range setting means for presetting a rotation speed allowable range of an engine. The set rotation range by the range setting means increases as the operation amount of the accelerator operation tool increases, and,
An accelerator linking unit that links the sensor and the rotation range setting unit is provided in a state where the amount of operation of the accelerator pedal decreases as the operation amount decreases, and an actuator that drives and operates the accelerator pedal and a transmission for traveling are provided. A gear shift operation mechanism and a rotation speed detection means for detecting the rotation speed of the engine are provided, so that the rotation speed detected by this rotation speed detection means is maintained within a range set by the rotation range setting means.
In order to operate the actuator and the speed change operation mechanism based on the detected rotation value, the control for linking the actuator, the speed change operation mechanism, and the rotation range detection means to a state in which the operation of the actuator is executed prior to the operation of the speed change operation mechanism. A feature is that it is provided with means.

[0005]

Since the output of the engine increases as the operation amount of the accelerator operation tool increases, the load-sensitive vehicle speed control is performed by operating the engine speed within the set range by the function of the accelerator linking means. When the load is heavy, the accelerator operation amount is increased to increase the output, and when the load is low, the accelerator operation amount is decreased to decrease the output, and the engine output in the set rotation range is set to match the load. It becomes possible to do. This allows the engine to produce as much power as it needs,
It is possible to suppress unpleasant vibration and noise caused by excessively generating engine output as in the conventional case. By the way, in order to increase or decrease the output of the drive wheels due to the increase or decrease of the running load, the accelerator operation amount is adjusted to change the output of the engine itself, or the transmission is changed to increase the torque. There is a means for reducing the number of actuators. In the above-mentioned characteristic configuration, the operation of the actuator corresponds to the means and the shift operation mechanism corresponds to the means. Therefore, the order in which these two types of means are executed becomes a problem, but in the present invention, the state in which the operation of the actuator is executed prior to the operation of the speed change operation mechanism, that is, the output of the engine itself is first performed by the accelerator operation. Is controlled, and then the transmission is accelerated or decelerated. In other words, the energy required for driving the actuator that operates the accelerator and the energy required for driving and shifting the transmission are generally smaller in the former case, and the accelerator operation is also possible in terms of the inertial mass of the operation target. Therefore, the control operation can be performed more quickly than when the gear shift operation is performed first.

[0006]

Therefore, the load-sensitive vehicle speed control can be performed while maintaining the engine speed within the set range regardless of the accelerator operation amount, and the control operation can be performed by changing the accelerator adjustment. By devising that priority is given to the ratio adjustment, it is possible to reduce the adverse effects of vibration and noise caused by running control in the engine output excessive state and improve the working environment, and at the same time economical and good response. It was possible to provide a traveling control device that is controlled and controlled by nature. It is also convenient from the viewpoint of reducing fuel consumption by improving fuel efficiency through proper accelerator operation.

[0007]

Embodiments of the present invention will be described below with reference to the drawings for a riding type rice transplanter which is an example of an agricultural working machine. FIG. 1 shows the transmission structure in the front part of the body of the riding type rice transplanter. The power of the engine 1 is input to the main transmission 3 formed of a multi-stage gear transmission via the auxiliary transmission 2 formed of a belt type continuously variable transmission, and the main transmission 3
Is transmitted to the drive wheels (not shown) using the transmission shaft 4. The auxiliary transmission 2 winds a belt 7 over a drive pulley 5 having a split pulley structure attached to an output shaft of an engine 1 and a passive pulley 6 attached to an input shaft of a mission 3, and is used for gear shift operation. The tension roller 8 is provided. The tension roller 8 has a structure in which it is rockably operated by an electric cylinder 9, and thereby constitutes a gear shift operation mechanism A. Reference numeral 10 denotes a control device (corresponding to control means) using a microcomputer, which includes a tachometer (corresponding to rotation speed detection means) 17 for detecting the rotation speed of the engine 1, the electric cylinder 9, and an operation amount of the electric cylinder 9. A first potentiometer 15 for detection, a second potentiometer 12 of a shift lever 11 for shift operation of the auxiliary transmission device 2, a third potentiometer (corresponding to a sensor) 1 of a hand accelerator lever (corresponding to an accelerator operation tool) 1
4. An electric motor (corresponding to an actuator) 18 for driving and operating the hand accelerator lever 13 is connected to the control device 10, respectively.

In this rice transplanter, the hand accelerator lever 1
Automatic traveling control for maintaining the rotation speed and traveling speed of the engine 1 during work traveling within a preset range by two kinds of means, an accelerator operation by operation 3 and a shift operation by operation of the electric cylinder 9. Is performed. Next, the structure will be described. That is, the vertical fluctuation of the engine speed due to the increase / decrease of the traveling load can be prevented regardless of the operation position of the hand accelerator lever 13.
8 to control the accelerator opening degree and to control the gear ratio by driving the electric cylinder 9 regardless of the shift position of the shift lever 11 for the shift operation of the sub transmission 2. That is, the engine speed is controlled.
This automatic traveling control mode is turned on and off by operating the start switch 16. First, a control reference is set before performing control. This is the third that detects the operation amount of the accelerator lever 13.
When the operation position of the accelerator lever 13 is set by the potentiometer 14, first, the no-load engine speed corresponding to the operation position is set to the reference engine speed (for example, 3).
800 rpm). Then, when an appropriate load is applied at the set position of the accelerator lever 13, that is, when the appropriate traveling speed is produced by the operation of the shift lever 11, the upper limit and the lower limit of the appropriate range of the engine speed are set as above. A first predetermined rotation speed (for example, 3400 rpm) lower by a predetermined amount than the reference engine rotation speed is set as an upper limit value, and a second predetermined rotation speed (for example, 3000 rpm) lower than the first predetermined rotation speed is set as a lower limit value. In the automatic travel control, the actual engine speed is detected by the output from the tachometer 17, and the following control operation is executed based on the actual engine speed. First, when the running load increases and the engine output tends to be insufficient, and the actual engine speed becomes less than the second predetermined speed, the accelerator up (opening) operation of the hand accelerator lever 13 by driving the electric motor 18 is performed at the same time. The deceleration operation is performed by switching the auxiliary transmission 2 to the low speed side by driving the electric cylinder 9, and the engine speed is quickly recovered to the second predetermined speed or higher. If the actual engine speed is equal to or higher than the second predetermined speed and is equal to or lower than the first predetermined speed (dead zone), the running load is balanced with the engine output, so that the operation position of the hand accelerator lever 13 remains unchanged (current operation). Keep it in position). At this time, the traveling speed expressed by the auxiliary transmission 2 is
When the speed of the shift lever 11 is faster than a preset speed, the electric cylinder 9 is driven to decelerate the sub transmission 2, and when the speed is slow, the sub transmission 2 is accelerated. If the actual traveling speed is appropriate, the operation position of the shift lever 11 is left unchanged. Then, when the engine output becomes larger than the running load and the actual engine speed becomes higher than the first predetermined speed, the electric motor 18 is first driven, and the hand accelerator lever 13 is operated to perform an accelerator down (close) operation. Then, the sub transmission 2 is controlled by prioritizing it so that it is switched to the high speed side. At this time, if the engine speed can be controlled to an appropriate value that is equal to or higher than the second predetermined rotation speed and is equal to or lower than the first predetermined rotation speed only by the accelerator down operation,
The speed-up operation of the sub transmission 2 is not performed.

As described above, the traveling control is automatically performed in accordance with the traveling load, but the reference engine speed, the first predetermined speed, and the second predetermined speed each become high when the accelerator opening is large. In addition, it is automatically determined in accordance with the operation position of the accelerator lever 13 so that it becomes low when the accelerator opening is small.
Each rotation speed that changes depending on the difference in the operation position of No. 3 is stored in advance in the control device 10, and changes linearly as shown in the graph of FIG. In the present embodiment, the function of the rotation range setting means B for setting each of the above-described rotation speeds is provided inside the control device 10, and each of the above-mentioned predetermined rotation speeds increases as the operation amount of the accelerator lever 13 increases. The control device 10 also has a function as an accelerator linking linking unit C linking the third potentiometer 14 and the rotation range setting unit B so that it becomes smaller as the operation amount of the accelerator lever 13 becomes smaller. -ing FIG. 3 shows the flow chart of the automatic traveling control described above as a reference.

By the way, as shown by a phantom line in FIG. 1, a dedicated rotation range setting means B is provided so that the operator can arbitrarily set the change characteristic of the predetermined engine speed accompanying the accelerator operation.
It may be configured to be provided and connected to the control device 10. Also,
The accelerator lever 13 may be driven by a hydraulic cylinder.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a control system diagram of a traveling control device.

FIG. 2 is a graph showing engine speed with respect to accelerator lever operation amount.

FIG. 3 is a flowchart of a traveling control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 engine 2 transmission 10 control means 13 accelerator operation tool 14 sensor 17 rotation speed detection means 18 actuator A gear change operation mechanism B rotation range setting means C accelerator linking means

Claims (1)

[Claims] 1. A sensor (14) for detecting an operation amount of an accelerator operating tool (13) and a rotation range setting means (B) for presetting a rotation speed allowable range of the engine (1) are provided. The set rotation range by the setting means (B) increases as the operation amount of the accelerator operation tool (13) increases,
Further, an accelerator linking means (C) for linking the sensor (14) and the rotation range setting means (B) is provided in a state where the amount of operation of the accelerator operation tool (13) becomes lower as the operation amount becomes smaller. , The accelerator operation tool (13)
An actuator (18) for driving and operating a speed change mechanism (A) for a traveling transmission (2), and a rotation speed detection means (17) for detecting the rotation speed of the engine (1)
And the actuator (based on the detected rotation number) so that the rotation number detected by the rotation number detection means (17) is maintained within the range set by the rotation range setting means (B). 18) and the speed change operation mechanism (A), the actuator (18) and the speed change gear are placed in a state in which the operation of the actuator (18) is executed prior to the operation of the speed change operation mechanism (A). Control means (1) for linking the operating mechanism (A) and the rotation range detecting means (B)
0) A control device for traveling of an agricultural machine equipped with 0).