JPH0518735B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a main transmission device and a sub-transmission device for traveling transmission, as well as a boarding control means for manually controlling the traveling of a work vehicle and a remote control device for remotely controlling the travel of the work vehicle. The present invention relates to a travel control device for a work vehicle that is provided with a control means that can be freely switched.

[Conventional technology]

The travel control device for this type of work vehicle described above is configured to, for example, be able to change the travel speed during work within a low speed range that corresponds to the work.
In addition, in order to be able to change the traveling speed to high speeds when driving on the road when not working, an auxiliary transmission device is installed to change the overall speed change range of the main transmission device between high and low speeds. In order to safely carry out work in areas where there is a risk of damage, the work vehicle is equipped with a boarding control means that manually controls the traveling of the work vehicle and a remote control means that remotely controls the movement of the work vehicle.

By the way, in the past, the sub-transmission device was operated using an operating tool attached to the vehicle body (no prior literature can be described).

[Problem that the invention seeks to solve]

The remote control means is used during work, and therefore, when the remote control means is activated,
The auxiliary transmission is used at low speeds for work.

Therefore, when performing remote control, it is necessary to switch the sub-transmission to low speed, but according to the conventional configuration, the sub-transmission must be operated separately from the switching operation from the onboard control means to the remote control means. This made it difficult to operate, and there was also the risk that an operational error could result in the vehicle being driven at high speed when remotely controlled.

The present invention has been made in view of the above circumstances, and its purpose is to improve operability by linking the switching operation to the remote control means and the operation of the sub-transmission device.

[Means for solving problems]

A characteristic configuration of the travel control device for a working vehicle according to the present invention is that it is provided with an auxiliary transmission switching control means for automatically switching the auxiliary transmission to a low speed side when the remote control means is switched to an operating state. Its actions and effects are as follows.

[Effect]

That is, when controlling the traveling of the work vehicle using the remote control means, the auxiliary transmission is automatically switched to the low speed side.

〔Effect of the invention〕

Therefore, when the remote control means is activated, the auxiliary transmission is automatically switched to the low speed side, which simplifies the operation and eliminates the possibility of remote control with the auxiliary transmission being operated to the high speed side. hand,
The dangers associated with high-speed driving have also been reduced.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 3, an engine
A lawn mowing device 1 as a working device driven by the output of is suspended, and constitutes a working vehicle used for cutting work of grass, weeds, etc.

To explain the structure of the vehicle body V, as shown in FIGS. 2 and 3, a pair of left and right front and rear wheels 2,
3, each of which can be freely steered, and is also provided with steering hydraulic cylinders 4, 5 for separately operating the pair of front and rear wheels 2, 3, and control valves 6, 7 therefor.

A hydraulic continuously variable transmission 8 as a main transmission capable of freely switching between forward and backward speeds and freely changing forward and reverse speeds is interlocked and connected to the engine E, and a shift pedal 9 for on-board operation and a transmission pedal 9 for remote control are connected to the engine E. The speed change arm 1 of the speed change device 8 can freely change the speed of the main speed change motor 10 by any of them.
It is linked to 1.

Further, the output of the transmission 8 is transmitted between the front and rear through a gear-type sub-transmission 14 which is configured to be able to freely switch the output of the transmission 8 between high and low levels by either a sub-shift lever 12 for manual operation or a sub-shift motor 13. The signal is transmitted to wheels 2 and 3. However, the sub-transmission device 1
4, as will be described later, is configured to automatically switch to the lower speed side in conjunction with the switch from boarded control to remote control.

An electromagnetically operated clutch 1 connects and disconnects the main transmission motor 10 and the main transmission 8.
5, and an electromagnetically operated clutch 1 that connects and disconnects the auxiliary transmission motor 13 and the auxiliary transmission 14;
6, and when the boarding control means 100 is operated, both clutches 15 and 16 are disengaged, the main transmission 8 is manually operated by the speed change pedal 11, and the transmission 14 is manually operated by the speed change pedal 11. When the auxiliary gear shift lever 12 is operated manually, and when the remote control means 101 is operated, the clutches 15 and 16 are engaged and the main gear shift device 8 is operated by the main gear shift motor 10. Further, the sub-transmission device 14 is operated to be switched to a lower speed side by the sub-transmission motor 13.

In order to perform a steering operation by changing the direction of the front and rear wheels 2 and 3, there is a parallel steering type in which the front and rear wheels 2 and 3 are changed in the same direction to move the vehicle body V in parallel, and a sharp turn is made by changing the direction in the opposite direction. 4-wheel steering type and 2 that changes the direction of only the front wheels 2
It is provided that a wheel steering type can be used. The parallel steering type and the four-wheel steering type can be selected during remote control, and any of the three types of steering types can be selected during boarding operation. .

Further, a steering handle H for indicating a target steering position for boarding operation is provided, and a target steering position detection potentiometer R ₀ for detecting the operating position of the steering handle H, and a potentiometer R 0 for detecting the steering position of the front wheels 2 are provided. A potentiometer R ₁ , a potentiometer R 2 for detecting the steering position of the rear wheel 3, a potentiometer R ₃ for detecting the shift position for detecting the operation position of the main transmission 10, and a potentiometer R ₃ for detecting the operating position of the main transmission 10, Sub-shift position detection potentiometers R ₄ are provided to detect whether the auxiliary shift position is at the operating position, and the detection signals from each of the potentiometers R ₀ to _{R 4} are transmitted to the onboard control means 100 and the remote control means 1.
01, and the control device 17 constituting each of the auxiliary transmission switching control means 102 that automatically switches the auxiliary transmission 14 to the low speed side as the remote control means 101 is switched to the operating state. .

In FIG. 2, 18 is a control mode selection switch for selectively switching the onboard control means 100 and remote control means 101 into operation, and 19 is a steering type selection switch during boarding control.

To explain the boarding control means 100,
Each information of the steering mode selection switch 18, the steering type selection switch 19, and the target steering position detection potentiometer _R0 is input to the control device 17, and based on the information, Controlling the operation of the control valves 6, 7 of the steering hydraulic cylinders 4, 5 so that the front and rear wheels 2, 3 are operated in an instructed steering style and at an instructed target steering position; Each of the transmission devices 8,
Clutches 15 and 16 are operated to disconnect and disconnect the transmission motors 10 and 13 from each other.

That is, during boarding maneuvers, the main transmission 8 is directly shifted by the shift pedal 9, and the height of the transmission 14 is changed directly by the auxiliary shift lever 12.

To explain the remote control means 101,
A receiver 21 is provided which receives instruction information from a remote control transmitter 20 and transmits it to the control device 17.

To explain the transmitter 20, a shift lever 22 instructs the shift position to the main transmission 8 by moving forward and backward, a shift lever 22 instructing the target steering position of the front and rear wheels 2 and 3 by moving left and right, and
A steering bar 23 is provided which indicates the steering type by forward and backward movement, and various sensors detect the operating position of each of the levers 22 and 23;
Further, a transmitting device is provided for transmitting information detected by the sensor to the receiver 21 as instruction information.

That is, based on the operation information of the operation mode selection switch 18, the clutches 15 and 16 for connecting and disconnecting the respective transmission devices 8 and 14 and the corresponding transmission motors 10 and 13 are engaged and operated. The operation of the sub-shift motor 13 is controlled so that the sub-transmission device 14 is automatically switched to the low speed side, and the target shift position indicated by the shift lever 22 of the transmitter 20 and the main shift position are detected. The operation of the main transmission motor 10 is controlled so that the detection position of the main transmission potentiometer _R3 coincides with the detection position of the transmission potentiometer R3.

Further, the control valves 6 of the steering hydraulic cylinders 4 and 5 are adjusted so that the target steering position instructed by the steering lever 23 and the position detected by the steering position detection potentiometers R ₁ and R ₂ match. , 7 so that the vehicle automatically travels at a designated speed and the front and rear wheels 2 and 3 are steered in the designated steering type and at the designated steering position.

Next, a description will be given of the auxiliary transmission switching control means 102 for automatically switching the auxiliary transmission 14 to the low speed side when the remote control means 101 is switched to the operating state.

As shown in FIG. 1, as the operation mode selection switch 18 is turned on and operated, a reference voltage is applied to switch the sub-transmission device 14 to the low speed side.
An analog switch 24 that outputs Vs is provided, and the reference voltage Vs is compared with the output of the sub-sub-shift position detection potentiometer _R4 to determine that the sub-transmission device 14 is not at the setting switching position to the low speed side. In this case, a comparator 25 is provided that outputs a drive signal for operating the sub-shift motor 13.

Further, when the boarding operation means 100 is operated, if the load on the main transmission 8 becomes heavy when driving on a slope, etc., the auxiliary transmission 8 is activated, regardless of the operating position of the auxiliary transmission lever 12. 1
In order to automatically switch the control mode 4 to the low speed side, a pressure sensor 26 is provided which uses a normally closed molded switch that turns off when the working oil pressure of the main transmission 8 rises above the set pressure. Selection switch 18 and the pressure sensor 26
The output signal is connected to the analog switch 24 via an OR circuit 27. Further, the clutch 16 for the sub-shift is configured to be automatically turned on and off by the output of the OR circuit 27.

That is, when the control mode selection switch 18 is switched to the remote control side or the load on the main transmission 8 increases, the pressure sensor 26 turns OFF.
When activated, the clutch 16 for the auxiliary transmission
is automatically engaged and operated, and the sub-transmission motor 1
3 and the auxiliary transmission 14 are linked, and the auxiliary transmission motor 13 is driven until the output voltage of the auxiliary transmission position detection potentiometer _R4 matches the reference voltage Vs, and the auxiliary transmission is activated. The device 14 is configured to automatically switch to a lower speed.

In the figure, Q ₁ is a driving transistor for the auxiliary speed change motor 13, and Q ₂ is a drive transistor for the auxiliary speed change clutch 16.

[Another example]

In the above embodiment, the electric motor 13 is used to switch the sub-transmission device 14 between high and low positions, but it may also be operated using a hydraulic cylinder or the like. The configuration can be changed in various ways. Similarly, a clutch 16 for connecting and disconnecting the actuator for changing the gear shift position and the sub-transmission device 14,
It may also be configured to be hydraulically operated.

Also, regarding the main transmission 8, the auxiliary transmission 14
Similarly, the specific structure of the gear shifting operation can be changed in various ways.

Further, in the embodiment described above, the sub-shift changeover control means 102 is configured to automatically switch only the sub-transmission device 14 to the low speed side, and return to the high speed side by manual operation using the sub-shift lever 12. For example, a means for detecting the operation position of the sub-shift lever 12 is provided, and the remote control means 10
It may be configured to automatically return to the original operating position when the boarding control means 100 returns from the first operating state to the operating state of the boarding control means 100.

Further, the auxiliary transmission motor 13 is constructed to be able to freely rotate in the forward and reverse directions, and is provided with a switch or the like for instructing switching of the auxiliary transmission position during boarding operation, so that the auxiliary transmission motor 13 It may be possible to switch between high and low levels by controlling the operation of actuators such as the above.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings by the reference numerals.

[Brief explanation of drawings]

The drawings show an embodiment of the travel control device for a working vehicle according to the present invention, FIG. 1 is a block diagram showing the configuration of the sub-shift switching control means, FIG. 2 is a block diagram showing the control configuration, and FIG. FIG. 2 is an overall side view of the vehicle. V... Working vehicle, 8... Main transmission, 14... Sub-transmission, 100... Boarding control means, 101...
Remote control means, 102...Sub-shift changeover control means.

Claims (1)

[Claims] 1 Main transmission 8 and sub-transmission 14 for traveling transmission
A travel control device for a work vehicle is provided with a boarding control means 100 for manually controlling the travel of the work vehicle V and a remote control means 101 for remotely controlling the travel of the work vehicle V, wherein the remote control means 101 is activated. This traveling control device for a work vehicle is provided with a sub-shift switching control means 102 that automatically switches the sub-transmission device 14 to a low speed side when the state is switched to the low speed side.