JPH05336813A - Mobile farm machine - Google Patents

Abstract

PURPOSE:To get a running speed matching the operating feeling of a speed change lever in the whole speed range by keeping the variation ratio of the operation amount of a speed change lever to the running speed of a stepless transmission to an almost constant level. CONSTITUTION:The speed-changing motor 61 of a stepless transmission is controlled based on the output of a speed-changing potentiometer 66 interlocked with a speed change lever. The output characteristics of the speed-changing potentiometer are set in such a manner as to keep the variation ratio of the operation amount of the speed change lever to the running speed of the stepless transmission to an almost constant level.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a rice transplanter equipped with a seedling table and a planting claw for continuously performing seedling planting work.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Laid-Open No. 3-249477, there has been a technique in which a continuously variable transmission mechanism is operated by an actuator to change the transmission speed of a belt.

[0003]

In the above-mentioned prior art, since the shift potentiometer output characteristic of the shift lever is set to the B characteristic in which the change amount of the shift lever and the change in traveling speed are constant, the shift lever operation amount in the high speed range is set. Since the rate of change of the running speed is smaller than the rate of change of, the difference between the operation sensitivity of the gear shift lever and the actual change of the running speed is likely to be different, and it is necessary to make the feeling of gear shift lever operation different between the low speed range and the high speed range. There were some handling problems.

[0004]

SUMMARY OF THE INVENTION Therefore, according to the present invention, in the mobile agricultural machine for controlling the actuator of the continuously variable transmission mechanism based on the output of the transmission potentiometer interlocked with the transmission lever, the operation amount of the continuously variable transmission mechanism and the continuously variable transmission mechanism. The actuator control signal of the shift potentiometer has an output characteristic for keeping the rate of change of the traveling speed substantially constant, and the shift potentiometer has the characteristic A for keeping the rate of change of the shift lever operation amount and the traveling speed substantially constant. Since the output characteristics are set, it is easy to obtain a running speed that matches the feeling of operating the shift lever in all speed ranges, and there is no need to make the feeling of operating the shift lever different in the low speed range and the high speed range as in the past. It is possible to easily improve the operability of the shift lever.

Further, a preset member for initially setting the characteristics of the actuator control signal of the shift potentiometer is provided, and the rate of change of the traveling speed can be arbitrarily set by the preset member, so that the operator can feel the operation of the shift lever. The change in traveling speed can be easily obtained, and the operation sensitivity of the speed change lever can be easily selected according to the working conditions or the skill level of the work.

[0006]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a side view of a travel speed change control circuit, FIG. 2 is a side view of a passenger rice transplanter, and FIG. 3 is a plan view of the same. In FIG. 1, (1) is a traveling vehicle on which an operator mounts an engine (2). The rear end of the vehicle body frame (3) is continuously connected to the mission case (4), and the front wheel (6) for traveling the paddy field is supported in front of the mission case (4) through the axle case (5). (4) A transmission case (7) is connected to both sides of the rear portion of the rear portion, and a rear wheel (8) for traveling a paddy field is supported at the rear end portion of the transmission case (7). Then, on both sides of the hood (9) covering the engine (2), etc.
0) is mounted and the mission case (4) is formed by the body cover (12) forming the step (11).
Etc. and cover the driver's seat (1
3) is attached, and a steering handle (14) is provided at the rear of the hood (9) in front of the driver's seat (13).

Further, (15) in the figure is a planting section comprising a seedling table (16) for 6-row planting and a plurality of planting claws (17), which are made of a synthetic resin having a high front and a low front. Forward tilting seedling stand (1
6) is supported by the planting case (20) via the lower rail (18) and the guide rail (19) so as to be slidable left and right, and at the same time, the rotary case (21) is rotated at a constant speed in one direction. The nail case (22) (22), which is a pair of planting arms, is disposed in a symmetrical position about the rotation axis of the case (20) and is supported by the case (20). Attach the planting claws (17) (17) to the. A support frame (24) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23), and a three-point link mechanism (27) including a top link (25) and a lower link (26) is provided. The link frame (27) by connecting a support frame (24) to the rear side of the traveling vehicle (1).
Lifting cylinder (2) that lifts and lowers the planting part (15) via the
8) is connected to the lower link (26) and the front and rear wheels (6) and (8) are driven to move, and at the same time, one seedling is planted from the seedling table (16) that slides back and forth from side to side. The nails (17) are taken out and the seedlings are continuously planted.

Further, in the figure, (29) is a main transmission lever, and (3
(0) is a sub-shift lever for planting up / down and work traveling gear shifting, (3
1) is a planting sensitivity adjusting lever, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, and (3)
(4) is a center float for leveling two lines, (35) is a side float for leveling two lines, (36) is a side fertilizer applicator, and (3)
7) is a chemical spraying machine.

Further, as shown in FIGS. 4, 5 and 6, a gear case (39) through which the steering shaft (38) of the steering handle (14) is inserted is provided on the rear side of the engine (2), and the input / output is performed. Pulleys (40) (41) and belts (42)
Equipped with a continuously variable transmission mechanism (43) having an engine (2)
To the output shaft (44) of the gear case (39)
5) is connected via the continuously variable transmission mechanism (43), and the transmission case (4) is connected to the gear case (39) via the output shaft (46), and the front-rear traveling drive shafts (47) (48) are connected. ) Is connected to each of the cases (5) and (7) via the transmission case (4), and the planted drive shaft (4)
9) via the mission case (4) to the planted case (2)
0) is connected, and the input pulley (41) and the input shaft (4) are connected via the main clutch (50) which is intermittently operated by the main clutch pedal (32) and the reduction gear (51).
5) and the output shaft (46) are connected to each other, and the continuously variable transmission mechanism (4
3) and the gear case (39), the output of the engine (2) is decelerated and transmitted to the mission case (4), and
The multistage shift output by the main shift lever (29) of the mission case (4) is transmitted to the front and rear wheels (6) (8) and the planting part (15).
It is configured to be transmitted to.

Further, input / output cams (54) (5) connected to the tension roller (52) by a rod (53).
5) and input / output rollers (56) (57) that are brought into contact with the respective cams (54) (55), and output rollers (5
The mounting plate (58) provided with 6) is fixed to the side surface of the engine (2), and the mounting plate (59) provided with the input roller (57) is attached to the support frame (60) of the vehicle body frame (3).
Fixed to the actuator, the variable speed motor (61)
The input cam (55) is connected to the screw shaft (62) and the forward and reverse control of the motor (61) attached to the vehicle body frame (3) is performed via the rod (53) to output and input cams (54) (55). ) Is rotated and the input / output pulley (40) is rotated.
(41) The width is changed to change the winding diameter of the belt (42), and the gear ratios of the pulleys (40) (41) and the belt (42) are continuously changed.

Further, as shown in FIGS. 1, 7 and 8, the main clutch switch (63) which is turned on by the disengagement operation of the main clutch (50) and the operation panel at the rear of the bonnet (9) are attached to the vehicle for traveling. A speed increase switch (64) for increasing the speed to a predetermined speed, a roadside travel switch (65) for detecting roadside switching of the main speed change lever (29), and a speed change for detecting the shift position of the auxiliary speed change lever (30). A feedback potentiometer (67) which is a feedback sensor for detecting the amount of displacement of the input / output cams (54) (55) by the potentiometer (66) and the speed change motor (61).
And a regulator (68) for connecting the generator of the engine (2) to the battery, a travel speed change control circuit (69) including a microcomputer, and switches (63) (64) (65), Each potentiometer (66) (67) and regulator (68) are connected to the control circuit (69).

Further, the speed-up and speed-down circuits (70) (71)
The transmission motor (61) is connected to the control circuit (69) via the switch, and the manual switch (72) is connected to each of the circuits (70) (71) to operate the auxiliary transmission lever (30) or the manual switch ( 72) The forward / reverse rotation of the transmission motor (61) is performed by operation to control the transmission of the continuously variable transmission mechanism (43). As shown in FIG.
The potentiometer (66) is formed so that the output of the shift potentiometer (66) becomes the curve (solid line) of the A characteristic with respect to the operation amount (stroke) of (0), and the auxiliary shift lever (3).
0) and the output characteristic of keeping the change rate of the traveling speed of the continuously variable transmission mechanism (43) substantially constant, the shift motor (61) control signal of the shift potentiometer (66) is configured to have the output characteristic. The rate of change of the lever (30) operation amount and the traveling speed is kept substantially constant in the entire auxiliary shift traveling speed range, and as shown in FIG. 1, the transmission motor (6) of the transmission potentiometer (66) is used.
1) A continuously variable transmission sensitivity setting device (73) which is a preset member for initially setting the characteristics of the control signal is provided, and the setting device (7)
3), the output characteristic (constant number of B characteristic) of the transmission potentiometer (66) is initialized, and the auxiliary transmission lever (3) is adjusted according to the working conditions such as the field or the skill level of the operator.
The operation sensitivity of 0) is selected.

This embodiment is constructed as described above, and is shown in FIG.
As shown in FIG. 8, switching between road running (high speed forward), work running with planting (low speed forward), seedling joint (temporary stop), and reverse is performed by operating the main shift lever (29), and as shown in FIG. , Up and down of the planting part (15) (disengagement of the planting clutch), movement of the left and right markers to the operating position and engagement of the planting clutch, low-speed to high-speed (forward) continuously variable sub-shifts, the sub-shift lever (30 ) Do by operation.

Further, as shown in the flowchart of FIG. 10, the main clutch (50) is turned off at a headland or the like, and the main clutch switch (63) provided in series with the starter motor and acting as a safety switch is turned on. When the speed increasing switch (64) is off, the speed change motor (61) is automatically decelerated to a predetermined low speed and maintained at the predetermined low speed, while when the speed increasing switch (64) is on. The speed change motor (61) is decelerated to a position higher than the predetermined low speed in the OFF state by a certain width to maintain the speed at a constant higher speed than the predetermined low speed.

When the main clutch (50) is on and the main clutch switch (63) is off, the road drive switch (6)
5) or when the speed increasing switch (64) is turned on, the speed change motor (61) is automatically speeded up to a predetermined speed,
Maintain at a predetermined speed.

Further, each of the switches (63) (64)
When (65) is off, the inputs of the potentiometers (66) and (67) for gear shift and feedback are compared, and the gear shift motor (61) is operated by changing the gear shift position of the auxiliary gear shift lever (30) in the planting work state. , Continuously variable transmission (4
3) is controlled to continuously change the planted traveling speed. When the auxiliary gearshift lever (30) is operated at a high speed side to increase the speed, the speed change motor (6
On the other hand, when deceleration is performed by operating the lever (30) on the low speed side, the speed change motor (61) is operated at high speed by continuous drive to perform the deceleration operation while activating 1).

Further, when the speed change motor (61) is performing an acceleration / deceleration operation, the motor (61) is stopped while the acceleration or deceleration control signal is output, and the value of the feedback potentiometer (67) is changed. Is approximately constant, the potentiometer (67) value is set to the motor (6
It is stored as the maximum or minimum limit position in 1) and used as a limit value for controlling the motor (61) until it is reset by turning off the power, and the motor (61) is operated so that only the reverse operation is performed.

Further, when the speed change motor (61) is performing an acceleration / deceleration operation, the voltage change of the regulator (68) becomes 0 V when the engine (2) is operating and 12 V when the engine (2) is stopped. Of the sub-transmission operation such as the operation of the manual switch (72) by stopping the traveling speed change control of the speed change motor (61) by stopping the engine (2) detected by the 12-volt constant voltage of the regulator (68). When the switch (63) (64) (65) is off and the shift potentiometer (66) is operated by the auxiliary shift lever (30) while the engine (2) is operating, the shift is enabled. The continuously variable transmission mechanism (43) is controlled by the motor (61), and the planted traveling speed is changed.

Further, FIG. 11 shows a modification of the above-mentioned FIG. 8, in which the operating arm of the shift potentiometer (66) directly contacts the lever (30) at the sub-shift position of the sub-shift lever (30). Although they were in contact with each other and linked, Figure 1
1, the one end side of the slide plate (73) is connected to the lever (30), and the pin (75) of the operation arm (74) of the transmission potentiometer (66) is connected to the slide plate (73).
Of the arm (74) which is inserted into the long hole (76) of the armature and is supported at a predetermined position by the spring (77) and the stopper (78) through the slide plate (73) by the shift operation of the lever (30). Can also be done. The stopper (7
8) is omitted, the entire operation of the lever (30) and the arm (7
4) can be interlocked and the output of the potentiometer (66) only in the shift range of the lever (30) can be used.

[0020]

As is apparent from the above embodiments, the present invention controls the actuator (61) of the continuously variable transmission mechanism (43) based on the output of the transmission potentiometer (66) which is interlocked with the transmission lever (30). In the mobile agricultural machine, the actuator (61) control signal of the shift potentiometer (66) has an output characteristic that keeps the operation amount of the shift lever (30) and the rate of change of the traveling speed of the continuously variable transmission mechanism (43) substantially constant. Gearshift lever (30)
Since the output characteristic of the shift potentiometer (66) is set to the A characteristic that keeps the change rate of the operation amount and the traveling speed substantially constant,
It is possible to easily obtain a traveling speed that matches the operation feeling of the speed change lever (30) in all speed ranges, and it is not necessary to make the operation feeling of the speed change lever (30) different between the low speed range and the high speed range as in the conventional case. It is possible to easily improve the operability of the speed change lever (30).

Further, a preset member (73) for initializing the characteristics of the actuator (61) control signal of the shift potentiometer (66) is provided, and the preset member (73) can arbitrarily set the rate of change of the traveling speed. From this, it is possible to easily obtain a change in traveling speed according to the operator's feeling of operating the speed change lever (30), and it is possible to easily select the operation sensitivity of the speed change lever (30) according to the work conditions or the skill level of the work. It is a thing.

[Brief description of drawings]

FIG. 1 is a travel shift control circuit diagram.

FIG. 2 is a side view of a passenger rice transplanter.

FIG. 3 is a plan view of the same.

FIG. 4 is a plan view of a traveling drive unit.

FIG. 5 is a side view of the continuously variable transmission mechanism.

FIG. 6 is a plan view of the same.

FIG. 7 is a plan view of a main shift lever portion.

FIG. 8 is a plan view of an auxiliary shift lever portion.

FIG. 9 is a shift potentiometer output diagram.

10 is a flowchart of FIG.

FIG. 11 is a side view of the auxiliary shift lever portion.

[Explanation of symbols]

 (30) Auxiliary transmission lever (43) Continuously variable transmission mechanism (61) Transmission motor (actuator) (66) Transmission potentiometer (73) Continuously variable transmission sensitivity setting device (preset member)

Claims (2)

[Claims] 1. In a mobile agricultural machine that controls an actuator of a continuously variable transmission mechanism based on an output of a gearshift potentiometer that is interlocked with a gearshift lever, the rate of change between the operation amount of the continuously variable transmission mechanism and the operation amount of the continuously variable transmission mechanism is made substantially constant. A mobile agricultural machine characterized in that the actuator control signal of the speed change potentiometer has an output characteristic to be maintained. 2. The mobile agricultural machine according to claim 1, further comprising a preset member for initializing a characteristic of an actuator control signal of the transmission potentiometer.