JPH05338464A - Moving agricultural machine - Google Patents

Abstract

PURPOSE:To make deceleration travel less and improve work efficiency by making constitution so that an actuator may be conducted with pulse drive at the time of speed increase and with continuous drive at the time of speed decrease. CONSTITUTION:A main clutch switch 63; a travel speed increase switch 64; a road travel switch 65; a shift potentiometer 66 for an auxiliary shift lever; and a feedback potentiometer 67 for the displacement detection of an input and output cam by a shift motor 61 that is an actuator; are connected to a travel speed shift control circuit 69. In addition, the speed shift of a continuously variable transmission is conducted by connecting speed increase and decrease circuits 70, 72 and the shift motor 61 together with a manual operation switch 73 to the travel speed shift control circuit 69. At this time, the shift motor 61 is conducted with pulse drive at the time of speed increase, and at the time of speed decrease, is conducted with continuous action whose action force is small and whose action speed is large. Accordingly, danger at the time of approaching a footpath between rice-fields is reduced, and deceleration travel is lessened, and work efficiency can be improved.

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 Application Laid-Open No. 3-56760, there has been a technique for operating a continuously variable transmission mechanism by an actuator to change the transmission speed of a belt.

[0003]

In the above-mentioned prior art, since the operating force and the operating speed of the actuator are set on the basis of the operating force on the speed increasing side having a large operating load, the operating speed on the decelerating side of the actuator is easily set to be slow, There is a risk that the response will be delayed even if deceleration operation is performed due to the ridges approaching during planting work, and if the deceleration operation is performed in anticipation of the time required for deceleration, the vehicle will decelerate more than necessary and work efficiency will decrease There was a problem.

[0004]

SUMMARY OF THE INVENTION Therefore, according to the present invention, an actuator for operating a continuously variable transmission is provided, and in a mobile agricultural machine in which the traveling speed is continuously changed by the actuator control, the actuator is pulse-driven at the time of increasing the speed. ,
Since the actuator is continuously driven during deceleration, the deceleration operation speed is increased while maintaining the acceleration operation force above a predetermined level, which can reduce the risk of approaching ridges and the like, and reduce deceleration travel. Therefore, it is possible to easily improve work efficiency.

Further, in a mobile agricultural machine in which an actuator for operating a continuously variable transmission mechanism is provided, and the traveling speed is changed steplessly by the actuator control, the actuator operating force at the time of increasing the speed is set to be larger than that at the time of decelerating. The actuator operating speed is higher than that during acceleration, and the deceleration operating speed is increased while maintaining the acceleration operating force above a certain level, which can reduce the risk of approaching ridges and the like. It is possible to easily improve work efficiency by reducing deceleration traveling.

[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 speed change motor (61) is normally and reversely operated to control the speed change of the continuously variable speed change mechanism (43). As shown in FIG. 9, the speed change motor (61) which is an actuator is pulse-driven at the time of increasing the speed. , The motor (61) is continuously driven during deceleration, the operating force of the motor (61) during acceleration is greater than that during deceleration, and the operating speed of the motor (61) during deceleration is higher than that during acceleration. It is configured so that the work efficiency can be improved by shortening the distance required for decelerating traveling when approaching, and the danger such as collision can be avoided by shortening the deceleration time to a predetermined speed.

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. In addition, at the time of factory shipment adjustment, the speed change lever (30) and each potentiometer (66) (67) are operated by full stroke, and the maximum and minimum voltages of each potentiometer (66) (67) at this time are read, It is also easy to correct the minimum shift position and parts and mounting errors.

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 is provided with an actuator (61) for operating the continuously variable transmission mechanism (43), and the travel speed is continuously changed by controlling the actuator (61). In an agricultural machine, the actuator (61) is pulse-driven during acceleration, and the actuator (61) is continuously driven during deceleration, so the deceleration operation speed is increased while maintaining the acceleration operation force above a predetermined level. The risk of approaching a ridge or the like can be reduced, and deceleration traveling can be reduced to easily improve work efficiency.

Further, an actuator (61) for operating the continuously variable transmission mechanism (43) is provided, and the actuator (6)
1) In a mobile agricultural machine in which the traveling speed is continuously changed by control, the operating force of the actuator (61) during acceleration is set higher than that during deceleration, and the operating speed of the actuator (61) during deceleration is faster than during acceleration. With this, the deceleration operation speed is increased while maintaining the acceleration operation force above a predetermined level, so it is possible to reduce the risk when approaching ridges, etc.,
It is possible to reduce the deceleration traveling and easily improve the work efficiency.

[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 motor output diagram.

10 is a flowchart of FIG.

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

[Explanation of symbols]

 (43) Continuously variable transmission mechanism (61) Transmission motor (actuator)

Claims (2)

[Claims] 1. In a mobile agricultural machine provided with an actuator for operating a continuously variable transmission mechanism and steplessly changing the traveling speed by the actuator control, the actuator is pulse-driven during acceleration and continuously driven during deceleration. A mobile agricultural machine characterized by being configured. 2. In a mobile agricultural machine provided with an actuator for operating a continuously variable transmission mechanism and steplessly changing the traveling speed by the actuator control, the actuator operating force at the time of speed increase is set to be larger than that at the time of deceleration, and A mobile agricultural machine characterized by an actuator operating speed that is faster than during acceleration.