JPH057604Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention provides remote control means for controlling the operation of a gear shift actuator and a steering actuator based on instruction information from a transmitter, and a manual clutch mechanism that connects and disconnects the transmission actuator from the transmission device; The present invention relates to a travel control device for a remote-controlled work vehicle in which the device is linked to a speed change operation means for boarding and maneuvering.

[Conventional technology]

This type of remotely controlled work vehicle described above is equipped with a remote control means and a boarding control means so that work can be carried out safely even on sloped areas where it is difficult for workers to board and drive. be.

Conventionally, switching between the remote control means and the boarding control means has been performed manually using a control mode changeover switch or the like provided on a panel of the working vehicle.

During boarding operations, the shift actuator for remote control is prevented from becoming a load on the shift operating means for boarding operations, and even if the shift actuator is activated unexpectedly, the shift position of the transmission device is prevented from moving. In order to avoid
A manual clutch mechanism is provided for disconnecting and disconnecting the transmission actuator from the transmission.

[Problem that the invention attempts to solve]

However, in the conventional means described above, in order to switch between the remote control means and the onboard control means, it is necessary to operate a control mode changeover switch and also operate a manual clutch mechanism that connects and disconnects the transmission actuator and the transmission. The operation mode switching operation was troublesome. Moreover,
If the switching direction of the control mode and the operating direction of the manual clutch mechanism did not match, there was a risk that the transmission could not be operated normally.

The present invention has been developed in view of the above-mentioned circumstances, and its purpose is to easily and appropriately switch between remote control means and onboard control means.

[Means for solving problems]

The characteristic configuration of the travel control device for a remote-controlled working vehicle according to the present invention is such that the manual clutch mechanism is configured to act as a boarding control means when the manual clutch mechanism is disengaged, and to become a remote control means when the manual clutch mechanism is engaged. There is provided a control mode switching means for selectively switching the remote control means and the boarding control means to the operating state in accordance with the operation, and its functions and effects are as follows.

[Effect]

That is, when the manual clutch mechanism that connects and disconnects the transmission actuator and the transmission is in the disengaged state, the boarding control means is in the operating state, and when the manual clutch mechanism is in the engaged state, the remote control means is in the operating state. Then, in conjunction with the operation of the manual clutch mechanism, the remote control means and the boarding control means are selectively switched into the operating state.

[Effect of idea]

Therefore, the switching operation between the remote control means and the boarding control means can be easily and reliably performed only by operating the manual clutch mechanism. Also,
It has now become possible to improve the operability of the switching operation of the control means.

〔Example〕

Hereinafter, embodiments of the present invention will be described based on the drawings.

As shown in Figure 4, the engine E
A working vehicle is constructed by suspending a lawn mower 1 driven by the output of the lawn mower 1 and used for cutting grass, weeds, etc.

To explain the vehicle body V, as shown in FIGS. 3 and 4, it is provided with a pair of left and right front wheels 2 and a pair of left and right rear wheels 3, and is operated by operating the pair of front and rear wheels 2 and 3 separately. Hydraulic cylinders 4 and 5 for steering as actuators for steering and control valves 6 and 7 therefor are provided. A hydraulic continuously variable transmission 8, which can freely switch forward and backward, and can freely change forward and backward speeds, is connected to the engine E, as well as a speed change pedal 9 as a speed change operation means for on-board operation, and a speed change for remote control. A variable speed motor 10 is provided as an actuator. Further, a steering handle H is provided as a steering operation means for boarding and maneuvering.

The configuration of the speed change pedal 9 will be explained as follows.
As shown in FIGS. 1 and 2, the shift position of the transmission device 8 is configured to automatically return to the shift neutral position N when the depressing operation on the shift pedal 9 is released. That is, the swing arm 1 includes the roller 13 that engages with the cam plate 12 that swings integrally with the speed change arm 11 of the transmission 8.
4, and a spring 15 that elastically urges the swing arm 14 toward the engagement side.

Further, the speed change motor 10 and the speed change arm 11
The speed change motor 10 and the speed change arm 11 are interlocked and connected via a manual clutch mechanism 16 which can be disconnected and disconnected from the speed change motor 10 and the speed change arm 11. A clutch lever 17 for operating the manual clutch mechanism 16 and a link member 18 for interlockingly connecting the manual clutch mechanism 16 and the clutch lever 17 are provided, and as the clutch lever 17 is engaged,
The speed change motor 10 and the speed change arm 11 are linked,
In addition, as the switching operation is performed, the speed change motor 1
0 and the transmission arm 11 are disconnected from each other.

Further, a limit switch 19 serving as an operation mode switching means for selectively switching between the remote control means and the boarding control means is connected to a control device A, which will be described later, and is linked to the on/off operation of the manual clutch mechanism 16. It is designed to be operated as follows. In other words, the limit switch 19
Switch switching member 20 for turning on and off
is attached to the intermediate portion of a link member 18 that connects the clutch lever 17 and the manual clutch mechanism 16, and when the clutch lever 17 is engaged, the limit switch 19 is turned on and the remote control means is activated. In addition, the limit switch 19 is turned OFF when the clutch lever 17 is engaged, and the boarding control means is activated.
The transmission motor 10 and the transmission 8 are connected intermittently, and the remote control means and the onboard control means are configured to be selectively switched into operation.

In addition, for steering by changing the direction of the pair of front and rear wheels 2, 3, there are two methods: a parallel steering type in which the front and rear wheels 2, 3 are changed in the same direction, and a parallel steering type in which the pair of front and rear wheels 2, 3 are changed in the opposite direction. make a sharp turn 4
It is possible to use a wheel steering type and a two-wheel steering type in which only the front wheels 2 are changed direction. And during remote control,
The configuration is such that the parallel steering type and the four-wheel steering type can be selected, and any one of the three types of steering types can be selected during boarding operation.

To explain the configuration of the remote control, as shown in FIG. 3, there is a control device A and a transmitter that give operating commands to the control valves 6 and 7 of the steering hydraulic cylinders 4 and 5 and the variable speed motor 10, respectively. 2
1, the control device A receives travel instruction information from A.
A receiver 22 is provided for transmitting information to the user.

Further, a front wheel steering position detection potentiometer R ₁ detects the steering position of the pair of front wheels 2, and a rear wheel steering position detection potentiometer R1 detects the steering position of the pair of rear wheels 3. ₂ , and the speed change arm 1
A shift position detecting potentiometer _R3 for detecting the first position, that is, the shift position, is provided, and the detection signals of the potentiometers _R1 , _R2 , _R3 are inputted to the control device A.

A shift lever 2 that instructs the transmitter 21 to a target shift position of the transmission device 8 by its longitudinal movement.
3. Indicates the steering type by forward and backward movements,
and a steering lever 2 that instructs target steering positions of the front and rear wheels 2 and 3 by left and right movement.
4, and various sensors for detecting the operating position and operating amount of each of the levers 23 and 24, and a transmitting device for transmitting information detected by the sensors to the receiver 22 as driving instruction information. It is provided. For safety reasons, the shift lever 23 is biased so that it automatically returns to the neutral state, that is, the shift position to the neutral position N when its operation is stopped.

In other words, the target shift position instructed by the transmitter 21 and the shift position detection potentiometer
The operation of the speed change motor 10 is controlled so that the speed change position detected by R3 coincides with the speed change position detected by _R3 ,
Further, based on the steering type instruction information and the target steering position instructed from the transmitter 21 and the detection information of the steering position detection potentiometers R ₁ and R ₂ of the front and rear wheels 2 and 3, respectively, the steering It is configured to control the operation of the control valves 6 and 7 of the hydraulic cylinders 4 and 5, so that the vehicle body V automatically travels at the designated speed, and the steering position of the front and rear wheels 2 and 3 is controlled. The driving of the vehicle body V can be controlled remotely so that the steering wheel is in an instruction steering type and reaches a target steering position.

To explain the configuration of the boarding maneuver, information on the steering type selection switch 25 and detection information of the target steering position detection potentiometer _R0 that detects the operating position of the steering handle H, that is, the target steering position during the boarding maneuver. is input into the control device A, and
Based on the information, the operation of the control valves 6, 7 of the steering hydraulic cylinders 4, 5 is controlled to steer the front and rear wheels 2, 3 in the instructed steering style and at the target steering position by the steering handle H. It is configured so that it can be operated. Note that during boarding maneuvers, the shift position of the transmission device 8, that is, the vehicle speed, is adjusted by directly operating the shift arm 11 with the shift pedal 9.

[Another example]

In the above embodiment, the control mode switching means includes a limit switch 19 that is operated on and off in conjunction with the operation of the manual clutch mechanism 16.
is set up to turn on/off this limit switch 19.
Although we have exemplified a configuration in which the operation mode is switched according to the following, it is also possible to provide a sensor or the like to detect the operation position of the manual clutch mechanism 16 and to switch the operation mode based on the operation position detection information by this sensor. .

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control device for a remote-controlled working vehicle according to the present invention, FIG. 1 is a schematic side view showing the operating configuration of the transmission, FIG. 2 is a plan view of the main parts thereof, and FIG. FIG. 4 is a block diagram showing a schematic configuration of a control system and a schematic configuration of a transmission system, and FIG. 4 is an overall side view of the lawn mowing vehicle. V... Vehicle body, H... Steering operation means, 4, 5...
Steering actuator, 8... Transmission device, 9...
Speed change operation means for boarding operation, 10... Speed change actuator, 16... Manual clutch mechanism, 19
...Maneuvering mode switching means, 21...Transmitter.

Claims (1)

[Scope of utility model registration request] Based on the instruction information from the transmitter 21, the gear shift actuator 10 and the steering actuator 4, 5
and a boarding control means for controlling the operation of the steering actuators 4 and 5 based on instruction information from a steering operation means H installed on the vehicle body V, Actuator 1
A traveling control device for a remote-controlled working vehicle, which is equipped with a manual clutch mechanism 16 for connecting and disconnecting the transmission 8 and the transmission 8, and in which the transmission 8 is linked to a speed change operation means 9 for riding operation. With the operation of the manual clutch mechanism 16, the remote control means and the boarding control means are connected so that the manual clutch mechanism 16 becomes the boarding control means in the disengaged state and becomes the remote control means in the engaged state. A travel control device for a remote-controlled work vehicle, which is provided with a control mode switching means 19 for selectively switching to an operating state.