JPH059938Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention relates to a loading/unloading travel control device for traveling work vehicles such as tractors, combine harvesters, and rice transplanters whose bodies are moved by being mounted on a truck loading platform. It is something.

[Problems to be solved by the prior art and the invention] In general, in this type of mobile work vehicle, when the field is far from the barn, for example, the machine is mounted on a truck bed and connected between the barn and the field without making it self-propelled. You may move between locations. In such a case, the aircraft is loaded onto and unloaded from the truck bed by running on a bridge plate that is slanted between the truck bed and the ground. However, because the bridge plate was narrow and sloped, loading and unloading onto the truck bed while the work vehicle was still on the aircraft was both frightening and extremely dangerous. . For this reason, conventionally,
Driving conditions were set during loading and unloading, and the loading and unloading on the bridge board was carried out unmanned. However, in this case, if the work vehicle does not quickly transfer to the moving aircraft and stop the aircraft once it has finished traveling on the bridge plate, the aircraft will stall and land on the track. There was a risk of collision with the loading platform, and it was extremely dangerous to transfer to the aircraft, resulting in a significant lack of safety.

[Means for solving the problem] In view of the above-mentioned circumstances, the present invention was devised for the purpose of providing a loading/unloading travel control device for a traveling work vehicle that can eliminate these drawbacks. The control unit that controls the movement of the aircraft is equipped with a movement switching means for switching whether or not the aircraft is loading or unloading, and the aircraft changes from an inclined position to a horizontal position during loading and unloading. and an attitude detection means for detecting the attitude detection means, and in conjunction with the detection operation of the attitude detection means, the movement of the aircraft is automatically stopped after the aircraft changes from a tilted attitude to a horizontal attitude when the aircraft is loading and unloading. It is characterized by the following structure.

With this configuration, the present invention is capable of automatically stopping the vehicle after the inclined loading/unloading operation is completed.

[Example] Next, an example of the present invention will be described based on the drawings. In the drawings, reference numeral 1 denotes a traveling body of a combine harvester, in which power from an engine E is transmitted to a transmission 2 via a continuously variable transmission mechanism 3 whose driving side is formed on a counter shaft 3a. At this point, forward/reverse switching and sub-shift switching are performed to transmit power to the drive wheels 4 of the crawler type traveling body.

Reference numeral 5 denotes a control unit formed by a member such as a microcomputer, and the control unit 5 includes a lever angle detection sensor 7 consisting of a potentiometer that detects the operating angle of the continuously variable speed change lever 6. Detected value, the speed change state detection sensor provided on the side of the continuously variable transmission mechanism 3 (for example, the quantitative speed change state is detected by detecting the stroke of the hydraulic cylinder 3b) 8
sensor detection values such as a detection value from a rotation speed detection sensor 9 that detects the engine rotation speed, a loading/unloading switch 10, a forward movement detection switch 11, and an inclination sensor, which constitute travel switching means as described later. Signals from switches such as the switch 12 and the sub-shift detection switch 13 are input. Based on these input signals, the control unit 5 outputs control commands to the speed increase solenoid 3c and the deceleration solenoid 3d, which control the continuously variable transmission mechanism 3, to perform stepless traveling speed change, and By operating the steering lever 16, an intermittent command can be output to the left and right steering clutch solenoids 4a and 4b to direct the aircraft (and also apply braking).

Next, the control procedure of the control section 5 will be explained. In this case, when the main switch is turned ON and the system is activated, the control section 5 first checks whether the loading/unloading switch 10 is turned OFF, that is, the normal running state is established. In this case, it is determined whether the switch contact is OFF) or the loading/unloading state is in progress (the switch contact is ON), and if the judgment is YES because the switch contact is OFF, the lever angle is detected. Detection value A of sensor 7
and the detection value B of the shift state detection sensor 8, and if the detection value A is determined to be large (A>B), that is, if it is determined that the continuously variable transmission lever 6 is on the high speed side. outputs a control command to the speed-increasing solenoid 3c to change the continuously variable transmission mechanism 3 to the speed-increasing side, and conversely, when it is determined that the detected value B is large (B>A), that is, the continuously variable transmission mechanism 3 When it is determined that the speed change lever 6 is on the low speed side, a control command is output to the deceleration solenoid 3d to change the continuously variable transmission mechanism 3 to the low speed side, and both detected values A and B are equal. (A=B), both solenoids 3
C and 3d are in a non-operating state so that a continuously variable speed is achieved.

On the other hand, if the loading/unloading switch 10 is turned ON and the determination is NO, the auxiliary shift detection switch 13 further determines whether the auxiliary shift lever 14 is located at the low speed L position. Moreover, it is determined whether or not the detected value by the engine rotation speed detection sensor 9 is in an appropriate low speed rotation state, and the sub-shift lever 14 is located at the low speed position and the engine rotation speed is in the appropriate low speed rotation state. When it is determined that the minimum speed running condition of reaching the rotational speed is satisfied, the lever detection value A is set to a preset minimum speed setting value regardless of the lever position. Furthermore, the tilt sensing switch 12 determines whether the aircraft has changed from a tilted state to a horizontal state, that is, from a state where the aircraft is running on the bridge plate 15 and the tilt sensing switch 12 is turned ON.
When the bridge plate 15 has finished traveling and is in a horizontal state,
It is determined whether or not the switch has been switched to the OFF side, and if a NO judgment is made that the switch has not been switched to the OFF side, the low-speed running control of the aircraft based on the minimum speed setting value described above is continued; If the judgment is YES that the aircraft has switched to the side, then a timer time T is set in advance from the time of switching (the timer time is, for example, the time from when the aircraft is in a horizontal position until it passes the bridge plate). (Arbitrarily determined based on time, etc.) has elapsed, and if the determination is NO as it is within the timer time, the aircraft will continue to be controlled based on the minimum speed setting value. continues, and if the timer time T has elapsed and a YES determination is made, the control unit 5 outputs a control command to the steering clutches 4a, 4b to switch them to the disengaged side and to apply braking. The vehicle is automatically switched to the parking state by applying the following information, and in this way, the control section 5 is provided with travel switching means, attitude detection means, and travel stop means.

In the embodiment of the present invention configured as described above, the traveling control of the aircraft can be performed by operating the continuously variable transmission lever 6, but the loading and unloading onto the truck platform for transportation of the aircraft is If you do
It is necessary for the aircraft 1 to travel on the bridge plate 15, and in this case, the present invention allows unmanned travel on the bridge plate to be carried out safely and reliably.

In other words, if you want to load and unload this vehicle,
Switch the loading/unloading switch 10 to the ON side. In this state, in the embodiment, it is determined whether the minimum speed running conditions are met, that is, whether the sub-shift lever 14 is located at the low speed position and the engine is at the appropriate rotation speed (minimum speed running If the conditions are not met, an alarm will be issued to notify you), and if it is determined that the minimum speed driving conditions have been met, the minimum speed will be set regardless of the operating position of the continuously variable transmission lever 6, as described above. The aircraft, which has been controlled to run according to the set values, will run unmanned on the bridge plate 15. When the tilted flight on the bridge plate 15 is completed and the aircraft is in a horizontal position, the tilt sensing switch 12 is activated.
When the switch is switched from ON to OFF and the timer time T has elapsed thereafter, the aircraft will automatically stop traveling while remaining unmanned.

As described above, in the present invention, when loading and unloading, it is possible to run unmanned on the bridge plate and unload the aircraft from the truck loading platform. After traveling, if the aircraft changes from a tilted attitude to a horizontal attitude due to running onto a truck bed or descending into a field, the aircraft's movement is automatically stopped based on this attitude detection. Therefore,
There is no danger of having to immediately transfer to a moving aircraft and perform a stop operation after it finishes traveling on the bridge plate, as in the past, and safety can be significantly improved.

In addition, since the running speed during loading and unloading is set to the lowest speed regardless of the operating position of the continuously variable transmission lever 6, even greater safety is ensured and there is no risk of accidents due to stalling. This can be prevented from occurring. Furthermore, the above-mentioned automatic stop during loading and unloading can be performed in either forward or forward movement. Furthermore, in the embodiment, the aircraft does not stop immediately after becoming horizontal, but stops after the timer period has elapsed, so it is possible to avoid problems such as the aircraft remaining on the bridge plate. Become.

In addition, during the loading/unloading operation of the aircraft, the means for stopping the aircraft after the aircraft changes from a tilted position to a horizontal position is performed by intermittent engagement of the steering clutch in the above embodiment. The present invention is not limited to this, and may be performed by cutting off power transmission in a continuously variable transmission, for example.

[Function and Effect] In summary, the present invention is configured as described above, so if the travel switching means is switched to the loading/unloading side when loading and unloading the aircraft, the attitude detection means detects the aircraft's position. When a change in the vehicle's posture from a tilted position to a horizontal position is detected, the travel stop means is activated in conjunction with this, and the travel is automatically stopped. Therefore, when the aircraft is loading and unloading from the truck bed, there is no need to perform extremely dangerous work such as transferring to the moving aircraft and stopping the aircraft once it has finished running on the bridge plate. Loading and unloading work can be reliably carried out unattended, resulting in a significant improvement in safety.

[Brief explanation of drawings]

The drawings show an embodiment of the loading/unloading travel control device for a traveling work vehicle according to the present invention,
Figure 1 is an overall plan view of the combine harvester, Figure 2 is a diagram of the power transmission path to the travel system of the combine, Figure 3 is a block circuit diagram of the control mechanism, Figure 4 is a flowchart of the control procedure, and Figure 5 FIG. 2 is an action explanatory diagram showing a loading/unloading running state. In the figure, 5 is a control unit, 10 is a loading/unloading switch, 1
2 is a tilt sensing switch.

Claims (1)

[Scope of Claim for Utility Model Registration] 1. A control unit that controls the traveling of the aircraft, including traveling switching means for switching whether or not the aircraft is loading/unloading traveling, and a traveling switching means for switching the aircraft from an inclined position to a horizontal position during loading/unloading traveling. An attitude detection means for detecting that the attitude has changed, and a travel stop means for stopping the aircraft travel in conjunction with the detection operation of the attitude detection means. 1. A loading/unloading travel control device for a traveling work vehicle, characterized in that the vehicle is configured to automatically stop traveling after changing from a horizontal position to a horizontal position. 2. The scope of the utility model registration claim, characterized in that the stopping of the aircraft traveling after the aircraft changes from a tilted attitude to a horizontal attitude is controlled to occur after a preset timer time elapses. A loading/unloading travel control device for a traveling work vehicle according to item 1.