JPH0683618B2 - Travel control device for work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a travel control device for a working vehicle such as a cobain, and more particularly, to a vehicle operating device even when an operator is away from a driver's seat. Drive control device.

(B) Conventional Technology Conventionally, a working vehicle such as a combine harvests grain culms planted in a field by operating a cutting blade and traveling while appropriately raising and lowering a pretreatment unit. Even after the mowing work, the grain culms are left uncut in the corners of the field, and the grain stalks are gradually cut even in the already-cut part due to falling or coming off the cutting blade. It may be left. Then, in order to process these uncut grain culms, the operator temporarily stops the operation of the combine while driving the automatic threshing device, gets out of the driver's seat, and manually cuts the uncut grain culms remaining in the field. And threshing work is done by putting it into the opening of the threshing device where the feed chain is located.

(C) Problems to be Solved by the Invention However, when the above-mentioned conventional combine harvests the grain culm collected from the field while being stopped at the same place, the straw produced by the work is cut or cut. Therefore, if the work is continued, the straw will rise and the outlets of the cutters or knotters will be clogged. Furthermore, if straw piles are made in several places in the field by this method, not only the appearance is bad but also the composting of straw is bad. For this reason, the operator occasionally interrupts the manual handling work to remove the straw that has accumulated under the cutter or knotter, or returns to the driver's seat to move the aircraft to another location to continue the manual handling work. In particular, when there is only one operator or a small number of operators, it is necessary to repeatedly perform manual handling work and operation, resulting in heavy labor, increasing the burden on the operator, and being careful. There is a risk of being blunt and getting caught in the feed chain.

(D) Means for Solving the Problems The present invention is intended to solve the above problems, and for example, as shown in FIG. In the working vehicle 1 including the gear shift lever 13 and the main clutch 40, the actuator 32 for operating the continuously variable transmission 31, and the gear shift position detecting means 37 for detecting the gear shift position,
Setting means 33 for setting the operation switch 19 at a position other than 10 and for appropriately setting the continuously variable transmission 31 and the setting means 33
And a comparing means for comparing the signals from the shift position detecting means 37
35 and receiving a signal from the operation switch 19,
The main-inclutch 40 is connected, and the actuator 32 is operated so that the continuously variable transmission 31 reaches a set speed on the basis of a signal from the comparison means 35.

(E) Operation Based on the above configuration, when performing manual handling work such as collecting and threshing grain culms left uncut in the field by hand cutting, the operator stops the working vehicle 1 at an appropriate working position and continuously Move the speed change lever 13 to the forward range F in its neutral position N.
(Or reverse range R) and leave the driver's seat 10. In this state, the operator starts the manual operation, and when the operation is completed, the straw opening 18 of the moving threshing device 6 is completed.
(See Fig. 4) At the time when the straw is piled up below,
Operation switch 19 to move the work vehicle 1 to another work position
To operate. Then, the setting means 33 appropriately sets the continuously variable transmission 31 based on the operation of the operation switch 19, connects the main clutch 40, and detects the operation amount of the actuator 32 to detect the shift position of the continuously variable transmission 31. The signal from the shift position detecting means 37 for detecting the, and the signal from the setting means 33 are compared by the comparing means 35, and the operation amount of the actuator 32 is appropriately adjusted based on the signal from the comparing means 35. The continuously variable transmission 31 is driven at the set speed. As a result, the working vehicle 1 is moved forward or backward at a predetermined set speed to move to the next working position, and is stopped when the operator stops operating the operation switch 19. Then, the manual handling work is started again at the work position.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

The combine 1 has a machine body 3 supported by crawlers 2 as shown in FIG. 3 and FIG.
Has an automatic threshing device 6 provided with a feed chain 5 on one side thereof. Further, in front of the machine body 3, a pretreatment unit 7 is arranged so as to be able to move up and down, and a narrow guide 9 is arranged movably on the side of the pretreatment unit 7. Further, a driver's seat 10 is arranged on the other side of the machine body 3, an operation console 11 is arranged in front of the driver's seat 10, and a crank-shaped lever groove is provided on an operation panel 12 provided on the side thereof. 12
a is formed, and the continuously variable transmission lever is formed in the lever groove 12a.
13 is swingably installed. In addition, automatic threshing device 6
On the front side of the, an operation switch system consisting of a hand-operated traveling switch 15, a leftward correction switch 16 and a rightward correction switch
19 are installed (see Fig. 1). The numeral 18 in the figure is a straw outlet.

On the other hand, as shown in FIG. 1, the shift position by the continuously variable transmission lever 13 is detected by the potentiometer 20, and the detected value is input to the microcomputer 21 (hereinafter referred to as microcomputer). Furthermore, the mission case 22 installed on the Aircraft 3
, The side clutch solenoids 23, 27 for switching the left and right side clutches 23, 25 are configured so that the microcomputer 21 outputs an ON / OFF switching signal, respectively, to disconnect / connect the left / right side clutches 23, 25 as appropriate. Has been done.
Further, the drive side split pulley 29 and the driven side split pulley 30 constitute a continuously variable transmission 31, and the drive side split pulley 29
A hydraulic actuator 32 including a double-acting cylinder whose width varies is installed. Further, the operation switch system 19 is configured such that an operation signal is sent from the hand-operated traveling switch 15, the leftward correction switch 16 and the right pope correction switch 17 to the microcomputer 21 at the time of its operation. The signal from the traveling switch 15 is input to the setting means 33 provided in the microcomputer 21 and sent to the comparing means 35 also provided in the microcomputer 21. Further, the hydraulic actuator
The piston rod 36 of 32 is connected to a potentiometer 37 for detecting its expansion / contraction position, and the value detected by the potentiometer 37 is input to the comparison means 35. Then, the setting means 33 compares the setting signal for causing the machine body 3 to travel at the low set speed with the comparing means 33.
When the solenoid valve 39 is operated, the expansion / contraction of the piston rod 36 is detected by the potentiometer 37 and input to the comparison means 35. And
The detection value and the setting signal from the setting means 33 are compared by the comparing means 35, and as a result, the actuator 32 is further extended,
The continuously variable transmission 31 is configured to move to the shift position corresponding to the setting signal by being expanded or contracted or stopped. Further, the crank-shaped lever guide groove 12a formed in the steering panel 12 has one side thereof as a forward movement region F and the other side thereof as a backward movement region R, and these forward movement region F and the backward movement region R are communicated with each other. The middle portion is set to the neutral position N, and when the lever 13 is swung in the lateral direction of the body at the neutral position N to switch to the forward drive region F side or the reverse drive region R side, the hand-operated traveling switch 15 is operated. Then, the continuously variable transmission 31 is operated at a preset low speed while the main clutch 40 is connected by the above-described operation, and the combine 1 is moved forward or backward at the low speed. In addition, what is shown by 41 and 42 in the figure is an engine and a counter case, respectively.

Further, the entire stroke of operating the continuously variable transmission lever 13 from V9 in the reverse drive range 8 to V9 in the forward drive range F is positive toward the forward drive range F or V9 in the reverse drive range R with the neutral position N as a boundary. It is configured to be detected by the potentiometer 20 depending on the magnitude of the value of. Further, the cylinder stroke of the hydraulic actuator 32 is detected by the potentiometer 37. However, by setting a set value at the position of the cylinder stroke for operating the continuously variable transmission 31 at a low speed, the continuously variable lever The cylinder stroke rises straight when operated by 13, but when operated by the hand-operated traveling switch 15, the actuator stops in order to stop the rise at the position where the set value is set and keep it in that state. 32 is configured to be stopped.

Since the present embodiment is configured as described above, in the field where the harvesting work by the combine 1 has been completed, when performing the manual handling work of threshing the uncut uncut grain culms left by hand cutting, the operator The machine 3 is stopped while the automatic threshing device 6 is operated in the vicinity where the uncut grain culms are planted, and the continuously variable transmission lever 13 is moved to the forward drive range F side (or the reverse drive range R side) in the neutral position N. Set and leave the driver's seat 10 (S1). Then, the operator cuts and collects the uncut grain culms around the machine body 3, and further sequentially opens the grain culms in the opening of the automatic threshing device 6.
When the threshing work is performed by inserting from 6a, when the uncut grain culm around the machine disappears or the straw rises too much under the straw mouth 18, the operator interrupts the manual operation and operates the operation switch system. Operate the manual handling switch 15 of 19 (S2). Then, the signal sent from the switch 15 is input (S3) to the setting means 33, whereby the setting means 33 to the comparison means 35.
Then, a setting signal for traveling the machine body 3 at the set low speed is output. Then, the comparison means based on the setting signal
A signal is output from 35 to the solenoid valve 39, and the valve 39 is operated to operate the hydraulic actuator 32. As a result, the expansion and contraction of the piston rod 36 is controlled by the potentiometer.
When it is detected by 37 and the detected value is input to the comparing means 35, the setting signal and the detected value are compared by the comparing means 35 (S4). If the detected value is larger than the set value of the set signal, the hydraulic actuator 32 is contracted and decelerated to approach the set speed (S5), and if the detected value is smaller than the set value of the set signal, the actuator 32 is expanded. The speed is increased to approach the set speed (S6). Furthermore, if the detected value and the set value are equal, the actuator 32
Is stopped and its speed is maintained. Therefore, the combine 1 travels at the set low speed, and when the operator reaches the next work position, the combine 1 is stopped by turning off the manual travel switch 15. Then, the manual handling work is started again at the position. During traveling at the set speed of the combine, the direction correction of the machine body 3 is performed by operating the left direction correction switch 16 and the right direction correction switch 17 arranged in the operation switch system 19.

In addition, in the present embodiment, an operation switch system 19 is installed on the front side of the threshing device 6, and switches 15, 16, 17 are provided from the outside of the machine body 3.
The combine 1 was configured to be able to travel while correcting the direction to the left and right at the set low speed, but as shown in FIGS. 5 (a) and 5 (b), the front side of the threshing device 6 was operated. In addition to the left and right direction correction switches 16 and 17, the operation switch 19 'provided in the section, traveling changeover switches 43 and 45 capable of traveling forward and backward at the same time while traveling at a set speed,
Alarm switch 46 that issues an alarm when starting / stopping, engine stop switch 47, up / down switch 4 of pretreatment unit 7
9,50, parking brake operation switch 51, each work machine on,
An off switch 52, an operation switch 53 for operating the auger of the Glentank, etc. are provided so that the driver can travel while staying in the manual operation position without having to return to the driver's seat during manual operations. The directionality may be corrected and the auger may be operated to improve the operability. The operation switch systems 19 and 19 'are not limited to being installed on the front side of the threshing device 6 but may be any other place where the operation is easy.

Further, as shown in FIG. 6, an alarm device 55 for issuing an alarm with a horn, a flasher or the like in response to a signal from the microcomputer 21 based on the operation when operating the hand operation traveling switch 15 is provided, and The alarm device 55 is a hand-operated traveling switch.
The alarm is issued twice immediately before running (a) by the operation of 15, and while running (b), a short pulse sound or flasher lamp blinks so that workers around the driver can
It may be configured such that whether the vehicle is operated by the operation 10 or the operation by the hand-operated travel switch 15 is clearly identified to call attention to ensure safety during work.

Further, in the present embodiment, when manual traveling is performed by operating the manual traveling switch 15, the F / R continuously variable transmission lever 13 is set to either the forward drive range F side or the reverse drive range R side at the neutral position N. Although the vehicle is configured to run even if the vehicle is operated, the forward / reverse speed change lever at the driver's seat 10 is installed together with the forward detection means for detecting that the FR stepless speed change lever 13 is in the forward drive range F side. The operation by 13 is prioritized, and the lever 13 is moved to the neutral position N by the detection of the detection means.
When the vehicle is set to the forward drive range F side (when the machine is stopped), the operator can move the combine 1 forward by hand, and the operator can move the combine 1 forward.
13 is mistakenly set to the reverse range R side, and the aircraft 3 unintentionally moves backwards, causing danger, etc., or because the vehicle went backwards and climbed on the mountain of straw and the aircraft 3 tilted, etc. It is also possible to prevent such a problem that even if the hand-operated traveling switch 15 is accidentally turned on during traveling by operating the continuously variable transmission lever 13, the switch 15 acts and the traveling speed suddenly drops. You may do it.

Needless to say, the operation by the hand-operated traveling switch 15 is not limited to the hand-operated work, and may be used for the combine loading and unloading work.

(G) Effect of the Invention As described above, according to the present invention, the continuously variable transmission 31
Is compared with the setting means 33 for appropriately setting the signal from the setting means 33 and the shift position detecting means 37 by the comparing means 35, and the signal from the operation manual 19 provided at a position other than the driver's seat 10 is received. The actuator 32 is configured to operate so that the continuously variable transmission 31 reaches the set speed based on the signal from the comparison means 35. It is not necessary to return to the driver's seat 10 each time the work finishes, and the vehicle 1 can be driven from the outside of the machine body 3 at a set speed (for example, low speed) and easily moved to the next work position. This can improve workability, reduce the burden on the operator, and ensure safety during work.

Further, since the continuously variable transmission 31 is controlled to reach the set speed based on the signal from the comparison means 35, the vehicle 1 travels at an appropriate speed initially set, and the travel speed is too slow or too fast. Since it is not necessary to adjust the speed every time the operation switch 19 is turned on, the work efficiency is improved and the burden on the operator can be reduced.

Further, since the traveling operation of the vehicle 1 is performed by the operation switch 19 instead of the lever, the operation force is small and the operability is excellent. Further, in the case of the lever, various restrictions are imposed on the installation place, but in the case of the operation switch 19, there is no such restriction, and the operation switch 19 can be freely installed, and more than one operation switch 19 can be installed. Is. When a plurality of operation switches 19 are installed, the vehicle 1 can be easily traveled regardless of where the vehicle 1 is located on the side, the rear, or the front, and work efficiency is improved. Become.

The main clutch 40 is connected only after receiving a signal from the operation switch 19, and is disengaged when the operation switch 19 is off. Therefore, when the operation switch 19 is off, the vehicle 1 is reliably stopped, and the safety of the worker who is working is maintained.

Further, when the operation switch 19 is operated only when the continuously variable transmission 13 is in the forward drive range F in the neutral position N, the vehicle 1 is contrary to the intention of the operator.
It is possible to prevent a problem that the vehicle moves backward and prevent a problem that the vehicle body 3 leans backward and rides on the mountain of straw and the vehicle body 3 tilts, which is dangerous, and the reliability of the traveling control device is further enhanced. .

Further, if the operation means 19 is configured to operate only when the continuously variable transmission lever 13 is in the forward drive range F at the neutral position N, it is possible to prevent the vehicle 1 from moving backwards against the operator's will. It is possible to improve the reliability of the traveling control device by preventing the trouble that the vehicle body 3 moves backward and rides on the mountain of straw and the aircraft body 3 tilts to cause danger.

[Brief description of drawings]

FIG. 1 is a system configuration diagram according to the present invention, FIG. 2 is a flow chart showing its operation, FIG. 3 is a plan view showing the entire combine, FIG. 4 is its side view, and FIG. FIG. 5B is a perspective view showing the operation switch system in detail, as seen from the front of the machine body showing another embodiment in which the system is changed. And FIG. 6 is a time chart showing another embodiment provided with an alarm device. 1 ... Work vehicle (combining), 3 ... Airframe, 10 ... Driver's seat, 13 ... Continuously variable lever (F / R continuously variable lever), 19 ... Operation switch (operation switch system), 31 ... …
Continuously variable transmission, 32 ... actuator (hydraulic actuator for continuously variable transmission), 33 ... setting means, 35 ... comparison means,
37: Gear shift position detection means (potentiometer).

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Fumihiko Nagata Fenghiko Nagata, 667 Izuya-cho, Higashi-Izumo-cho, Yatsuka-gun, Shimane 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. (56) Reference JP-A-56-96619 (JP, A) 61-143223 (JP, A) Actually opened 58-119426 (JP, U)

Claims (2)

[Claims] 1. A work vehicle comprising a continuously variable transmission, a continuously variable transmission lever and a main clutch, and an actuator for operating the continuously variable transmission and a shift position detecting means for detecting the shift position of the actuator. An operating switch is installed at a position other than the driver's seat of the machine body, and further comprises setting means for appropriately setting the continuously variable transmission, and comparing means for comparing signals from the setting means and the shift position detecting means. Receiving the signal from the operation switch, connecting the main clutch, and operating the actuator so that the continuously variable transmission reaches a set speed based on the signal from the comparing means. A travel control device for a characteristic work vehicle. 2. The travel control device according to claim 1, wherein the operation of the operation switch is adapted to act only when the continuously variable transmission lever is in the forward drive range at the neutral position.