JPH0740754Y2 - Safety device in automatic shift control system for remotely controlled vehicles - Google Patents

Description

[Detailed Description of the Invention] (a) Industrial Application Field of the Invention The present invention is to input a signal from a vehicle speed setter and a vehicle speed detection sensor to a drive signal to a solenoid valve for shifting a hydraulically controlled continuously variable transmission mechanism. The present invention relates to a safety device in an automatic transmission control device for a remotely controlled vehicle having a controller for controlling the output of the vehicle.

(B) Conventional technology In a conventional traveling vehicle, for example, a tractor, a working machine is mounted in a rear part of the vehicle so that the working machine can be moved up and down, and the working machine is automatically controlled by an automatic control device, and further, a safety device is provided thereto. Was there.

That is, in this safety device, troubles such as disconnection (harness disconnection), connector connection failure, and short circuit occurred in the wiring path between the work machine-to-machine position setting setter, the work machine position sensor and the controller. At this time, the working machine is automatically locked to prevent abnormal operation on the ascending side and the descending side and to ensure the safety of the operator.

(C) Problems to be solved by the invention Therefore, this type of safety device is limited to locking the working machine mounted on the traveling vehicle, and is only for the working machine.

By the way, recently, it is found that a continuously variable transmission mechanism is installed in a traveling vehicle and the transmission is controlled by an automatic transmission control device. However, when the same trouble as described above occurs, the signal received by the controller is MAX. . Or MIN., And if gear change control is performed with this signal, the vehicle speed is fixed at the maximum speed, which is extremely dangerous.

(D) Means for Solving the Problem Therefore, the present invention proposes a gear shifting method through a controller by a setting signal sent directly from a vehicle speed setting device or via a receiver and a detection signal from a vehicle speed detecting sensor. An automatic shift control device for a remotely controlled vehicle that operates a solenoid valve to expand and contract a shift cylinder to change the transmission from a neutral position to a high speed position. A neutral detection sensor for detecting the neutral position of the transmission is provided. When the signal input from the vehicle speed setter and the vehicle speed detection sensor is out of the setting range, this abnormality is detected and at the same time, the solenoid valve priority drive signal is output until the detection signal from the neutral detection sensor is sent. Providing a safety device in an automatic transmission control device for a remotely controlled vehicle, which is equipped with a safety circuit for Then, the above problems have been solved.

(E) Action By the above measures, if troubles such as disconnection in the wiring path between the vehicle speed setting device, the vehicle speed detection sensor and the controller, poor connector connection, short circuit, etc. occur, the input signal to the controller The value is out of the setting range, and at the same time when the safety circuit detects this abnormality, it outputs the solenoid valve priority drive signal to the shifting solenoid valve to switch the shifting cylinder to the retracted operation and moves the transmission to the neutral position side. When the neutral position is reached, the neutral detection sensor detects it and outputs it as a detection signal to the safety circuit to stop the aircraft.

(F) Embodiment Hereinafter, a specific embodiment in which the present invention is applied to a remotely controlled flail mower will be described with reference to the drawings.

First, as shown in FIGS. 1, 2 and 5, the remote control flail mower has a main body 1 having an automatic speed change control device 2 and a traveling device 3 and a front part which is vertically movable. The automatic speed change control device 2 includes a receiver 7 for receiving a setting signal from a transmitter 5 having a vehicle speed setting device 6a, an output signal from the receiver 7 and a vehicle speed detecting sensor 8 A continuously variable transmission having a controller 9 for inputting a detection signal from the controller 9, a hydraulic control device 10 controlled by the controller 9, and a transmission 12 for changing the movement from a neutral position N (lowest speed position L) to a high speed position H by the controller 9. It is composed of the speed change mechanism 11 and the like, and can travel at the vehicle speed set by the vehicle speed setting device 6a. At this time, the controller 9 includes the receiver 7 and the vehicle speed detection sensor 8
And a solenoid valve drive circuit 14 connected to the solenoid valve 15 for shifting, and the solenoid valve drive circuit 14 is operated through the solenoid valve drive circuit 14 according to the output result of the main comparator circuit 13. It is configured to control 15. Further, the hydraulic control device 10 is
It is composed of a speed changing solenoid valve 15 and a speed changing cylinder 16 that is expanded and contracted by the speed changing solenoid valve 16. The cylinder side of the speed changing cylinder 16 is fixed to an appropriate fixing member of the main body 1, and a piston rod is attached to the speed change body 12. The transmission / reduction operation of the rod moves the transmission 12 from the neutral position N where the vehicle speed is zero to the high speed position H so that the vehicle speed can be changed. The continuously variable transmission mechanism 11 has an input disc 19 and an output disc 20 which are connected to an input shaft 17 and an output shaft 18 which is engaged with the input shaft 17 and rotate integrally with each other. An umbrella-shaped rolling element called a planet cone 21 is brought into planetary contact, and a ring-shaped transmission 12 is pressed against the conical surface (outer periphery) of the planet cone 21, and the position of this transmission 12 is adjusted to the top of the conical surface. A ring-cone type continuously variable transmission mechanism is adopted in which gear shifting is achieved by changing from the (high-speed position H) to the hem (neutral position N). The vehicle speed setting device 6a is the transmitter 5
In addition to the vehicle speed setter 6b (see FIG. 5) provided on the main body 1 side as well, either of the vehicle speed setters 6a and 6b can be selectively used, especially in a dangerous place such as a sloping land. At the time of traveling, the vehicle speed setting device 6a on the transmitter 5 side is used for remote control and automatic traveling.

By the way, the invention is based on such an automatic shift control device 2
On the other hand, a safety device is incorporated, and when various troubles occur in the wiring path between the vehicle speed setters 6a, 6b, the vehicle speed detection sensor 8 and the main comparison circuit 13 in the controller 9, the vehicle speed is automatically adjusted. It was set to zero.

That is, this safety device is provided with the neutral detection sensor 22.
And a safety circuit 23 incorporated in the controller 9.

The neutral detection sensor 22 is, for example, a micro switch or the like, and is fixed at an appropriate position where the transmission 12 can be detected when the transmission 12 reaches the neutral position N.
Is detected when it reaches the neutral position N, and this is sent to the safety circuit 23 as a detection signal.

The safety circuit 23 includes abnormal voltage detection circuits 24a and 24a between the vehicle speed setting devices 6a and 6b, the vehicle speed detection sensor 8 and the main comparison circuit 13, respectively.
b and 25 are inserted, a solenoid valve priority drive instruction circuit 26 for receiving a detection signal detected by this is provided, and a solenoid valve priority drive signal from this is connected to the neutral detection sensor 22 described above. To the solenoid valve drive circuit 14, which stops the solenoid valve drive signal sent from the solenoid valve drive circuit 14 up to that point, and at the same time, a new solenoid valve drive signal for shifting to the safe side is used for shifting. solenoid valve
It is supposed to be sent to 15. As a result, when the shift cylinder 16 retreats to move the transmission 12 to the neutral position N side and reaches the neutral position N, the neutral detection sensor 22 detects this, and this detection signal is detected by the sub-comparison circuit. It is sent to 27 and the solenoid valve drive signal stops.

FIG. 3 shows another embodiment of this safety device. First, a microcomputer is used for the controller 9, and the analog switch 28, S / H circuit 29, A / D converter 30, sensor signal and setting are set. One-chip microcomputer with comparison and calculation function for value signals
31, Comprised of solenoid valve drive circuit 14, etc. If the program of the one-chip microcomputer 31 is made to function as the solenoid valve drive circuit 14, the output signal of the one-chip microcomputer 31 is sent to the shift solenoid valve 15. Also,
Selective use of the vehicle speed setter 6a of the transmitter 5 and the vehicle speed setter 6b on the main body 1 side is such that the one-chip microcomputer 31 sends a vehicle speed setter 6a, 6b selection signal to the analog switch 28 so that either one can be used selectively. I have to.

Then, the input terminals CH1, CH2, CH3, CH of the analog switch 28
4 The resistors and capacitors shown in the figure are provided between each of them and the vehicle speed detecting sensor 8, the neutral detecting sensor 22, the receiver 7 and the respective terminals of the vehicle speed setting device 6a of the transmitter 5 and the vehicle speed setting device 6b of the main body 1 side. Connect the circuit and input terminals CH1, CH2, CH3, CH
The voltage Va of 4 (Va ₁ .Va ₂ .Va ₃ .Va ₄ ) is 0 <V in the normal state.
Set a (Va ₁ .Va ₂ .Va ₃ .Va ₄ ) <Vb (regular voltage added to each input terminal CH1 to CH4), and program the function of the flowchart shown in FIG. The one-chip microcomputer 31 is provided with the functions as the abnormal voltage detection circuits 24a, 24b, and 25 and the functions as the solenoid valve priority drive instruction circuit 26 and the sub-comparison circuit 27 to function as the safety circuit 23.

That is, as shown in FIG. 4, the input value of from A / D converter Symbol 30 to the respective input terminals CH1~CH4 is _{0 <Va (Va 1 .Va 2} .Va 3 .V
a ₄ ) <Vb, the vehicle speed is controlled by a normal vehicle speed control program. In the vehicle speed detecting sensor 8 and the vehicle speed setting device 6b shown in FIG.
If the input voltage drops to 0 (V) due to the disconnection at (b), or Vb due to the disconnection at (c).
When it goes up to (V), it goes out of the setting range of 0 <Va (Va ₁ .Va ₄ ) <Vb, so the program proceeds to the priority neutral safe operation program, and sends a new priority control output to the solenoid valve drive circuit 14, At the same time when the output from the solenoid valve drive circuit 14 is stopped, a new solenoid valve drive signal for operating on the safe side is sent to the shift solenoid valve 15 and the shift cylinder 16 is retracted, When 12 reaches the neutral position N, the neutral detection sensor 22 detects this, and the one-chip microcomputer 31 receives this as a detection signal and sends a priority stop output to the solenoid valve drive circuit 14 to lock the solenoid valve 15 for shifting. It is in a state. As a result, the machine is stopped.

FIG. 6 shows a side clutch provided on the downstream side of the continuously variable transmission mechanism 11. This side clutch is of a hydraulic and manual combined type, and the component 32a of the transmission case 32 also serves as a cylinder tube, and the piston 33 also Side clutch gear
The cylinder tube 32a and the piston 33 are separated from each other via the liner 35 and the liner 35, and are structured not to rotate. As a result, since the cylinder tube 32a can be fixed, the oil passage configuration is easy, and since the seal part can be slid only freely, there is no wear due to rotation at all, and a reliable seal can be made with inexpensive parts. Since high pressure can be used, there is an advantage that the pressure receiving area can be made small, that is, the area difference between the cylinder tube 32a and the piston 33 can be made small.

In the figure, 36 is a relief valve, 37 is a hydraulic pump, and 38 is a side clutch shaft.

(G) Effect of the Invention As described above, this invention has problems such as disconnection in the wiring path between the vehicle speed setting devices 6a and 6b (receiver 7), the vehicle speed detection sensor 8 and the controller 9, poor connector connection, and short circuit. If the occurrence occurs, the continuously variable transmission 11 automatically switches to neutral, the vehicle speed becomes zero, and the machine stops, which is safe.

[Brief description of drawings]

FIG. 1 is a block diagram showing a safety device in a remote control flail mower automatic transmission control device embodying the present invention, and FIG. 2 is a diagram showing a hydraulic circuit diagram of the hydraulic control device and a main part of a continuously variable transmission mechanism. FIG. 3 is a block diagram showing another embodiment of the present invention, FIG. 4 is a flow chart showing the function of the one-chip microcomputer, FIG. 5 is a side view showing a remote-controlled flail mower, and FIG. 6 is a cross section showing around the side clutch. It is a figure. (Code) 6a, 6b …… Vehicle speed setter 7 …… Receiver 8 …… Vehicle speed detection sensor 9 …… Controller 12 …… Transmitter 15 …… Shift solenoid valve 16 …… Shift cylinder 22 …… Neutral detection Sensor 23 …… Safety circuit N …… Neutral position H …… High speed position

Claims (1)

[Scope of utility model registration request] 1. A controller (9) is controlled by a setting signal sent from a vehicle speed setting device (6a) (6b) directly or via a receiver (7) and a detection signal from a vehicle speed detecting sensor (8). Automatic transmission of a remotely controlled vehicle that can change the transmission (12) from the neutral position (N) to the high speed position (H) by operating the transmission solenoid valve (15) to extend and retract the transmission cylinder (16) to expand and contract. In the control device, the transmission (1
The neutral detection sensor (22) for detecting the neutral position (N) of 2) is provided, and the signal input from the vehicle speed setters (6a) (6b) and the vehicle speed detection sensor (8) is out of the setting range. At some time, at the same time as detecting this abnormality, a safety circuit (23) is provided which outputs a solenoid valve priority drive signal until the detection signal from the neutral detection sensor (22) is sent. Safety device in the automatic gear shift control device.