JPH0751983B2 - Rice transplanter vehicle speed control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention is configured to switch and shift a traveling transmission by an actuator that operates according to a shift operation signal, and to the actuator, the shift operation signal based on a traveling load. The present invention relates to a vehicle speed control device for a rice transplanter, which has a vehicle speed control mode for changing the vehicle speed to a predetermined state and an artificial vehicle speed control mode for artificially supplying an operation signal to the actuator.

[Conventional technology]

In the vehicle speed control device of this type of rice transplanter, the operating speed of the actuator has been the same regardless of the vehicle speed control mode and the artificial vehicle speed control mode.

[Problems to be Solved by the Invention]

However, in this case, the operating speed of the actuator is not unnecessarily set to a high speed in the automatic mode in order to mitigate a shift shock or the like due to a sudden shift.

Therefore, since the artificial vehicle speed control is used, for example, when exiting an emergency situation, the responsiveness is not satisfactory and the workability is poor at the same operating speed of the actuator as in the automatic mode.

It is an object of the present invention to provide an actuator operating speed corresponding to each vehicle speed control mode to improve driving operability.

[Means for Solving the Problems]

A characteristic configuration according to the present invention is that it has control means for making the actuator operating speed in the artificial vehicle speed control mode larger than the actuator operating speed in the vehicle speed control mode for the same operation signal. The effects are as follows.

[Action]

For example, when the same operation signal corresponding to the first speed to the second speed is given, the operating speed of the actuator is increased in the vehicle speed control mode.

Therefore, in the vehicle speed control mode, the operating speed of the actuator can be reduced to allow traveling operation while suppressing the shift shock, and when switching to the artificial vehicle speed control mode, the operating speed of the actuator can be increased,
The speed change operation can be performed quickly.

〔The invention's effect〕

As a result, the operating speed of the actuator can be set according to the control mode, and in the vehicle speed control mode, the gear shifting operation is performed regardless of the driver's intention, so the gear shifting speed is reduced to reduce gear shifting shock. In addition to performing the operation, in the artificial vehicle speed control mode, the shift operation is performed by the driver's intention, so some shift shocks are within the allowable range, rather the shift speed is prioritized to quickly escape from an emergency. I can do it.

〔Example〕

As shown in FIG. 4, an engine (4) and the engine (4) and a belt type continuously variable transmission (5) are provided in front of a traveling vehicle body (3) equipped with the wheels (1) and (2). Via a transmission case (6) that is power-transmitted via a control section (7) provided in the middle of the fuselage, and a lift cylinder (32) and a lift link mechanism (8) that can move up and down behind the control section (7). The riding type rice transplanter is configured by including the seedling planting device (9) connected to the above and wire drawing markers (10) located on both sides of the seedling planting device (9). Reference numeral (34) in FIG. 4 is a cylinder for rolling the seedling planting device (9) with respect to the elevating link mechanism (8).

As shown in FIG. 1, the belt type continuously variable transmission (5)
Designates the input pulley on the mission case (6) side as split pulleys (5a) and (5b). One of the split pulleys (5a) and (5b) (5a) is connected to the other (5b) by the actuator (11). By moving the belt in the perspective direction, the winding angle of the belt can be changed to continuously change the speed. A main clutch (12) is provided for the output shaft of the engine (4), and the main clutch (12) is turned on and off by a foot pedal (13). Further, as shown in FIG. 2, at the foot of the control section (7), the main gearshift lever (14)
Is provided, and it is possible to switch between three stages of the first forward speed used during traveling with planting, the second forward speed used during traveling on the road, and the first reverse speed. Therefore, the number of stages of the continuously variable transmission (5) is superimposed at each shift position.

Further, below the seedling planting device (9), there is provided a grounding sensor (15) which moves up and down due to fluctuations in grounding pressure.
An encoder-type planting depth setting device (16) is provided on the display panel of the control section (7), and the ground sensor (15) is used to maintain the set value of the planting depth setting device (16). An elevation control device is provided for raising and lowering the seedling planting device (9) based on the detection result of (1) to keep the planting depth constant.

In addition to this planting depth setting device (16), as shown in FIG. 2, the operation lever (17) for the continuously variable transmission (5) and the seedling supply switch (18) are provided on the display panel. [This seedling supply switch (18) is a switch that positions the seedling stand (19) at the optimum height for seedling replenishment, and it is the transmission input from the traveling vehicle body to the feed case (20) of the seedling planting device. Axis (21)
The planting claw (22) should be positioned so that it will be parallel to the ground and will not interfere with the ground even if the planting claws (22) rotate. It is located at a height where it can be performed. ], A fuel lamp (23), an accelerator lever (24), a planting lever (25), a marker switch (26) for inserting / removing a drawing marker (10), and a fail display lamp (28). The fail display lamp (28) is turned off when the seedling supply switch is set and when other sensors / actuators or the like are abnormal, and is turned on when the various sensors / actuators are normal.

Based on the configuration described above, a mode in which the vehicle speed is controlled by the traveling load will be described based on the flowchart of FIG. When the engine is started, the control is not started unless the operating lever (17) for the continuously variable transmission is once set to the lowest speed position (LOW). Therefore, first, it is confirmed whether or not the operation lever (17) for the continuously variable transmission is once operated to the lowest speed position (LOW). If it is operated once, check the ON-OFF state of the main clutch (12), and
5) Check whether the position is "planting position" or "up position", "neutral position" or "down position" of the seedling planting device, and the operation lever (17) for the continuously variable transmission is When it is not operated to the lowest speed position (LOW), or when the main clutch (12) is disengaged, or when the planting lever (25) is in the "up position", "neutral position", or "down" position of the seedling planting device. Position ", the shift target value in the software for the continuously variable transmission (5) is set to the lowest speed position (LOW), and the current operation position (PRERO) of the continuously variable transmission (5) is set. If it is not at the lowest speed position (LOW), it is switched to the lowest speed position (LOW) by the actuator (11).

In other words, in other words, when the engine (4) is started, the main clutch (12) is in the engaged state, and the operation lever (17) for the continuously variable transmission is not yet operated to the lowest speed position (OBP), the lowest speed is obtained. The rice transplanter starts once if the speed is maintained. Then, when the driver notices it and once switches the operation lever (17) for the continuously variable transmission to the lowest speed position (LOW) and further to the desired shift position, the main routine control such as speed control is started. However, even if the operation lever (17) for the continuously variable transmission is once moved to the lowest speed position (LOW), if the main clutch (12) is in the disengaged or half-clutch state, it is determined that the seedling is being replenished and the lowest speed is obtained. Maintain the position (LOW), and when the planting lever (25) moves up, determine that it is turning at the edge of the ridge and move it to the lowest speed position (LOW) and turn gently. In any of these cases, the setting is made independently of the shift instruction position (OBP) as the operation position of the continuously variable transmission operation lever (17). Here, the position of the planting lever (25) is the main shift lever (14).
Is set in the speed change range corresponding to the planting position, that is, only when the planting work is performed. The operation lever (17) for the continuously variable transmission is once in the lowest speed position (LO
W) and the main clutch (12) is in the engaged state, the continuously variable transmission (5) is used as a starting mode, which is not shown in the flow, to shift the operating lever (17). A method of rapidly shifting to the value (OBP) or gradually shifting to the shift instruction value (OBP) or a predetermined deceleration value is adopted. When the main speed change lever (14) is operated to the planting position, the planting work is in progress. Therefore, by looking at the position of the planting lever (25), the planting lever (25) is raised. When it is in the "position", it is determined that the vehicle is in a critical turning, and the continuously variable transmission (5) is set to the lowest speed position (LOW) to slowly turn, and when the planting lever (25) is in the "planting position". In order to perform the planting work, the shift command value (OBP) of the continuously variable transmission operation lever (17) should be rapidly changed,
A method of gradually shifting to the shift instruction value (OBP) or a predetermined deceleration value is adopted. Further, when the planting lever (25) is in the "up position" and the "down position", it is during seedling replenishment,
Set the continuously variable transmission (5) to the lowest speed position (LOW).

As described above, depending on the gear position of the main gear shift lever (14), it is determined whether the planting operation is being performed or the vehicle is traveling on the road, and the process proceeds to the next vehicle speed control (step I).

Next, vehicle speed control will be described in which the actuator (11) is controlled to automatically shift gears irrespective of the shift instruction value (OBP) of the continuously variable transmission operation lever (17) depending on the engine load. The vehicle speed control mode and the artificial vehicle speed control mode in which the vehicle speed is set based on the operation of the operation lever (17) for the continuously variable transmission are determined by whether the accelerator lever (24) is in the full accelerator position. , The vehicle speed control mode is set at the full accelerator position. However, a dedicated changeover switch may be separately provided so that the accelerator position can be arbitrarily selected. In vehicle speed control mode, the engine speed (ER) is 2000 rpm
If it is between ˜3000 rpm, the shift position is appropriate, so that state is maintained. If it is 2,000 rpm or less, it is determined that the load is large and the gear shift operation is performed to the lowest speed position (LOW) (step II).

Next, when the accelerator lever (24) is in a position other than the full accelerator position, and when the engine speed (ER) is 3000rp
If it exceeds m, shift target position in software (OBPBU
F) is set to the shift instruction value (OBP) by the operation lever (17) for the continuously variable transmission, so that the speed can be arbitrarily set by an artificial operation on the operation lever (17) for the continuously variable transmission. Vehicle speed control will be performed (step
III).

As described above in detail, in the artificial vehicle speed control mode, the drive duty for the electric actuator (11) is set larger than the drive duty in the vehicle speed control mode to increase the operating speed of the actuator (11). . Thus, the control device (27) with a built-in microcomputer that controls the artificial vehicle speed control mode and the vehicle speed control mode is provided.

[Other Embodiments] The actuator (11) may be a hydraulic type or an electric type, and may be a method of increasing the operating speed or another method.

As the traveling speed device, two systems, that is, the main shift in the mission (6) and the belt continuously variable transmission (5) are used, but either one may be used.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a vehicle speed control device for a rice transplanter according to the present invention, FIG. 1 is an overall control configuration diagram, FIG. 2 is a plan view showing a control section, FIG. 3 is a flow chart showing vehicle speed control, FIG. FIG. 4 is a side view of the riding type rice transplanter. (5) ...... Transmission transmission, (11) ...... Actuator.

Claims (1)

[Claims] 1. A traveling speed changer (5) is configured to change gears by an actuator (11) which operates according to a speed change operation signal, and the speed change operation signal based on a traveling load is given to the actuator (11) to provide a vehicle speed. A vehicle speed control device of a rice transplanter having a vehicle speed control mode for shifting the vehicle to a predetermined state and an artificial vehicle speed control mode for artificially applying a control signal to the actuator (11) to perform the gear shifting operation. A vehicle speed control device for a rice transplanter comprising control means for increasing the actuator operating speed in the artificial vehicle speed control mode in response to a signal to be higher than the actuator operating speed in the vehicle speed control mode.