JPH10159603A - Rice transplanter for riding equipped with engine having electronic governor mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid engine stop so as to continue a work by lowering engine speed to the set speed, and controlling the engine by reverse droop control, when engine speed, the steering angle of a steering wheel, and the like are detected by respective sensors, and the steering angle of the steering wheel becomes over the set range. SOLUTION: A controller C inputting signals of various sensors and the like indicating the operating condition of an engine, operates a fuel injection quantity adjusting rack and a fuel injection pump P through the microcomputer of an electronic governor mechanism G, so as to control the fuel injection quantity optimum. In this case, by reverse droop control of the engine, when planting work load is approached to the limit of engine output in the case of planting under the set engine speed, for example under 1500rpm, engine speed is raised so as to increase the output limit of the engine, and hence stability of working at low speed is improved. Further even when the steering angle of a steering wheel becomes over the set range at running in a rice-field, engine speed is lowered to the set speed, and the engine is controlled by reverse droop control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control mechanism for a traveling rice transplanter equipped with a diesel engine having an electronic governor mechanism during revolving.

[0002]

2. Description of the Related Art Conventionally, a technology provided with an electronic governor mechanism in a diesel engine has been known. For example, the technique is described in Japanese Patent Application Laid-Open No. 60-256529. Also, in the conventional rice transplanter, the accelerator lever is operated at the headland to make low rotation, the planting clutch is turned to “off”, the planting portion is raised, and the planting section is slowly rotated at low rotation. The headlands were kept as rough as possible.

[0003]

However, when the vehicle is turned on the headland by operating the accelerator lever to the low rotation side and turning, the operation of the accelerator lever, the operation of the clutch lever, and the operation of turning the handle are successively performed. In some cases, the operation lever is not rotated to the set position because the operation is complicated. Due to the rotation, a load was applied to the hydraulic pump, causing the engine to stall. The present invention is intended to prevent the engine stall and continue the operation by controlling the engine in reverse droop in such a case.

[0004]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. According to claim 1, in a riding rice transplanter equipped with an engine with an electronic governor mechanism, the engine speed, steering wheel turning angle, PTO rotation, planting section height, and accelerator lever position are detected by sensors, respectively. Is input to the controller, and when the turning angle of the traveling handle exceeds the set range, the engine speed is reduced to the set speed and reverse droop control of the engine is performed.

According to a second aspect of the present invention, in a riding rice transplanter equipped with an engine having an electronic governor mechanism, the reverse droop control of the engine is performed in a state where the planting elevating / working speed change lever is shifted from "on" to "off". The reverse droop control is set to "OFF" in the low-speed running shift state in which the planting elevating / working speed change lever is set from "OFF" to "ON".

[0006]

Next, an embodiment of the present invention will be described. 1 is an overall side view of the riding rice transplanter, FIG. 2 is an overall plan view of the riding rice transplanter, FIG. 3 is a drawing of the engine E mounted in the hood 9, and FIG. FIG. 5 is a plan view showing the configuration of the belt-type continuously variable transmission case 59, the clutch case 58, and the transmission case 4, and FIG. 5 shows the belt-type continuously variable transmission case 59, the transmission case 4, and the rear axle case 7 in the same manner. FIG. 6 is a side view showing a part of the link mechanism 27 and the planting part 15, FIG. 7 is a plan view of a part of the side-row fertilizer 36 for six rows,
FIG. 8 is a rear view of a portion of the side-row fertilizer 36 for six rows, FIG. 9 is a block diagram of a control mechanism of a riding rice transplanter equipped with an engine having an electronic governor mechanism of the present invention, and FIG. 10 is a front view showing the electronic governor mechanism. FIG. 11 is a sectional view and a side view, and FIG. 11 is a control response diagram of a riding rice transplanter equipped with an engine having an electronic governor mechanism according to the present invention;
FIG. 13 is a diagram showing isochronous control and reverse droop control of the rice transplanter, FIG. 13 is a diagram showing allowable output control of the engine E, FIG. 14 is a diagram showing eco-mode control, and FIG. FIG. 16 is a diagram showing the fuel injection amount control at the time of engine start, FIG. 17 is a diagram showing the energization time control of the air heater 38 at the time of engine start, and FIG. 18 is an idling rotation control at the start of the engine. FIG. 19 is a plan view showing the operation guide plate of the planting elevating and working traveling speed change lever 30 of the riding rice transplanter according to the present invention, and FIG. 20 is a diagram showing the relationship between the accelerator lever position and the actual opening accelerator. .

The riding rice transplanter equipped with an engine having an electronic governor mechanism according to the present invention is configured as a four-wheel drive vehicle that drives both front wheels 6.6 and rear wheels 8.8. The engine E is arranged inside the hood 9. Further, spare seedling mounting tables 10 are arranged on the left and right sides of the bonnet 9. A steering handle 14 protrudes from the dashboard portion at the rear of the bonnet 9, and a turning angle sensor 14 a for detecting a turning angle of the steering handle 14 is disposed at a turning base of the steering handle 14. The main clutch pedal 32 is provided below the steering wheel 14 on the left side of the dashboard, and the left and right brake pedals 33.3 are provided below the right side of the steering wheel 14.
A clutch pedal switch 21 for detecting whether the main clutch is "on" or "off" is provided at a rotation base of the main clutch pedal 32, and brake pedals 33.3 are provided.
A brake switch 23 for detecting the ON / OFF state of the brake is provided at the rotation base 3. The accelerator lever 1 is provided on the dashboard portion on the right side of the steering handle 14. By rotating the accelerator lever 1 back and forth, the controller C of the electronic governor mechanism is rotated.
The accelerator lever position sensor 22 is also provided at the rotation base of the accelerator lever 1 so that the set position can be detected.
2, the clutch pedal switch 21, the brake switch 23, and the turning angle sensor 14a are connected to the controller C.

On the right side of the seat 13, a planting elevating / working traveling speed change lever 30 is arranged, and a position sensor 30a is arranged at a turning base of the planting elevating / working traveling speed change lever 30 to adjust the lever position. A detection and planting sensitivity adjustment lever 31 is arranged at the rear. A traveling speed change lever 29 is disposed at a left portion of the seat 13, and a position sensor 29 a is disposed at a rotation base of the traveling speed change lever 29.
The rotation position is detected, and the position sensors 29a and 30a are connected to the controller C. Further, a side-strip fertilizer applicator 36 for six rows is disposed above the rear wheels 8.8, and a rear part of a four-wheel drive traveling vehicle constituted by front wheels 6.6 and rear wheels 8.8. The planting section 15 is suspended via a link mechanism 27. As shown in FIG. 6, the link mechanism 27 includes a top link 25 and a lower link 26. The link mechanism 27 is configured to move up and down by the expansion and contraction of an elevating cylinder 28. A height sensor 65 is provided on the base via an arm or the like so that the height of the planting portion 15 can be detected. The planting section 15 includes a seedling mounting table 16, a two-row equalizing center float 34, a two-row equalizing side float 35, a planting case 20, a planting claw 17, and the like.

FIG. 3 is a drawing of the engine E mounted in the hood 9, and FIG. 4 is a belt type continuously variable transmission case 59 and a clutch case 5 disposed between the left and right body frames 3.3.
8 and a plan view showing the configuration of the transmission case 4, and FIG. 5 is a side view of a belt-type continuously variable transmission case 59, the transmission case 4 and the rear axle case 7 in the same manner. The engine E is mounted on the body frame 3 that extends long in the front-rear direction. A pulley 54 is provided on a crankshaft 53 protruding forward, and power is transmitted from the pulley 54 to a pulley 51 via a belt 55. Has communicated. The pulley 5
1 is fixed to a shaft 50, and a shaft 61 is jointed to the shaft 50. The shaft 61 transmits power to a shaft 72 of the belt-type continuously variable transmission case 59.

Inside the belt type continuously variable transmission case 59, input / output pulleys 69 and 70 and a transmission belt 71 are arranged. Also, input / output cams 77 and 78 are disposed at the input / output pulleys 69 and 70, respectively.
Operating the input / output pulleys 69.7
The width of 0 is changed, and the diameter of contact with the speed change belt 71 is changed, so that continuously variable transmission is possible. A clutch case 58 is mounted at the rear of the belt-type continuously variable transmission case 59. Inside the clutch case 58, a multi-plate friction type dry clutch 73 operated by depressing the clutch pedal 32 is disposed. I have. Reference numeral 60 denotes a hydraulic pump.

The transmission case 4 is fixedly mounted on the rear surface of the clutch case 58. The belt-type continuously variable transmission case 59 and the transmission case 4 are both disposed between the left and right body frames 3. In the transmission case 4, the rotation after shifting is changed to the rear axle case 7.
Has been transmitted to. In FIG. 6, a left-right inclination sensor 56 is arranged on the upper surface of the planting case 20. As shown in FIG. 7, a flexible transfer hose 40 for guiding the fertilizer fed from the six-row side fertilizer 36 downward is provided. A turbo blower 41 for feeding out fertilizer is arranged at one end of the side-row fertilizer 36 for six rows.

FIG. 9 is a block diagram of a control mechanism of a riding rice transplanter equipped with an engine having an electronic governor mechanism according to the present invention, FIG. 10 is a front sectional view and a side view showing the electronic governor mechanism, and FIG. 11 is an electronic governor mechanism of the present invention. FIG. 5 is a control response diagram of a rice transplanter equipped with an engine. As shown in FIG. 9, a controller C is provided in an engine E with an electronic governor mechanism, and a signal from the controller C sends an operation signal to an electronic governor mechanism G. The structure of the electronic governor mechanism G is configured as shown in FIG. 10 and is attached to the side surface of the fuel injection pump P. The rack actuator 5 constituted by a linear solenoid slides the fuel injection amount adjusting rack 2 of the fuel injection pump P right and left. A rack position sensor 11 for detecting the movement of the rack actuator 5 is disposed below the rack actuator 5. Further, a rotation speed sensor 12 of the engine E and a lubricating oil temperature sensor 18 of the engine E are also disposed in the electronic governor mechanism G.

As described above, the signal of the rack position sensor 11, the signal of the rotation speed sensor 12, and the signal of the lubricating oil temperature sensor 18 are transmitted from the electronic governor mechanism G to the controller C.
Sent to. In addition, a coolant temperature sensor 19 of the engine E, a clutch pedal switch 21 of a clutch pedal 32, a brake switch 23 of a brake pedal 33, an accelerator lever position sensor 22 of the accelerator lever 1, a key switch 24, Eco mode switch 3
7, signals from the air heater 38, the setting device 76 for each set value, and the like are also input. As for the direction in which the signal from the controller C is output, the rack actuator 5 of the electronic governor mechanism G is operated and the fuel injection amount adjusting rack 2 is operated.
, A tachometer 39 and a fault display 4
The signal is also transmitted to the second and the like.

In addition, since the present invention is a riding rice transplanter, the operating position of the traveling speed change lever 29 is detected by the position sensor 29a, and a signal is transmitted to the controller C so that the planting up / down and work traveling speed change is performed. The operation position of the lever 30 is detected by the position sensor 30a, and a signal is transmitted to the controller C. As described above, the signal from the sensor is transmitted to the controller C, the controller C compares the signal with a predetermined map, transmits the command signal to each unit, and controls the riding rice transplanter equipped with the engine with the electronic governor mechanism. It is.

The control of a rice transplanter equipped with an engine having an electronic governor mechanism will be described. FIG. 12 is a diagram illustrating the isochronous control and the reverse droop control of the riding rice transplanter. The control mechanism of the present invention operates the fuel injection amount adjustment rack 2 and the fuel injection pump P by the microcomputer of the electronic governor mechanism G so that the output of the engine E can be maximized in all operations of the rice transplanter. This is for optimally controlling the fuel injection amount. The methods include isochronous control for keeping the rotation of the engine E constant regardless of the magnitude of the load, reverse droop control for exhibiting stickiness in the low-speed range of the engine E, and performance suitable for high-speed planting work. Performs eco-mode control.

In the isochronous control shown in the upper part of FIG.
When the engine speed is set by rotating the accelerator lever 1 provided on the right side of the above, planting work is started by the riding rice transplanter, and the engine speed is kept constant even if the load fluctuates. . Therefore, seedlings can be planted at a constant speed. However, when the brake is operated by the brake pedal 33, this function is automatically released, and the operation shifts to the normal droop control. The droop control is not performed by the electronic governor mechanism G but by a mechanical governor. In this control, the engine speed decreases as the load increases, and the engine speed increases as the load decreases.

The reverse droop control is performed automatically when the planting work load approaches the limit of the engine output in a case where the planting work is performed at the set rotation speed of the engine E, which is 1500 rpm or less in this embodiment. The engine speed is increased to increase the output limit of the engine E, and the stability during low-speed operation is greatly improved. The eco-mode control shown in FIG. 14 starts when the eco-mode switch 37 is turned on. The eco-mode control is a control function suitable for high-speed planting, and the output performance of the eco-mode suitable for high-speed planting is achieved by the action of the electronic governor mechanism G. That is, as shown in FIG. 14, at the position where the engine speed is high, the output is increased and the torque is also increased. When the eco mode switch 37 is turned off, the output decreases and the torque decreases in the high-speed rotation range of the engine.

In a riding rice transplanter, when rotating at the end of a field or performing alignment, if the speed is high, a large amount of mud is lifted and the headland is roughened. Is detected by the sensor 79 (FIG. 5), the lever position is detected by the position sensors 29a and 30a, and the traveling speed change lever 29 is in the planting position or the reverse position, and the planting elevating / working traveling speed change lever 30 is in the up position. In some cases, it is confirmed that the rotation of the PTO shaft has stopped, and it is determined that the PTO shaft is rotating at the end of the field, so that the number of revolutions of the engine E is reduced to a non-stalling rotation (hereinafter referred to as “set rotation”). When the engine is rotated more than the set rotation, the engine is rotating and the engine is in the reverse droop control. When the load applied at the time of turning approaches the limit of the engine output, the engine speed is automatically increased and the engine E Out It increased the limits, thereby improving the stability during low-speed running. Further, when the planting elevating / working traveling speed change lever 30 is shifted from the low speed shift position to the planting clutch “disengaged” position (lower position), it is determined that the engagement is in progress, and the rotation is performed at a high speed so as not to make a sudden movement. The reverse droop control is performed in the same manner as described above. In this reverse droop control, the accelerator lever 1 can be arbitrarily changed in the range from the idle position to the medium speed rotation position. However, when the accelerator lever 1 is lowered to the idle position, the accelerator lever 1 is lowered to the set position where the engine does not stall.

When the lifting / working speed change lever 30 is rotated from the planting clutch "disengaged" position (lower position) to the low speed shifting position, the planting work position is established. Therefore, at this time, the reverse droop control is turned off, and the work is performed by the isochronous control so that the work can be performed at the set number of revolutions.

The deceleration rate of the engine speed at the time of turning at the end of the field is different between high, medium and low planting speeds. This difference in deceleration rate is illustrated in FIG. In order to release this control, the engine speed is reduced to 1500 rpm or less by the accelerator lever 1 or the planting portion 15 is lowered by the planting up / down and work traveling speed change lever 30. Further, as shown in FIG. 15, the decrease in the engine speed at the time of the field end turning is set so that the control is started when the engine speed is equal to or higher than the set speed (1500 in this embodiment). ing.

Next, the allowable output control shown in FIG. 13 will be described. This control operates in all modes after the engine is started. In this control, the controller C limits the fuel injection amount so that the permissible output torque specified by the map is obtained for each engine speed.

Next, the injection amount control at the time of starting the engine will be described with reference to FIG. This is a control for ensuring the startability of the engine in a cold region, and further prevents the generation of black smoke at the start. Calculate and control the injection amount at startup,
Further, the temperature of the cooling water is known from a signal from the cooling water temperature sensor 19, and the fuel injection amount at the time of starting is adjusted accordingly. As shown in FIG. 17, one of the starting controls is a key switch 24 when the engine is started.
In addition to turning ON, the air heater arranged in the intake circuit of the engine is automatically operated only for the time necessary for preheating the engine in response to the signal from the cooling water temperature sensor 19. As shown in FIG. 18, as one of the starting controls, the idle speed immediately after the start is automatically increased according to the signal detected by the coolant temperature sensor 19, and the engine warm-up time is shortened. And stabilizing the engine speed. When the temperature of the cooling water rises, the idle speed decreases.

FIG. 19 discloses the configuration of the guide groove of the planting elevating and working traveling speed change lever 30 disposed on the right side of the seat 13. The planting elevating and working traveling speed change lever 30 raises the planting portion 15 at the position of the guide groove 43,
The position of the guide groove 44 constitutes a neutral position where the planting section 15 is stopped at the elevating position. The position of the guide groove 45 is the lowered position of the planting portion 15. Next, when the planting elevating / working speed change lever 30 is moved to the position of the guide groove 46, the planting clutch is engaged, and the position of the guide groove 47 is also the planting clutch engaged.
When operated to the position of R, the operated marker is lowered.

Further, the planting elevating and working traveling speed change lever 30
Is rotated into the guide groove 48, the continuously variable transmission of the belt-type continuously variable transmission case 59 enters the speed mode, and starts planting at a low speed. Further, at the position of the guide groove 49, the belt-type continuously variable transmission operates at high speed to perform high-speed planting.

FIG. 20 shows an operation guide groove of the traveling speed change lever 29 on the left side of the seat 13. Travel shift lever 2
At 9 the position of the guide groove 57, the reverse speed. Further, the traveling speed change lever 29 is in the implanted state at the position of the guide groove 62. In this case, since the speed is changed by operating the belt-type continuously variable transmission case 59, the traveling speed change lever 29 is not operated. When the guide groove 63 is turned, the road traveling speed is reached. Further, when the traveling speed change lever 29 is rotated to the position of the guide groove 52, the multi-plate friction type dry clutch 73 is disengaged, and the machine is brought to a stop position for seedling connection and fertilizer replenishment.

FIG. 21 is a diagram showing the relationship between the position of the accelerator lever 1 and the actual accelerator amount. The changeover switch 75 can be selected by operating the changeover switch 75 in accordance with the work or the operability of the operator. In other words, if the distance between the accelerator levers 1 is the same as in the conventional case, the accelerator lever 1 is moved as shown by La
And the actual accelerator amount, that is, the rotational speed, is directly proportional. Lb is advantageous for fine adjustment because the rotational speed can be largely changed by operating the accelerator lever in the low rotational speed range, and the rotational speed cannot be largely changed by operating the accelerator lever in the high rotational speed range. Lc cannot greatly change the rotation speed by operating the accelerator lever in the low rotation speed region, and can greatly change the rotation speed by operating the accelerator lever in the high rotation speed region. This is advantageous.

In order to perform such control, the link is exchanged using a variable link, the cam is exchanged using a cam, or a variable resistor having the characteristic curve is used electrically. Further, means for changing the program by software can be used, and the means for changing the program can most easily select the characteristic curve.

[0028]

As described above, the present invention has the following advantages. According to a first aspect of the present invention, in a riding rice transplanter equipped with an engine having an electronic governor mechanism, an engine speed, a steering wheel turning angle, a PTO rotation, a planting portion height, and an accelerator lever position are detected by sensors, respectively. When the turning angle of the steering wheel exceeds the set range, the engine speed is reduced to the set speed and the engine is reverse droop-controlled. When performing, when the load approaches the limit of the engine output, the engine speed is automatically increased to increase the engine output limit,
Stable turning at low speed became possible without making a sudden turn to lift mud and roughen the headland. Also, when the steering wheel is rotated by more than the set angle when performing reverse alignment, the vehicle can also run stably at a low speed, and does not damage the field.

According to a second aspect of the present invention, in a riding rice transplanter equipped with an engine having an electronic governor mechanism, reverse droop control of the engine is performed in a state where the planting elevating / working speed change lever is planted and the planted portion is lowered. Therefore, in a case where the alignment is performed with the planted portion lowered, even when the load increases, the rotation speed can be increased and the vehicle can run stably. In addition, the reverse droop control was set to "OFF" in the low-speed traveling shift state with the planting elevating / working travel shifting lever set to "ON", so that during planting work, the medium-speed low-speed planting state was switched to the high-speed planting. Until the planting state, stable planting work can be performed by isochronous control.

[Brief description of the drawings]

FIG. 1 is an overall side view of a riding rice transplanter.

FIG. 2 is an overall plan view of the riding rice transplanter.

FIG. 3 is a drawing of an engine E mounted in a hood 9;

FIG. 4 is a plan view showing the configuration of a belt-type continuously variable transmission case 59, a clutch case 58, and a transmission case 4 arranged between the left and right body frames 3, 3;

FIG. 5 is a side view of a belt type continuously variable transmission case 59, a transmission case 4, and a rear axle case 7;

FIG. 6 is a side view showing the link mechanism 27 and the planting section 15;

FIG. 7 is a plan view of a part of a side-row fertilizer applicator 36 for six rows.

FIG. 8 is a rear view of a part of a side-row fertilizer applicator 36 for six rows.

FIG. 9 is a block diagram of a control mechanism of the riding rice transplanter equipped with an engine having an electronic governor mechanism according to the present invention.

FIG. 10 is a front sectional view and a side view showing an electronic governor mechanism.

FIG. 11 is a control response diagram of a riding rice transplanter equipped with an engine with an electronic governor mechanism of the present invention.

FIG. 12 is a view showing isochronous control and reverse droop control of the riding rice transplanter.

FIG. 13 is a diagram showing allowable output control of an engine E.

FIG. 14 is a view showing eco mode control.

FIG. 15 is a view showing a deceleration rate of an engine speed at the time of a field end turn.

FIG. 16 is a view showing fuel injection amount control at the time of engine start.

FIG. 17 is a diagram showing control of energization time of an air heater 38 at the time of engine start.

FIG. 18 is a diagram showing idling rotation control at the time of starting.

FIG. 19 is a plan view showing an operation guide plate of the planting elevating / working traveling shift lever 30 of the riding rice transplanter of the present invention.

FIG. 20 is a view showing an operation guide plate of the traveling shift lever 29 of the riding rice transplanter of the present invention.

FIG. 21 is a diagram showing a relationship between an accelerator lever position and an actual accelerator.

[Explanation of symbols]

 C Controller E Engine G Electronic governor mechanism P Fuel injection pump 1 Accelerator lever 2 Fuel injection amount adjustment rack 3 Body frame 4 Transmission case 5 Rack actuator 6 Front wheel 7 Rear axle case 8 Rear wheel 9 Bonnet 11 Rack position sensor 12 Rotation speed sensor 13 Seat 14 Steering handle 29 Travel shift lever 30 Planting elevating and working travel shift lever 73 Multi-plate friction type dry clutch

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI F02D 41/04 380 F02D 41/04 380G (72) Inventor Yoshihiro Yome 1-32 Chayacho, Kita-ku, Osaka-shi, Osaka YANMAR DIESEL Inside the corporation

Claims (2)

[Claims] 1. In a passenger rice transplanter equipped with an engine with an electronic governor mechanism, a sensor detects engine speed, steering wheel turning angle, PTO rotation, planting section height, accelerator lever position, and shift lever position. An electronic governor characterized in that the respective values are input to a controller, and when the turning angle of the traveling handle exceeds a set range during traveling in the field, the engine speed is reduced to the set speed and the engine is subjected to reverse droop control. Passenger rice transplanter with engine with mechanism. 2. In a riding rice transplanter equipped with an engine with an electronic governor mechanism, the reverse droop control of the engine is performed in a state where the planting elevating / working speed change lever is shifted from "on" to "off". A riding rice transplanter equipped with an engine with an electronic governor mechanism, wherein the reverse droop control is set to "off" in a low-speed traveling shift state in which the lifting / working speed change lever is planted from "off" to "on".