JPH10246329A - Operation-assist device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the operation-assist device to effectively prevent the generation of hunting when an operating tool abuts on the end part of operating region to be regulated. SOLUTION: A speed change lever 26 is mechanically coupled to a speed change part 20 of a continuously variable transmission 3, and when the speed change lever 26 is artificially operated, an assist force is given to the speed change lever by an electric motor 23, and in the non-operated state the speed change lever is controlled so that the assist operation is stopped. When it is detected that the speed change lever 26 is positioned in the end part setting region, and when the operation of the speed change lever 26 to the end part side is detected, the assist operation is executed. Before a setting time elapses after the assist operation is terminated, the operation of the speed change lever 26 in the opposite direction is detected, and after the operation in the opposite direction is switched to the non-detected state, the operation of the speed change lever to the end part side is again detected. At this time, the operation of the electric motor 23 is controlled so that the speed change lever 26 can be kept in its speed change position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an object to be operated, wherein an object to be operated and an operating tool which is manually operated in a forward / reverse direction in a state where the operating object is restricted at the end of the operating area, are mechanically linked to each other, An operation state detecting means for detecting whether or not the operation tool is manually operated, and an operation state detection means for detecting an operation direction when the operation tool is manually operated, in a linkage mechanism between the operation tool and the operation target; An assisting means for applying an assisting force in the direction of the artificial operation; and, based on the detection information of the operation state detecting means, performing an assist operation by the assisting means in the direction of the artificial operation of the operating tool. The present invention relates to an operation assist device provided with an assist control means for controlling the operation of the assist means so as to stop the assist operation when the operation state is not operated.

[0002]

2. Description of the Related Art In the above-mentioned operation assist apparatus, conventionally, when an operation state detecting means detects a manual operation of an operating tool in order to improve the operation efficiency, the assist means is provided with the greatest assist over the entire operation area. It has been common practice to provide an assist operation by force.

However, in such a configuration, since the operating tool is provided in a state where the operating tool is restricted at the end of the operation area, the following hunting operation is performed at the end of the operation area. Could occur. In other words, when the assisting operation is performed in a predetermined direction in response to the manual operation of the operating tool, if the operating tool contacts the end of the operation area and movement is restricted, the artificial operation is stopped. And the assisting operation by the assisting means is also stopped accordingly, but at this time, as described above, the assisting means is operating at a high speed with a large assisting force, so it cannot be suddenly stopped, The overrun may occur even after the operation tool stops. As a result, the operation state detecting means erroneously detects that the operating tool has been operated in the opposite direction to the predetermined direction, and the assist means restarts the assist operation in the reverse direction with a large assist force. . At this time,
The manual operation is slower than the assist operation, and the operator may continue to operate the operation tool in the predetermined direction. As a result, the assist unit performs the assist operation in the opposite direction, and the operation state is detected. The means may again detect the manual operation state in the predetermined direction, restart the assist operation in the predetermined direction, and thereafter, a hunting state in which such forward and reverse assist operations are repeatedly executed within a short time may occur. There is.

To solve such disadvantages, for example, Japanese Patent Application No. 8-147208 filed by the present applicant has been proposed.
As shown in the issue, the following configuration was considered. In other words, a potentiometer that can detect the operation position of the operating tool over substantially the entire operation area is provided, and is configured to perform an assist operation at a high speed by an electric motor as an assisting means along with the manual operation of the operating tool, When such an assist operation is performed, it is determined based on the detection information of the potentiometer whether or not the operating tool is in an area (hunting area) where hunting may occur, and such a hunting area is determined. For example, if the detection of the manual operation in the predetermined direction by the operation state detecting means is within a set short time (100 msec) after the end of the assist operation in the reverse direction, the manual operation in the predetermined direction is not detected. Until the assist means (electric motor) is assisted in a predetermined direction at very low speed. It is configured to execute the control for preventing grayed.

[0005]

In the above-mentioned improved configuration, when the assisting operation is being performed in the reverse direction based on the manual operation of the operating tool, the operating tool is restricted from contacting at the end and the assisting operation is performed. Even if an overrun state of the means occurs, the assist operation is executed slowly and slowly in the predetermined direction (the direction opposite to the manual operation direction), so that the operator is not required to perform the hunting operation with the maximum assist force. There is little possibility that the operation tool is pushed in the opposite direction by continuing the manual operation, and the operation state detecting means is in the non-detection state, so that the assist operation is easily stopped as it is. The structure still has room for improvement in the following points.

The above-described improved configuration is effective when the operator manually operates the operating tool to the end of the operation area and stops the manual operation as soon as the operating tool is restricted at the end. However, for example, the operation in the opposite direction may be continued while being pressed toward the end of the operation area, and in such a case, the hunting described above cannot be effectively suppressed. There was a disadvantage.

The present invention has been made in view of such a point, and an object of the present invention is to provide an assist operation device having the above-described structure, which eliminates the above-mentioned disadvantages and operates the assist operation device. Hunting can be effectively avoided when the operating tool is restricted in contact at the end of the region.

A second object of the present invention is to improve the operability while achieving the above object.

[0009]

According to the first aspect of the present invention, it is determined whether or not the operating tool is located in an end portion setting area set in advance so as to correspond to an end portion of the operation area. Is provided, and in a state where the operation tool is detected to be located in the end portion setting area by the end position detection means, the operation state detection means detects the operation tool. Before the set time elapses after the assist operation performed by detecting the operation to the end portion side is completed, the operation state detection unit detects the operation of the operating tool in the reverse direction, and After the operation in the opposite direction is switched to the non-detection state, if the operation state detecting means detects the operation of the operation tool toward the end portion again, the operation tool is held at the shift position. Hunting prevention control that controls the operation of assist means It is is will be.

Therefore, the assisting operation is executed by manually operating the operating tool in a predetermined direction, and when the operating tool reaches the end of the operation area, the operating tool is moved to the end setting area by the end position detecting means. Is detected. Then, if the assisting operation by the assisting means is overrun when the operating tool is restricted from contacting the end of the operation area and further movement is restricted, the operation state detecting means is notified before the set time elapses. Thus, the operation of the operating tool in the reverse direction is detected. Then, based on the detection result, the assist means starts the assist operation in the reverse direction. At that time, for example, when the operator continues to push the operating tool toward the end, the assisting means in the opposite direction of the assisting means again causes the operating state detecting means to operate the operating tool again. Operation to the end side is detected. But,
In such a detection state, the assist control means executes hunting prevention control to control the operation of the assist means so that the operating tool is held at the shift position.

As a result, when the operating tool is located in an area other than the end setting area, even if the operability is improved by, for example, a configuration in which the assist operation is quickly performed with the maximum assist force, When the contact is restricted in the end region, regardless of the situation of the manual operation, the operation tool is held at the shift position, and the hunting caused by the assist operation in the reverse direction is effectively avoided. be able to.

According to the second aspect of the present invention, the end position detecting means does not detect that the operating tool is located in the end setting area, or the operation state detecting means does not detect the operating tool. When the operation of the operating tool in the reverse direction is detected, the execution of the hunting prevention control is stopped.

Therefore, when the operation tool is operated to the end portion setting area and then manually operated in the reverse direction, the hunting prevention control is automatically stopped according to the state of the manual operation of the operation tool. Therefore, for example, in a configuration in which a special release operation tool or the like for stopping execution of the hunting prevention control is provided, or in a configuration in which the control is stopped when a set time has elapsed since the hunting prevention control was started. As a result, the operability is improved.

According to a third aspect of the present invention, in the end position detecting means, a potentiometer for detecting an operation position of an operating tool and a detection value of the potentiometer are set in a storage setting mode in advance. If the value corresponds to the setting area stored in the storage means in the state, the operating tool is configured to include a determining means for determining that the operating tool is located in the end setting area, and the determining means includes: Based on the detection information of the potentiometer, which is sequentially detected along with the operation from one end to the other end of the operation area of the operation tool when set to the storage setting mode and stored in the storage means,
It is configured to set the setting area.

Therefore, since the setting area is set based on the detection information of the potentiometer which is sequentially detected in accordance with the operation state by actually operating the operating tool, the detection error caused by the mounting error or the like is minimized. With a small size, it is possible to accurately detect whether or not the operation tool is located in the end portion setting area. As a result, it is possible to reliably prevent hunting from occurring when the operating tool is restricted in contact at the end of the operation area.

According to a fourth feature of the present invention, the operated object is configured to be moved and urged in one of the forward and reverse directions, and the assist control means controls the operated object in the hunting prevention control. In order to maintain the position against the moving urging force, the operation of the assist means is controlled so that an assisting force balanced with the moving urging force acts in a direction opposite to the direction in which the moving urging force acts. ing.

In a configuration in which an object to be operated that is moved and urged in one of the forward and reverse directions is operated, merely stopping the application of the assist force as hunting prevention control is performed.
There is a risk that the operating tool may move in the direction of action of the urging force due to the moving urging force, but an assist force that balances the moving urging force in a direction opposite to the direction in which the moving urging force acts is provided. Accordingly, the operating tool can be reliably held at that position, and it is possible to reliably prevent hunting from occurring when the operating tool is restricted from contacting at the end of the operation area.

According to the fifth aspect of the present invention, the object to be operated is constituted by the transmission section of the belt-type continuously variable transmission for traveling the vehicle body. By operating the belt-type continuously variable transmission, the vehicle body traveling speed is shifted. When such a belt-type continuously variable transmission is manually operated, the operation becomes heavy due to the reaction force caused by the tension of the transmission belt, but the operation is reduced to a small operation force by the assist operation by the assist means. Can be performed properly. In such a vehicle speed shift operation device, by effectively preventing the above-described hunting at the operation end on the high-speed side, it is possible to improve the safety of the steering operation during high-speed traveling, If the operating tool is quickly operated toward the low-speed operation end when the vehicle body is suddenly stopped, hunting may occur at the low-speed operation end. Can be effectively avoided and the operating tool can be held at the position for stopping the vehicle body, so that the vehicle body stopping operation can be reliably performed.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An assist operation device according to the present invention will be described below with reference to the drawings when applied to an operation device of a combine continuously variable transmission. FIG. 3 shows a transmission system of a combine which is an example of a working vehicle.
Power from the engine 1 is transmitted to a threshing device 46 via a belt-tensioning threshing clutch 45, and an input pulley of a belt-type continuously variable transmission 3 is provided via a belt transmission mechanism 2 having a tension clutch. 4 is transmitted. The power from the continuously variable transmission 3 is transmitted to the left and right crawler traveling devices 6 via a hydraulic clutch type forward / reverse switching device (not shown) of the transmission case 5 and a traveling gear type auxiliary transmission 55. Is done. The power separated from immediately before the auxiliary transmission 55 is transmitted from the transmission case 5 to the reaping unit 8 at the front of the machine body via the belt transmission mechanism 7. Therefore, the belt type continuously variable transmission 3 and the auxiliary transmission 5
5 constitutes a transmission for traveling the vehicle body. The sub-transmission 55 is operated by a gear shift operation, and is configured to be freely shiftable in three stages of “high”, “medium”, and “low” by operating an operation tool (not shown). Note that the “high” position is used when traveling on a road or the like, and is mainly set to “medium” in a mowing operation in a field. In addition, when loading on a transport truck or under working conditions in which the planted grain culm is severely lodged, it is set to the "low" position to run at low speed.

As shown in FIG. 6, a threshing switch 49 for detecting whether or not the clutch is engaged based on the operating state of the threshing clutch lever 48 for the on / off operation of the threshing clutch 45 is provided. Is provided with an electromagnetic pickup type rotation speed sensor 50 for detecting the rotation speed. Since the rotation speed of the engine 1 decreases as the load increases, the rotation speed sensor 50 corresponds to load detection means for detecting the load on the engine. or,
The harvesting unit 8 is provided with a stock sensor 47 for detecting whether or not the vehicle is in the harvesting traveling state based on the presence or absence of the harvested grain culm. Further, a vehicle speed sensor 53 for detecting a vehicle speed by detecting an output rotation speed of the transmission after a shift is provided.

Next, the belt-type continuously variable transmission 3 and its shift operation structure will be described. As shown in FIG. 2, the continuously variable transmission 3 includes a first split pulley 11 on the input shaft 9 to which the input pulley 4 is fixed, a second split pulley 12 on the output shaft 10, and a first and a second pulleys. A transmission belt 13 is wound around the split pulleys 11 and 12. The first and second split pulleys 11 and 12 are respectively composed of pulley portions 14 and 14 formed integrally with the input shaft 9 and the output shaft 10 and pulley portions 15 and 15 movable in the axial direction. The movable pulley portion 15 of the second split pulley 12 is urged by a spring 16 toward the fixed pulley portion 14, and the movable pulley portion is proportional to the load on the output shaft 10. Cam mechanism 1 which pushes the pulley 15 against the fixed pulley portion 14
7 are provided.

A ring member 18 is externally fitted to the moving pulley portion 15 of the first split pulley 11 via a bearing.
A pair of pins 18a fixed to the ring member 18 enter the concave portion 19 on the case side of the continuously variable transmission 3 in a state where the roller 18b is rotatably fitted around the outer periphery thereof, and the ring member 18 is recessed. The input shaft 9 is prevented from rotating along the axis 19 along the axis of the input shaft 9. A cylindrical cam member 20 is externally fitted on the input shaft 9 via a bearing. As shown in FIG.
A pair of concave portions formed by a linear bottom portion 20a and a pair of left and right symmetric inclined surfaces 20b is formed, and the ring member 1 is formed.
The roller 18b of the eighth pin 18a enters the pair of recesses of the cam member 20. This pin 18a and the roller 1
8b corresponds to the contact guide SO.

In the state shown in FIGS. 2 and 4 (a), the moving pulley portion 15 of the first split pulley 11 is farthest to the left from the fixed pulley portion 14 on the paper surface, and the second split pulley 1
2 is the pulley portion 15 on the fixed side
Is the state of the lowest speed position closest to. When the cam member 20 is rotated in either the forward or reverse direction from this state, the contact guide portion SO rides on the inclined surface 20b and the ring member 1
8 and the pulley portion 15 on the moving side of the first split pulley 11
Is pushed and approached to the fixed side pulley portion 14 side, and the winding radius of the transmission belt 13 at the first split pulley 11 increases. Accordingly, the second split pulley 12
Of the moving-side pulley portion 14
, And the continuously variable transmission 3 is shifted to a higher speed side.

The cam member 2 is provided outside the continuously variable transmission 3.
The boss member 21 is fixed to the end of the “0”, and the sector gear 22 is fixed to the boss member 21. Also, as shown in FIG.
An electric motor 23 as an assist means is fixed to a fixing portion of the body, and a speed reduction mechanism 24 using a spur gear is connected to the electric motor 23.
And the pinion gear 24a of the speed reduction mechanism 24
Are engaged with the sector gear 22. A ring member 25 is fitted around the boss member 21 in a freely rotatable manner. A speed change lever 26 (corresponding to an operating tool) manually operated on the ring member 25 is integrally formed around the axis of the input shaft 9. It is supported so as to be rotatable and relatively swingable in the horizontal direction in FIG. 2 (the longitudinal direction in FIG. 1). The pin 25b of the arm 25a of the ring member 25 is
a, the sector gear 22, that is, the cam member 20 is linked so that the pin 25 b and the opening 22 are integrally rotated with the rotation of the transmission lever 26. Have been. That is, the cam member 20 to be operated is linked via the mechanical link mechanism so as to move integrally with the shift lever 26, and is configured to be operable in forward and reverse directions.

The shift lever 26 is swingable in the cross direction, and as shown in FIG. 5, forms a guide groove 44a for forward shift of the lever guide, a guide groove 44c for reverse shift, and a step portion for operating state switching. Intermediate guide groove 44b
Rocking operation along each of the guide grooves 4
4a or the reverse transmission guide groove 44c, when operated along the deceleration side operation direction (operation toward the neutral position side), the forward transmission guide groove 44a and the reverse transmission guide groove 4c are operated.
At the inner edge k of 4c, the gearshift lever 26 is forcibly received and restricted at a position corresponding to the traveling neutral state, and is configured so as not to be switched to the traveling state in the front-rear direction by excessive operation. In addition, even at the highest speed position Rmax in the reverse range R, the reception is restricted by the inner edge of the reverse speed guide groove 44c. In addition, the upper limit position Fma of the forward movement range F
Since x may be at a different position depending on, for example, the type of the model, as shown in FIGS. 1 and 2, the restraint member 57 separately attached to the fixed portion is attached to the arm 25 a of the ring member 25. The contact is regulated. The restraint member 57 is composed of a bar bent and formed into a substantially L-shape and a plate-like connecting member fixed thereto, and this connecting member is jointly connected to a flange connecting portion of a casing of the continuously variable transmission 3. Fixed in state.

The fan-shaped gear 22 has a pair of rubber-like pressure-sensitive switches 27 and 28, each of which has a pin 2 inserted into an opening 22a.
5b is provided therebetween. A switching valve (not shown) for switching the forward / reverse switching device between the forward position, the reverse position, and the neutral stop position is provided inside the transmission case 5, and the sector gear 22 and the switching valve are push-pull. It is linked via a wire 30.

A potentiometer 41 is mounted on a fixed wall 43 on the continuously variable transmission 3 side, and a lateral pin 42 a at the tip end of a swing lever 42 extending from the potentiometer 41 is inserted into a long hole 22 b formed in the sector gear 22. By inserting the cam member 20, the output corresponding to the shift state of the continuously variable transmission 3, that is, the position of the cam member 20, is obtained. In addition, when the shift lever 26 is operated from one end of the operation area to the other end through the neutral position before actual work traveling, specifically, before shipment on the production line. The actual detection value of the potentiometer 41 at each of the one end, the neutral position, and the other end is sequentially determined as a detection value VRm corresponding to the reverse maximum speed in the shift range, a detection value Vn corresponding to the neutral position, and a shift value in the shift range. It is read as a detected value VFm (see FIG. 5) corresponding to the forward maximum speed, and each detected value is stored in a non-volatile memory M as storage means, and among them, the detected value VRm (about 0.2 volt) Is zero, and the detected value VFm (about 4.8 volts) is 25
As six points, an intermediate potential can be detected in one-point units.

As shown in FIG. 6, a control device 31 for instructing control information for the electric motor 23 is provided. The control device 31 is provided with a microcomputer, and is set in advance based on various input information. A predetermined control is executed by a stored control program. Switching to the forward drive state is performed according to the control information from the control device 31 (that is, the shift lever 2).
The first electromagnetic relay 32 is switched to swing forward to the counterclockwise direction in FIG. 1), and the first electromagnetic relay 32 is switched to the driving state on the reverse side (that is, the shift lever 26 is
The switching operation is performed so as to swing clockwise in the reverse direction in FIG. 1). The second electromagnetic relay 33, the transistors 35 and 36 for exciting the first and second electromagnetic relays 32 and 33,
The electric motor 23 is controlled based on a control signal from the control device 31.
Current adjusting transistor 3 for adjusting the amount of current supplied to
7. A reference resistor 38 for detecting an actual current value flowing through the electric motor 23 as a voltage value between both ends, a voltage between both ends of the reference resistor 38 is converted into a DC signal, and the control device 31 outputs the current detection information to the electric motor 23 as current detection information. Smoothing circuit 3 for input
9 etc. are provided.

The reference resistor 38 and the smoothing circuit 39 constitute a current detecting circuit as current detecting means.
The current value is detected in a detection range of 0 to 5 amps. The detected value (voltage value) of the potentiometer 41 is input to the control device 31 as an analog signal, and the analog signal has a 256-bit stroke range (0.2 volt to 4.8 volt) as described above. The analog-to-digital conversion is performed at a resolution of, and is used for control.

The control device 31 receives the values detected by the pressure-sensitive switches 27 and 28 and the potentiometer 41, as well as a stock sensor 47, a vehicle speed sensor 53,
Further, the detection value of the rotation speed sensor 50 is also input.

The control device 31 is configured so that the vehicle speed control can be executed when the vehicle speed auto switch 52 is turned on. In this vehicle speed control, the load of the engine 1 is reduced to the set load. When the engine load falls below the set load, the vehicle speed is increased within a range not exceeding the upper limit vehicle speed set by the upper limit vehicle speed setting device 51, and the engine load is maintained at the set load. Control the vehicle speed automatically. It should be noted that a manual shift operation based on the operation of the shift lever 26 is executed with priority over the vehicle speed control.

The vehicle speed control will be described. First, the stock sensor 47 is ON, and the threshing switch 49 is ON.
The engine speed when the vehicle speed is 0.1 m / s is set and stored in advance as the reference speed ST in a no-load state in which no load is caused by the mowing operation. Then, the engine load (ST-X) defined by the down amount of the engine speed X from the reference speed ST is maintained at a target load (target down amount) as a preset load. Then, the electric motor 23 is operated to the speed increasing side or the speed decreasing side.

The control device 31 is configured to intermittently operate the electric motor 23 by applying a pulse signal to the current adjusting transistor 37, and to determine the ratio of the ON time to the cycle of the pulse signal (duty ratio). The current amount is changed and adjusted by changing it. Note that the duty ratio is set to be large so that the larger the difference between the engine load (ST-X) and the target load is, the faster the speed change operation is performed.
For example, on the speed increasing side, the duty ratio is set by changing the ON time in the range of 30 to 120 msec with respect to the pulse period of 500 msec.
ON time for pulse period of 30 to 110 msec
The duty ratio is set by changing the range.

Next, the manual shifting operation will be described. In the manual shift operation, the control device 31 detects that one of the pressure-sensitive switches 27 and 28 is turned ON and the shift lever 26 is artificially operated in one of the forward and reverse directions. Then, an assist operation current is supplied to the electric motor 23 so that an assist force is applied in the artificial operation direction, and the gear shift operation can be appropriately performed with a light operation force by the assist of the electric motor 23. It has become. Therefore, the operation state detecting means is constituted by the pressure-sensitive switches 27 and 28. When it is detected based on the detection information of the pressure-sensitive switches 27 and 28 that the shift lever 26 has not been artificially operated, the continuously variable transmission 3 is shifted by the urging force to return to the neutral position. In order to prevent the electric motor 23 from changing, a holding current is supplied to the electric motor 23. Further, the supply amount of the holding current is adjusted to an appropriate value based on the detection information of the pressure-sensitive switches 27 and 28 and the detection information of the current detection circuit. Specifically, as the assist operation current, a constant voltage is output to the current adjustment transistor 37 so as to maintain the ON state, and in the supply state of the holding current, the current adjustment transistor 37 is changed to a pulse voltage. The ON / OFF state is intermittently repeated by adjusting the ON time (duty ratio control) to adjust the current amount. The forward and reverse operation directions of the electric motor 23 are determined by turning on each of the pressure-sensitive switches 27 and 28 so that one of the electromagnetic relays 32 and 33 is switched to the power supply state and the rotation direction of the electric motor 23 is changed. It is stipulated.

The control device 31 includes a potentiometer 4
1 based on the detection information and the storage information stored in the non-volatile memory M, it is determined whether or not the shift lever 26 is in an upper limit area Fa near the highest speed in the forward movement area F (an example of an end setting area). It is supposed to. Therefore, the control device 31
, The assist control means 100 and the determination means 101 are constituted. Then, this determination means 101
And the potentiometer 41, the end position detecting means TK
Is configured.

Next, the control operation of the control device 31 will be described.
This will be described with reference to the flowcharts shown in FIGS. Note that this control flow chart is 1 in 10 msec.
Times and repeatedly. As shown in FIG. 7, when the control is started, first, the engine speed becomes 5
It is determined whether the rotation speed exceeds 00 rpm, that is, whether the engine 1 is rotating normally (step 1).
When the engine 1 is not rotating, the speed change operation of the belt continuously variable transmission 3 is very heavy.
This is because the operation of the motor 3 may damage the electric motor 23 and the drive circuit. If the engine 1 is rotating, it is determined whether or not the lever position storage mode is set by an instruction switch (not shown) (step 2).
However, this mode is executed at the factory shipment stage, and is not executed by a normal combine user. If the lever position storage mode is instructed, a lever position storage process is executed (step 3). That is,
The operator moves the shift lever 26 to each of the reverse-side maximum speed position, the neutral position, and the forward-side maximum speed position, and reads the detection values (VRm, Vn, and VFm) of the potentiometer 41 at the respective operation positions. , Nonvolatile memory M
Is written and stored as digital data. When the shift lever 26 is moved to each of the above positions, the assist operation by the electric motor 23 is not performed by the maximum assist force but is performed by about 40% when the shift lever 26 is operated toward the forward highest speed position. The operation is performed at the duty ratio.
Is prevented from being erroneously written and stored at a position deviating from the appropriate upper limit regulating position and the detection value VFm of the potentiometer 41 at the forward-most highest speed position.

If such a lever position storage mode is not instructed and the vehicle speed auto switch 52 is turned ON, the operation shifts to the vehicle speed control mode, and if the vehicle speed auto switch 52 is not turned ON, the manual shift mode is set. (Steps 4, 5, 6).

Next, the control operation of the manual shift operation by the control device 31 will be described with reference to the control flowcharts of FIGS. Note that the shift lever 26 is set in the neutral range N
When the forward-reverse switching device is operated to the forward position by the push-pull wire 30 and the switching valve when the shift lever 26 is operated from the other end of the neutral region N to the reverse-side range by operating the push-pull wire 30 and the switching valve, By the push-pull wire 30 and the switching valve, the forward / reverse switching device is operated to the reverse position.

The shift lever 26 is operated to the forward rotation side, and the pressure-sensitive switch (forward rotation switch) 2 on the forward rotation side is operated by the pin 25b.
7 is pressed and turned on (step 7), the shift lever 2 is turned on based on the detection information of the potentiometer 41.
If the operation position of No. 6 is not in the forward upper limit area Fa or the neutral area N and the operation on the reverse rotation side has been completed and 200 msec or more has elapsed, the assist operation current is supplied to drive the electric motor 23 to the normal rotation side at high speed. (Steps 8, 10, 11, 1
2). That is, the transistor 37 is continuously turned on, and the electric motor 23 is operated with the maximum assist force. When the reverse-side pressure-sensitive switch 28 (reverse rotation switch) is turned on, the electric motor 23 is similarly driven to the reverse rotation side at a high speed (steps 17 to 20). Whether the operation position of the speed change lever 26 is in the forward upper limit range Fa is determined by determining whether the detection value Vx of the potentiometer 41 is the forward maximum speed corresponding value VFm,
If it is between the set value (VFm−10 points), it is determined that it is in the forward upper limit area Fa, otherwise, it is determined that it is not in the forward upper limit area Fa.

If the forward rotation switch 27 is turned on and is in the forward upper limit range Fa, 100 msec after the previous forward rotation operation which was executed before the previous reverse rotation operation was completed.
It is determined whether or not the processing has been executed within (step 9). That is, as shown in FIG. 15, the elapsed time tx from when the assist operation to the normal rotation side is performed and the lever operation in the reverse direction is detected after the assist operation is completed to when the reverse rotation operation is performed is set. If it is within the time (100 msec), after the operation in the reverse direction is switched to the non-detection state,
At “determination timing” in FIG. 15, it is determined whether or not an operation to the forward rotation side is detected. If it is determined that the result of the determination is not within 100 msec from the end of the previous forward rotation operation that was performed before the previous reverse rotation operation, the process proceeds to step 10 to perform a normal assist operation, and
msec, the continuously variable transmission 3
The operation of the electric motor 23 is controlled so that a holding force balanced with the neutral urging force is generated. Such control corresponds to hunting prevention control that holds the shift lever 26 at the shift position. As shown in FIG. 5, even in the neutral region N of the transmission lever 26, the transmission lever 26 may contact the inner edge k of the guide groove and cause hunting. If the ON operation of the pressure-sensitive switch is performed within 100 msec after the end of the previous reverse operation, the electric motor 23 is immediately operated at a very low speed until the pressure-sensitive switch is turned OFF. (Steps 10, 13, 14, 15, Steps 18, 2
1, 22, 23).

After shifting to the position holding operation by the holding force by the hunting prevention control as described above, the speed change lever 2
When the operation position of No. 6 is not in the forward upper limit range Fa or when the reverse rotation switch is turned on, the execution of the hunting prevention control is stopped and the assist operation is executed.

Then, a state in which the shift lever 26 is not operated (a state in which all the sensing switches are OFF).
Then, it is determined whether or not the vehicle speed control is in the on state. When the vehicle speed control is not in the on state, or when the vehicle speed control is being executed, the detection value of the potentiometer 41 becomes 2
If there is a large deceleration operation of 5 points (25/256) or more, the potentiometer 41 performs the deceleration operation based on the operation of the pressure-sensitive switch as the operation for determining the reaction force state, and stops the deceleration operation. It is determined whether or not it has been detected that the detected value has changed to the speed increasing side by two points or more (steps 25, 28, 26). That is, when the deceleration operation is being performed, the rotation operation of the cam member 20 by the electric motor 23 is faster than the moving speed of the pulley portion 15 of the first split pulley 11 due to the moving urging force, and FIG.
As shown in (b), when the holding force by the electric motor 23 is operated while the contact guide portion SO is floating from the inclined cam surface 20b of the cam member 20, the cam member 20, that is, the speed change Since the lever 26 may move to the speed increasing side, the contact guide SO may be
, A reaction force is applied, and the holding operation is not executed until the cam member 20 is slightly moved to the speed increasing side by the moving operation force. However, even if the movement to the speed increasing side by two or more points is not detected, after the set standby time (1.6 seconds) elapses after the deceleration operation is executed and the deceleration operation is stopped, it will be described later. If the output abnormality flag is not ON, the process proceeds to the control for holding described later (step 27), and if the output abnormality flag is ON, the process returns (step 29).

In step 28, while the vehicle speed control is being executed, it is determined whether or not a large deceleration operation of 25 points or more has been performed for the following reason. That is, in the vehicle speed control, the electric motor 23 is controlled based on the detection information of the vehicle speed and the engine load. When the speed is increased, the reverse rotation switch 29 may be turned ON. There is a disadvantage that the determination in step 19 is executed and the holding operation is on standby, and such an operation is repeated every time the speed-up operation is performed, so that such disadvantage is avoided.

In a state where the shift lever 26 is not operated (a state where all the sensing switches are OFF),
Thereafter, a holding current is supplied to the electric motor 23 so as to be held at the current shift position against the neutral return force of the continuously variable transmission 3, and the holding force (operation for holding) by the electric motor 23 is supplied. ) And the neutral return force of the continuously variable transmission 3 (moving biasing force of the contact guide SO) are controlled so as to be maintained in a balanced state. Since the neutral return force as described above changes depending on the shift state, a different holding force is initially set according to the shift state, and an appropriate value is set based on the detection state of the potentiometer 41 and the detection state of the current detection circuit. The holding current is adjusted to have a value.

More specifically, the potentiometer 4
1 and the detected value of the vehicle speed sensor 46, "forward low speed", "forward middle speed", "forward high speed", "reverse",
6 of "body stop in forward area" and "body stop in reverse area"
Divided into two shift states, and according to each shift state,
Initially, different holding forces (specifically, the duty ratio of the pulse applied to the current adjusting transistor 37) are set (step 30). When the vehicle is at the upper limit position of the forward movement range F, the value is increased to a value larger than the initial set value by a set amount (steps 31 and 32).

The holding operation is performed at the duty ratio set as described above, and the moving current value of the past four times is calculated from the holding current value detected by the current detecting circuit (steps 33 and 34). . This calculation is performed every time the control routine is executed, that is, every 10 msec.

200 ms after the holding current starts to be supplied
When ec or more has elapsed, the lever position at that time, that is,
The lever position (specifically, the value detected by the potentiometer 41) when the holding is started is stored (steps 35 and 3).
6, 37), the detection information of the potentiometer 41,
And, the holding force control based on the detection information of the current detection circuit is executed. After the stored value is stored once, the storing operation is not executed until the assist operation is executed and the flag is reset (steps 16 and 2).
4, 36, 38).

Next, the holding force control will be described. The holding force control is performed under the conditions that the engine speed is equal to or higher than 2000 rpm, the detection value Ix detected by the current detection circuit is equal to or higher than the set value Is, and the electric motor 23 is operating normally. (Steps 39 and 40). Moving average value I _AV of the holding current, in advance exceeds the allowable upper limit value I _MAX, which is set based on experiments or the like, and counts up (+1) the first counter Na (step 41).
When the moving average value I _AV falls below an allowable lower limit value I _MIN set in advance based on experiments or the like, the second counter Nb is counted up (steps 43 and 44). If it does not exceed the allowable upper limit value _IMAX and does not fall below the allowable lower limit value _IMIN , each counter is counted down (-1) (step 45). If the count value of the first counter Na exceeds “100” and the current duty ratio is within a preset adjustable range, it is determined that the holding current is insufficient, and the holding current is increased. (Steps 46, 47, 4)
8). Also, the count value of the second counter Nb is "100".
Is exceeded and the current duty ratio is within the preset adjustable range, it is determined that the holding current has been exceeded, and the duty ratio is reduced by the set unit amount so that the holding force is reduced (step 49, 50, 51). Since the counting operation of each counter as described above is executed every 10 msec, the holding force is changed every second when the count value reaches “100” if the holding current excessive state or shortage state occurs continuously. The adjustment is performed, and if it occurs intermittently, the change adjustment interval until the count value becomes “100” is longer than one second.

When the current duty ratio has reached the forward or backward operation limit in the adjustable range, for example, when the current duty ratio is at the forward operation limit, the detection value of the potentiometer 41 further increases the set amount for abnormality determination. (52 points) It is determined whether the value has increased to the speed increasing side (moved in the direction in which the moving urging force acts), or the detection value of the potentiometer 41 is set for further abnormality determination when the reverse side operation limit is reached. When it is determined that the movement has increased by an amount (52 points) or more toward the deceleration side (moved in the direction opposite to the direction in which the moving urging force acts) (steps 52, 53, 54), the drive circuit or the electric motor 23 or the like malfunctions, It is determined that the operation is in an abnormal state in which an appropriate holding force cannot be applied even though the supply current is controlled, and the output abnormality flag is set to O.
N and returns to step 1 (step 55). When such an output abnormality flag is ON, the process returns to step 1 in step 22, so that the position holding operation by the electric motor 23 is not performed.

Next, when the detected value of the potentiometer 41 is reduced by 20 points (20/256) or more (forward deceleration) from the stored value at the start of holding while the shift lever 26 is in the forward movement range F, In addition, when the belt continuously variable transmission 3 is moved in the direction in which the neutral return biasing force acts, the holding force is insufficient when the position is increased by 20 points or more (reverse deceleration) in the state of being in the reverse region R. If the holding force is smaller than the initial set value at that time, it is returned to the initial set value to increase the holding force, and if the holding force is larger than the initial set value, the duty is increased so that the holding force is increased. The ratio is increased by the set unit amount (step 56,
58, 60, 61, 62). When the shift lever 26 is in the forward movement range F, the detection value of the potentiometer 41 is 5 points (5/25) from the stored value at the start of holding.
6) When it increases by more than one (forward acceleration) and when it decreases by more than 5 points (reverse acceleration) in the reverse range R,
In other words, when the belt continuously variable transmission 3 moves in the direction opposite to the direction in which the neutral return biasing force acts, it is determined that the holding force is excessive, and the holding force at that time is set to the initial set value. If it is larger than the initial setting value, the holding force is reduced by reducing the holding ratio. If the value is smaller than the initial setting value, the duty ratio is reduced by the set unit amount so that the holding force decreases (steps 57, 59, 63, 64). , 65). When the duty ratio is changed, the detected value of the potentiometer 41 at that time is rewritten and changed as a new value (stored value) at the start of holding (step 66).

Next, the vehicle speed control will be described. FIG.
As shown in FIG. 4, both pressure sensitive switches 27 and 28 are OFF
In this case, it is checked whether or not the control operation is started, that is, whether or not the harvesting operation is being performed while the vehicle is running (steps 101 and 102). That is, both the threshing switch 49 and the stock sensor 47 are ON and the vehicle speed is 0.1
m / s or more and the engine speed X is 500 rpm
If so, it is determined that the condition is satisfied, and the vehicle speed control is executed. If the shift lever is manually operated during the execution of the vehicle speed control and any of the pressure-sensitive switches is turned on, the acceleration / deceleration operation based on the vehicle speed control is stopped and the mode shifts to the manual shift mode (step 103). .

In the vehicle speed control, the engine speed X is detected, and it is determined whether or not the engine load (ST-X) which is a difference from the reference speed ST is the target load (steps 104 and 105). ). Engine load (ST-
If X) is detected to be larger than the target load, the vehicle speed detected by the vehicle speed sensor 53 is equal to or higher than a preset vehicle speed, and the detection value of the potentiometer 41 is in the forward range shown in FIG. Set position s set in F
If the position is higher than p, the duty ratio is set as described above, and the electric motor 23 is operated to reduce the vehicle speed (steps 106, 107, 10).
8, 109). Therefore, when the vehicle speed detected by the vehicle speed sensor 53 is lower than the set vehicle speed, or when the detection value of the potentiometer 41 is lower than the set position, the deceleration operation is not performed, and the speed change position is held at that time. Is done.

The set vehicle speed is about 0.15 m / sec.
The vehicle speed is set to about c, that is, a state in which the sub-transmission is shifted to the lowest speed (“low” position) and the continuously variable transmission 3 is operated to the lowest speed position or a position close thereto. As the set position sp, the value at the end of the forward area in the neutral area N shown in FIG.
256) The added value, that is, a position higher by a set amount than the position corresponding to the forward minimum speed in the continuously variable transmission 3.

If the engine load (ST-X) is smaller than the target load and the current vehicle speed is not the upper limit vehicle speed set by the upper limit vehicle speed setter 51, the duty ratio setting process is performed. The vehicle speed is increased by operating the electric motor 23 (steps 111, 112, 113).
If the engine load (ST-X) is within the dead zone with respect to the target load, the shift operation is stopped and the current vehicle speed is maintained (step 114).

[Another Embodiment] (1) In the above embodiment, the hunting prevention control is executed only in the forward upper limit range Fa. However, the same hunting prevention control is executed in the reverse upper limit range and the neutral range. It may be.

(2) In the above embodiment, the shift lever 26
When the operation position is not in the forward upper limit range Fa or when the reverse switch is turned on, the execution of the hunting prevention control is stopped. Instead of such a configuration, the execution of the hunting prevention control is started. When the set time elapses after that, the control release operation can be performed using other various information such as stopping the execution of the hunting prevention control.

(3) In the above embodiment, the end position detecting means determines whether or not the position is the end set position based on the detection value of the potentiometer and the stored information stored in advance. For example, a configuration may be employed in which detection is performed by a limit switch or the position of the shift lever is directly detected by an optical sensor.

(4) In the above embodiment, the case where the transmission section of the belt-type continuously variable transmission is operated as the object to be operated is exemplified. However, the present invention is not limited to the belt-type continuously variable transmission.
The present invention may be applied to an operation structure of a hydraulic continuously variable transmission and other continuously variable transmissions. The operation target is not limited to the transmission section of the continuously variable transmission, and, for example, the moving urging force due to its own weight. The present invention can be applied to various operation configurations such as a hanging configuration.

[Brief description of the drawings]

FIG. 1 is a side view showing a shift operation configuration.

FIG. 2 is a sectional view of the belt continuously variable transmission.

FIG. 3 is a side view of the cam mechanism.

FIG. 4 shows a transmission system.

FIG. 5 is a diagram showing an operation range of a shift lever.

FIG. 6 is an electric circuit block diagram.

FIG. 7 is a flowchart of a control operation.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a flowchart of a control operation.

FIG. 12 is a flowchart of a control operation.

FIG. 13 is a flowchart of a control operation.

FIG. 14 is a flowchart of a control operation.

FIG. 15 is a diagram showing a timing chart of an operation.

[Explanation of symbols]

 Reference Signs List 3 continuously variable transmission device 20 operated object 23 assist means 26 operating tool 27, 28 operating state detecting means 41 potentiometer 100 assist control means 101 determining means TK end position detecting means

Claims (5)

[Claims] An object to be operated is mechanically linked with an operating tool that is manually operated in a forward / reverse direction in a state where the operating tool is controlled to abut at an end of an operating area, and the operating tool and the operated In the linkage mechanism with the target, whether or not the operation tool is manually operated, and operation state detection means for detecting an operation direction when the operation tool is being operated, and toward the artificial operation direction of the operation tool Assist means for applying an assist force, based on the detection information of the operation state detection means, to perform an assist operation by the assist means toward the artificial operation direction of the operation tool, when the operation tool is in a non-operation state, An operation assist device comprising: an assist control unit that controls an operation of the assist unit so as to stop an assist operation, wherein the operation tool is preset to correspond to an end of an operation area. End position detecting means for detecting whether or not the operating tool is located in the part setting area, wherein the assist control means is that the operating tool is positioned in the end setting area by the end position detecting means. In the state where is detected, the operation state detecting means detects the operation of the operating tool toward the end and performs the assist operation, and before the set time has elapsed since the end of the assist operation. After the operation of the operating tool in the reverse direction is detected by the operation state detection means, and the operation in the reverse direction is switched to the non-detection state, the operation state detection means again, An operation assist configured to execute an anti-hunting control for controlling an operation of the assist means so that the operation tool is held at the shift position when the operation of the operation tool toward the end is detected. apparatus. 2. The assist control means, wherein the end position detection means does not detect that the operating tool is located in the end setting area, or
2. The operation assist device according to claim 1, wherein the operation state detecting means stops execution of the hunting prevention control when the operation of the operation tool in the reverse direction is detected. 3. The potentiometer for detecting an operation position of the operating tool, wherein the end position detecting means includes:
If the detected value of the potentiometer is a value corresponding to the setting area stored in the storage means in a state set in advance in the storage setting mode, the operating tool is located in the end setting area. The determination means is configured to sequentially detect and store the storage device in accordance with an operation from one end to the other end of the operation area of the operation tool when the storage setting mode is set. 3. The operation assist device according to claim 1, wherein the setting area is set based on detection information of the potentiometer stored in a means. 4. The assist control means is configured to move and bias the operated object in one of the forward and reverse directions, and in the hunting prevention control, oppose a moving urging force of the operated object. And controlling the operation of the assist means so that an assist force balanced with the movement urging force acts in a direction opposite to a direction in which the movement urging force acts to hold the position. The operation assist device according to any one of claims 1 to 3. 5. The operation target is constituted by a transmission section of a belt-type continuously variable transmission for traveling a vehicle body.
5. The operation assist device according to any one of items 4 to 5.