JPH10248328A - Work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set the forward traveling speed of a machine body and to enable backward traveling in the machine body by a single lever operation. SOLUTION: The running of the machine body is stopped by the operation of the lever 17 to a neutral position N, the machine body is made to travel forward by the operation to an advance area F, an operation tool 17 is linked with a forward/backward traveling change-over device so as to permit the machine body to travel backward by the operation to a backward travelling position R, a sensor for electrically setting the speed change target of a continuously variable transmitting device is operated by the operation in the advance area R of the lever 17 so as to change running speed by the continuously variable transmitting device in configuration and the operation area in the advance area F of the lever 17 is made to almost coincide with the almost whole measurement area of the sensor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a continuously variable transmission for continuously setting the traveling speed of an airframe by a driving force of an actuator, and a forward / reverse switching device for setting the traveling direction of the aircraft to forward or backward. More specifically, the present invention relates to an improvement in a shift operation system.

[0002]

2. Description of the Related Art Conventionally, a rice transplanter as an example of a working machine constructed as described above is disclosed in Japanese Patent Application Laid-Open No. 8-154435. In this conventional example, a belt-type continuously variable transmission is used. And a hydraulic clutch type forward / reverse switching device.

[0003]

Considering a rice transplanter as a working machine, in order to improve the accuracy of a planting start position in a field during rice transplanting, the frequency of switching the body in the front-rear direction is large, and depending on the condition of the field. The frequency of making fine adjustments to the running speed of the aircraft is also high. When performing such an operation, it is also desirable to switch back and forth by a simple operation as much as possible and to enable fine adjustment of the traveling speed. However, in the above-described conventional example, when performing the forward / backward switching operation, the forward / backward switching operation tool is used, and when the traveling speed is adjusted, the speed adjustment operation tool is used. There are also annoying aspects. Therefore, it is conceivable to equip the fuselage with a hydrostatic type continuously variable transmission that can continuously control both the forward speed and the reverse speed of the aircraft with a single operation system, but this type of continuously variable transmission is large. However, since it is expensive, there is room for improvement in increasing the manufacturing cost of the airframe.

[0004] It is an object of the present invention to rationally construct a work machine capable of switching the forward / backward movement of the machine and fine-adjusting the forward speed of the machine by operating a single operating tool.

[0005]

A first feature (claim 1) of the present invention is, as described at the beginning, a continuously variable transmission that continuously sets the traveling speed of the body by the driving force of an actuator; A work implement having a forward / reverse switching device for setting the traveling direction of the fuselage forward or backward, a single operating tool for performing a shift operation of the continuously variable transmission and an operation of the forward / reverse switching device; By operating the operating tool to the neutral position, the forward / reverse switching device is set to the neutral position to stop traveling of the body, and by operating the operating tool to the forward area, the forward / backward switching device is set to the forward position. Operating the operating tool to the reverse position, setting the forward / reverse switching device to the reverse position, and linking the operating tool and the forward / backward switching device so as to move the aircraft backward, and The operation of the continuously variable transmission by the operation of the There the speed target to the point you have configured to be able to electrically change the running speed by continuously variable transmission by operating the setting means for setting, its action and effects are as follows.

A second feature of the present invention (claim 2) resides in that, in claim 1, the operation range of the operating tool in the forward movement range and the substantially entire measurement range of the setting means are substantially matched. ,
The operation and effect are as follows.

According to a third feature of the present invention, the sum of the neutral position of the operating tool and the operating area in the forward movement area substantially coincides with the substantially entire measurement area of the setting means. The operation and effect are as follows.

A fourth feature of the present invention (claim 4) is that in claim 1, a switch is provided for detecting that the operating tool has been set to the reverse position, the switch outputs a detection signal, and In the case where the setting means outputs an electric signal indicating that the operating tool has been operated in the forward movement range, the control means shifts the continuously variable transmission to the lowest speed position, and thereafter includes a check means for preventing the shift operation. In the point, its action,
And the effect is as follows.

[Operation] According to the first feature, the traveling of the body can be stopped by setting the operating tool to the neutral position, and the aircraft can be moved backward by setting the operating tool to the reverse position. By setting the operating tool in the forward movement area, the aircraft can be advanced, and in this forward movement area, the operating position of the operating tool is measured by the setting means,
The actuator is controlled so that the position measured by the setting means is set as the shift target, and the continuously variable transmission is shifted.

According to the second feature, when the operating tool is operated in the forward movement area, substantially the entire measurement area of the setting means is measured at the measurement position. Comparing with the one that corresponds to the whole measurement area, it can improve the resolution of the operating position of the operating tool in the forward movement area regardless of whether the setting means is of the potentiometer type or of the rotary encoder type Becomes

According to the third feature, when the operating tool is operated between the forward movement area and the neutral position, the measurement is performed at any one of the measurement positions in the substantially entire measurement area of the setting means. Comparing the entire operation area of the setting means with the one corresponding to the entire measurement area of the setting means, whether the setting means is of the potentiometer type or of the rotary encoder type, The resolution of the operation position can be improved, and at the same time, the fact that the operation tool is at the neutral position can be measured by the setting means.

According to the fourth feature, when the switch outputs a detection signal indicating that the operating tool is at the reverse position and at the same time the setting means outputs a signal indicating that the operating tool has been operated to the forward position. It is impossible for the operator to set the continuously variable transmission to the lowest speed because it is impossible to determine whether the switch is abnormal or the setting means has failed. At the same time, running at the set speed is prevented, and in this state, even if a shifting operation is performed, the shifting operation is prevented so that the operator can recognize occurrence of an abnormality.

According to the present invention, a work machine capable of switching the forward / backward movement of the body and finely adjusting the forward speed of the body by operating a single operating tool is rationally constructed. 1). In addition, the operation position of the operating tool in the forward movement region is measured with high accuracy to enable a delicate shift operation (claim 2). At the same time as enabling the shift operation, it is possible to accurately measure that the operating tool has been operated to the neutral position (claim 3). The occurrence of abnormality can be easily recognized (claim 4).

[0014]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are steered.
The engine 4 is mounted on the front of the traveling body 3 provided with a transmission body 5 and the transmission case 5 in which the power from the engine 4 is transmitted to the front of the traveling body 3 via a belt-type continuously variable transmission V. In addition, a steering handle 6 and a driver seat 7 are arranged at the center of the traveling body 3, and a parallel four-link type link mechanism 9 driven and raised by a lift cylinder 8 is provided at the rear end of the traveling body 3. The seedling planting apparatus A is connected to the rice planting machine as an example of a working machine.

The seedling planting apparatus A includes a planting mechanism 1 having a planting arm from the lower end of a mat-like seedling W placed on a seedling mounting table 10.
1 is configured to perform an operation of cutting out one plant at a time and planting it in a field scene, and a plurality of leveling floats 12 are provided at a lower portion.

On the right side of the driver's seat 7, an elevator lever 14 for controlling the raising and lowering of the seedling planting device A and the on / off control of the planting clutch C built in the transmission case 5 is provided. Is a high-speed aircraft 3 suitable for road driving
And a main transmission lever 15 that can be switched between a high-speed position H at which the vehicle 3 travels and a low-speed position L at which the body 3 travels at a low speed suitable for the planting operation. A force lifting lever 16 for forcibly raising and lowering the seedling planting device A is provided at the right side position of the post portion of the steering handle 6, and the operation of the continuously variable transmission V and the transmission are provided at the left side position of the steering handle 6. A forward / reverse switching lever 17 is provided as an operating tool for operating with the forward / reverse switching device B built in the case 5, and a main clutch pedal 18 is provided at a step in front of the driver's seat 7.

As shown in FIG. 6, a meter panel P in front of the driver's seat 7 has a work display unit 19 for displaying various indications by lighting a plurality of lamps, a fuel remaining amount display unit 20, an engine speed, and the like. Liquid crystal display 2 for displaying work time, etc.
1 and the meter panel P
Is provided with an accelerator lever 22 for setting the number of revolutions of the engine 4, and an automatic deceleration switch 23 is provided at a lower right position.

As shown in FIG. 2, the continuously variable transmission V has split pulleys 25, 25 whose belt winding radius is adjustable with respect to the output shaft 4A of the engine 4 and the input shaft 5A of the transmission case 5, respectively. And an endless belt 26 wound around each of them, a tension pulley 27 for applying tension to the endless belt 26, and a link member 28 for adjusting a belt winding radius with respect to each of the split pulleys 25, 25. Link member 28 is rod 29, bell crank 3
The speed change motor 31 is electrically driven to expand and contract as an actuator operated via the motor 0. It should be noted that a potentiometer type shift sensor 32 is provided for the bell crank 30, and a friction type main clutch 33 that is operated to be depressed by depressing the main clutch pedal 18 is provided on the input shaft 5 </ b> A of the transmission case 5. A main clutch switch 34 for detecting a depression operation is provided at a position near the main clutch pedal 18.

As shown in FIG. 8, the forward / reverse switching device B
Is configured to transmit forward power to the traveling system by an on operation of a hydraulic forward clutch 36 and to transmit reverse power to the traveling system via a gear-type reverse rotation transmission mechanism 38 by an on operation of a hydraulic reverse clutch 37. Further, a gear type main transmission 39 for shifting the power from the forward / reverse switching device B to two levels of high and low by operating force from the main transmission lever 15 is provided in the transmission case 5.
It is built in.

As shown in FIG. 3, the forced lifting lever 1
Numeral 6 is urged by a spring (not shown) so as to return to the neutral position N, and is formed at a raised position U formed above the neutral position N and at a lower position based on the neutral position N. The lowering position D is operable to move the seedling planting device A up to the upper limit when it is operated to the raising position U.
When the operation is performed, the leveling float 12 of the seedling planting device A is grounded, and the automatic raising / lowering control (control operation is performed) for maintaining the height of the seedling planting device A measured by the leveling float 12 with respect to the field at the set height is performed. (Not detailed)). An up switch 40 and a down switch 41 are provided at the base end to detect that they have been moved to the up position U and the down position D, respectively.
As shown in FIG. 1, a link switch 42 is provided at the base end of the link mechanism 9 for detecting that the seedling planting device A has risen to the upper limit.

As shown in FIG. 4, the lifting lever 14 is configured to be operable along a path formed in the guide 43,
When the raising / lowering lever 14 is set forward of the “down” position in the path, the seedling planting device A is lowered, and when the raising / lowering lever 14 is set behind the “up” position, the seedling planting device A is raised and “neutral”.
When set to the position, the seedling planting device A is maintained at that level,
When the raising / lowering lever 14 is set to the “ON” position, the planting clutch C is operated to be engaged, and the automatic raising / lowering control is enabled while the leveling float 12 provided in the seedling planting device A is in contact with the ground. When set to the position, the planting clutch C is disengaged, and when the elevating lever 14 is set to the "automatic" position, the raising and lowering of the seedling planting apparatus A is allowed according to the operation of the forcible elevating lever 16, and At the time of reversing, control for raising the seedling planting apparatus A to the upper limit is allowed. As shown in FIG. 1, a potentiometer type lever sensor 44 for measuring the operating position of the lifting lever is provided at the base end thereof. I have. It should be noted that control is performed to automatically disengage the planting clutch C when the seedling planting device A is raised by the forcible raising / lowering lever 16 and when the seedling planting device A is forcibly raised when the body 3 moves backward. Has become.

As shown in FIG. 7, the forward / reverse switching lever 17 is configured to be freely operable between a neutral position "N", a forward region "F", and a reverse position "R" of a path formed in the guide 46. When operated in the forward range "F", the operating position is measured by a potentiometer type setting sensor 47 as a setting means, and the forward side (the side separated from the neutral position "N") in the forward range "F". ), The continuously variable transmission V
(The control operation will be described later), and the reverse position "R"
Is operated, the reverse switch 48 is turned on.

More specifically, as shown in FIGS. 5 (a) and 5 (b), the forward / reverse switching lever 17 is provided with a horizontal support shaft 49.
As shown in FIG. 7, the support member 17 </ b> A is configured to be swingable in the lateral direction by swinging around the axis of the support portion 17 </ b> A of the intermediate portion in the front-rear posture while being supported swingably in the front-rear direction. Thus, the operation can be performed along the curved operation path. Further, a sector gear 50 is provided so as to be swingable around a coaxial core with the support shaft 49, and a pinion gear 47A for operating the setting sensor 47 is engaged with the sector gear 50, and the swing limit of the sector gear 50 is fixed to a fixing member on the body side. A stopper pin 51 for determining the position of the sector gear 50 is provided on the lever side to contact the contact portion 50A of the sector gear 50 when the lever 17 is operated in the forward movement area "F". When the lever 17 is operated to the neutral position “N” in the range “F”, the sector gear 50
Is provided, and is turned on by contact with the lever 17 when the lever 17 is set to the reverse position "R".
A reverse switch 48 is provided to be operated. FIG.
As shown in the figure, the gear ratio between the sector gear 50 and the pinion gear 47A is set so that the forward / backward switching lever 17 is made to coincide with the operation range of the forward movement range “F” and substantially the entire measurement range of the setting sensor 47. Contact pin 52 and sector gear 50
A weak urging force is used to allow operation of the forward / reverse switching lever 17 in a state where the contact portion 50A is separated from the contact portion 50A.

With this configuration, when the forward / reverse switching lever 17 is operated to the neutral position "N", the contact pin 52 and the contact portion 50A of the sector gear 50 are separated as shown in FIG. When the forward / reverse switching lever 17 is operated in the forward range “F”, the sector gear 50 is rotated by the operating force from the contact pin 52, and as a result, the lever 17 is moved to any operation position in the forward range “F”. Can be measured by the setting sensor 47, and the forward / reverse switching lever 1
7 is operated to the reverse position "R", the contact pin 52 and the contact portion 50A of the sector gear 50 are connected as shown in FIG.
The reverse switch 48 is to be turned ON in a state in which the front and rear sides are separated from each other. FIG. As shown in FIG. 12, the voltage measured by the setting sensor 47 decreases in accordance with the operation amount of the lever in the forward range “F”, and maintains a low voltage even in the neutral position “N” and the reverse position “R”. It has become.

As shown in FIG. 9, a control system is configured. In this control system, a setting sensor 47, a reverse switch 48, an automatic deceleration switch 23, a main clutch switch 34, a lever An input system is formed from each of the sensor 44, the up switch 40, the down switch 41, the link switch 42, and the speed change sensor 32, and a relay circuit 56 for controlling the speed change motor 31; The output system for the control valve V8, the electromagnetically operated forward valve V36 for the forward clutch 36, the electromagnetically operated reverse valve V37 for the reverse clutch 37, the electric clutch motor 57 for operating the planting clutch C, and the liquid crystal display 21 are respectively provided. The control device 55 is provided with EEPROM type memories 58 and 8. Has Tsu City of A / D converter (not shown). Further, a signal system for operating the transmission motor 31 to a high speed side from the control device 55 to the relay circuit 56,
A signal system for operating the speed change motor 31 to the low speed side is formed. Each of the signal systems includes a limit switch 59 that is mechanically shut off when the speed change motor 31 reaches an operation limit.
59 are interposed.

As shown in the flowchart of FIG. 10, a shift routine for shifting gears based on the operation of the forward / reverse switching lever 17 is configured. In this routine, after it is determined that the flag is "0", the setting sensor 47 When the signal voltage is present in the control voltage range (see FIG. 12) enabling the shift control by inputting the signal from the
Can be determined to be in the forward range “F”, and after it is determined that the reverse switch 48 is in the OFF state, the forward clutch 36 is engaged by the control of the forward valve V36, and the signal from the setting sensor 47 is transmitted to the control target. The speed change motor 31 is operated to change the speed of the continuously variable transmission V (steps # 101 to # 105). # 1
If the signal voltage of the setting sensor 47 does not exist in the control voltage range at step 02, the state of the reverse switch 48 is determined. If the signal voltage is OFF, the forward / reverse switching lever 17 can be determined to be at the neutral position "N". , Forward clutch 3
6. The reverse clutch 37 is also kept in the disengaged state (# 10
6, # 107 step), if the reverse switch 48 is in the ON state, it can be determined that the forward / reverse switching lever 17 is at the reverse position "R", so that the reverse clutch 37 is engaged by the control of the reverse valve V37. The transmission V is shifted to the lowest speed position, and a backup process is performed (# 1).
08 to # 110 steps). In this backup process, the planting clutch C is disengaged by the control of the clutch motor 57 and the seedling is planted by the operation of the control valve V8 only when it is determined that the lift lever 14 is at the "automatic" position. The ascending device A starts to rise and continues this rising until the link switch 42 reaches the detection state.

In step # 103, the reverse switch 48
Is determined to be in the ON state, it is considered that at least one of the setting sensor 47 and the reverse switch 48 is in the failure state. Therefore, the flag is set to “1” and the failure state is displayed on the liquid crystal display 21. Is displayed, and the forward clutch 3 is controlled by controlling the forward valve V36.
6, the continuously variable transmission V is shifted to the lowest speed position (steps # 111 to # 114).
The # 111 to # 114 steps constitute the restraining means E according to the fourth aspect.

If the flag is set to "1" in the failure state, the gear shift becomes impossible in the subsequent processing, but it is possible to run at a low speed, so that the traveling body 3 can be moved as required. Has become. The flag is set in the control device 55.
Is set to “0” in the initial state of the control processing of “1”, and when the flag is set to the state of “1”,
By resetting the control device 55 after the failure state is resolved, a normal shift routine can be performed.

In this rice transplanter, the correction data for associating the shift sensor 32 for measuring the shift position of the continuously variable transmission V with the shift range of the continuously variable transmission V is stored in the EEPROM.
A correction data holding routine is set so as to automatically perform a process of storing data in the M-type memory 58.

As shown in the flowchart of FIG. 11, when this routine is executed, first, the speed change motor 31 is operated so as to shift the continuously variable transmission to a high speed side, and the speed change motor 3
The signal of the shift sensor 32 when the limit switch 59 interposed in the signal system for operating the speed change motor 31 to the high speed side when the speed limiter 1 reaches the operation limit is operated is stored in the memory 58.
(Steps # 201 to # 204), and then operates the speed change motor 31 to shift the continuously variable transmission V to the low speed side. When the speed change motor 31 reaches the operation limit, the speed change motor 31 is moved to the low speed side. The signal of the shift sensor 32 when the limit switch 31 interposed in the signal system operated to turn off the signal system is stored in the memory 58 (steps # 205 to # 208). When the data is stored in this manner, the shift position of the continuously variable transmission V can be measured with high accuracy based on signals from the respective data. For example, the signal voltage from the setting sensor 47 is controlled in the control signal range. If the value is 1/2 of the
The control is performed so that the voltage value measured at 2 becomes 値 of the two data stored in the memory 58.

When the main clutch 33 is depressed by depressing the main clutch pedal 18 during traveling with the forward / reverse switching lever 17 set to the forward range "F" while the automatic deceleration switch 23 is ON, this operation is performed. Is detected by the main clutch switch 34 and the continuously variable transmission V is automatically decelerated to the lowest speed. After that, if the main clutch switch 34 detects that the main clutch 33 has returned to the on state, the A control operation for restoring the transmission V to the set position of the forward / reverse switching lever 17 is performed (the control operation is not described in detail).

As described above, according to the present invention, when the forward / reverse switching lever 17 is set in the forward movement range "F", the set position of the lever 17 can be measured in substantially the entire measurement range of the potentiometer type setting sensor 47. Even when an 8-bit A / D converter is used, the lever 17 can be used with high accuracy by effectively using almost the entire range of the resolution of 256 steps of the resolution limit of the A / D converter.
The measurement area of the speed change sensor 32 is automatically stored in the memory 58, and the feedback signal area corresponding to the signal area of the setting sensor 47 is set with higher accuracy. The gearshift operation can be performed. When the setting sensor 47 detects that the forward / reverse switching lever 17 is set to the forward range “F”, and when the reverse switch 48 is in the detection state, the continuously variable transmission V is set to the minimum speed. By displaying an alarm on the liquid crystal display 21, it is possible to move the body at a low speed while avoiding the inconvenience of the body 3 traveling at a high speed against the intention of the worker. And make it easy to recognize. [Alternative Embodiment] The present invention can be configured, for example, as follows, in addition to the above-described exemplary embodiment. The numbers and symbols are the same as those in the above form.)

(A) As shown in FIG. 13, the setting sensor 47 measures the operation range of the forward / reverse switching lever 17 from the neutral position "N" to the forward movement range "F". Set. With this setting, the forward / reverse switching lever 17 can be positioned at the neutral position “N” without significantly lowering the resolution of the set position of the lever 17 in the forward movement range “F” based on the signal from the setting sensor 47. And can be easily determined.

(B) The forward / reverse switching device B is configured to be able to be switched by a manual operation force such as a gear shift type.
The forward / reverse switching device and the switching lever 17 are mechanically linked via an operating rod or the like, and a setting system for electrically controlling the continuously variable transmission V and the forward / backward switching lever 17 are linked. It is also possible.

(C) When the setting sensor 47 determines that the forward / reverse switching lever 17 is located in the forward range "F", and when the reverse switch 48 is ON, the forward clutch 36 and the reverse clutch 37 are both disengaged. To disable the aircraft from running.

(D) The setting sensor 47 determines that the forward / reverse switching lever 17 is located in the forward range "F", and simultaneously activates the buzzer when the reverse switch 48 is in the ON state. It also provides voice notification, such as announcing the occurrence of an abnormality in human language.

(E) The absolute value of the control voltage range when the forward / reverse switching lever 17 is operated to the forward range “F” and the feedback voltage range of the shift sensor 47 corresponding to the entire speed range of the continuously variable transmission V. The processing steps are simplified by making the absolute values substantially coincide with each other.

(F) The setting sensor 47 is constituted by a rotary encoder.

[Brief description of the drawings]

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

FIG. 2 is a side view of the continuously variable transmission.

FIG. 3 is a side view showing an operation mode of a forced lifting lever.

FIG. 4 is a plan view showing an operation path of a lifting lever.

FIG. 5 is a side view showing the linkage between a forward / reverse switching lever and a setting sensor in two operation states.

FIG. 6 is a plan view of a meter panel.

FIG. 7 is a plan view showing an operation path of a forward / reverse switching lever.

FIG. 8 is a plan view showing a schematic structure of a forward / reverse switching device.

FIG. 9 is a block circuit diagram of a control system.

FIG. 10 is a flowchart of a shift routine.

FIG. 11 is a flowchart of a correction data holding routine.

FIG. 12 is a diagram showing a relationship between an operation position of a forward / reverse switching lever and a voltage value of a setting sensor.

FIG. 13 is a diagram showing a relationship between an operation position of a forward / reverse switching lever and a voltage value of a setting sensor in another embodiment.

[Explanation of symbols]

 3 Airframe 17 Operating tool 31 Actuator 47 Setting means 48 Switch B Forward / reverse switching device E Checking means F Forward area N Neutral position R Reverse position V Continuously variable transmission

Claims (4)

[Claims] 1. A work machine comprising: a continuously variable transmission that continuously sets a traveling speed of a body by a driving force of an actuator; and a forward / reverse switching device that sets a traveling direction of the body to either forward or backward. A single operating tool for performing a shift operation of the continuously variable transmission and an operation of the forward / reverse switching device, and setting the forward / backward switching device to a neutral position by operating the operating device to a neutral position. The traveling of the fuselage is stopped, the forward / backward switching device is set to the forward position by operating the operating tool in the forward movement area, the aircraft is advanced, and the forward / backward switching device is operated by operating the operating tool to the reverse position. The operation tool and the forward / reverse switching device are linked to set the vehicle at the reverse position to move the body backward, and the shift target of the continuously variable transmission is electrically set by operating the operation tool in the forward movement range. Operate the setting means to set and drive by the continuously variable transmission Working machine that is configured to be the change of time. 2. An operation area of the operating tool in the forward movement area and substantially the entire measurement area of the setting means are substantially coincident with each other.
The working machine described. 3. The work machine according to claim 1, wherein a total sum of the neutral position of the operation tool and an operation area in the forward movement area substantially coincides with substantially the entire measurement area of the setting unit. 4. A switch for detecting that the operating tool has been set to the reverse position, the switch outputs a detection signal, and an electric signal indicating that the operating tool has been operated in a forward movement region is set by the setting means. 2. The work implement according to claim 1, further comprising a check unit that shifts the continuously variable transmission to a lowest speed position when the output is output, and thereafter blocks the shift operation.