JPH1070912A - Controller for power vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide controllers for a power vehicle, simplified in structure, simply operable even by an inexperienced person, capable of improving the control accuracy and remarkably improving the operating efficiency by installing a controlling means for automatically changing over contents, etc., of control over the controllers according to the skill level. SOLUTION: The controllers for a power vehicle are equipped with a controlling means such as an automatic and manual selector switch 42 capable of automatically changing over contents or sensitivities of control over the controllers according to the skill level when operating a skill level selecting means in the power vehicle such as a tractor provided with the plural controllers, a sensitivity setting means such as a horizontal sensitivity setter 45 and the skill level selecting means for an operator such as the skill level setter 46.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a powered vehicle such as a tractor, and more particularly to an improvement in workability and operability by changing the control contents and sensitivity depending on the skill of an operator who operates the machine body. Is what you do.

[0002]

2. Description of the Related Art Tractors include a tillage depth control device that keeps a tillage depth of a rotary tillage device at a set tillage value, a horizontal control device that keeps a left and right inclination posture of a working machine constantly constant, Various control devices such as a turning control device that raises the work machine in conjunction with the vehicle, raises the peripheral speed of the front wheels almost simultaneously, and brakes the rear wheel inside the turning to turn the aircraft with the minimum turning radius are incorporated. .

[0003]

By the way, in such a conventional apparatus, a worker operates a mode ON / OFF switch for each of the control devices each time to operate the control device.
Must be selected. That is, the tillage control dial must be turned on when the tillage control is effective, and the horizontal automatic switch must be turned on when the horizontal control is effective.

Normally, each of these control devices is provided with a sensitivity setting dial. However, there is an inconvenience that these sensitivities have to be set one by one according to the condition of the field and working conditions.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and is simple and simple. It is an object of the present invention to control the control device in an optimum state. Therefore, the present invention takes the following technical measures. That is, in a powered vehicle including a plurality of control devices, sensitivity setting means, and operator skill selection means, when the skill level selection means is operated, the control content or sensitivity of the control device is changed according to the skill level. A configuration of a control device for a powered vehicle, characterized in that control means for automatically switching is provided.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. First, a description will be given of the structure. Reference numeral 1 denotes a tractor provided with a front wheel 2 and a rear wheel 3, and transmits a rotational power of an engine 5 mounted on a front part of the body to a main transmission 6 a and a sub transmission 6 b in a transmission case 6. The vehicle is decelerated as appropriate and transmitted to the front wheel 2 and the rear wheel 3. The main transmission 6a and the auxiliary transmission 6b are both formed of synchromesh, and the main transmission 6a can perform four-speed transmission and the auxiliary transmission 6b can perform high-low two-speed transmission. Reference numeral 6c denotes a forward / reverse switching device for changing the traveling direction of the fuselage. The forward / backward switching lever 23 is operated to rotate in the forward / backward direction to move the fuselage forward or backward.

At the lower part of the transmission case 6 is provided a front wheel speed increasing device 51 which can be switched by turning on and off the hydraulic clutch. When the constant-speed four-wheel drive solenoid 52 is excited,
When the peripheral speeds of the front wheel 2 and the rear wheel 3 become substantially the same, and when the speed increasing solenoid 53 is excited, the peripheral speed of the front wheel 2 becomes 2
It is configured to be about twice as fast. The switching from the constant-speed four-wheel drive state to the front wheel speed-increasing state is performed by operating the steering handle 4, and as described later, the steering handle 4 is turned so that the steering angle sensor 30 attached to the turning base has a predetermined angle or more. When the rotation operation is detected, the state is switched from the constant-speed four-wheel drive state to the front wheel speed-up state.

A hydraulic cylinder case 9 is mounted on the upper part of the transmission case 6, and lift arms 10, 10 for lifting and lowering the working machine are pivotally mounted on both left and right sides thereof. . When hydraulic oil is supplied or discharged to the single-acting hydraulic cylinder 11 in the hydraulic cylinder case 9, the lift arms 10, 10 rotate upward or downward.

The ascending proportional solenoid valves 12a and 12b are descending proportional solenoid valves. When these proportional solenoid valves 12a and 12b are selectively energized, the lift arms 10 and 10 rotate up and down. I do. Hydraulic operation lever
A position setting device 8 is provided at the rotation base of the lift arm 16, and a lift arm angle sensor is provided at the rotation base of the lift arm 10.
21 are provided. The value of the current supplied to the solenoid valves 12a and 12b is changed according to the difference between the value set by the position setting device 8 and the value detected by the lift arm angle sensor 21 to control the flow rate.

A hydraulic lift rod 14 is interposed and connected between the one-side lift arm 10 and the lower link 13. When hydraulic pressure is supplied to the hydraulic lift rod 14, the hydraulic lift rod 14 The connected working machine 15 tilts left and right. Reference numeral 17 denotes an inclination sensor for detecting the inclination of the body in the left-right direction, and reference numeral 18 denotes a stroke sensor for detecting the amount of expansion and contraction of the hydraulic lift rod 14. An angle for keeping the work implement 15 at a predetermined angle is calculated from the set value of the tilt setting device 19 provided on the machine side and the detection values of the tilt sensor 17 and the stroke sensor 18, and a controller to be described later is used. An expansion / contraction command is output from 20 to the hydraulic lift rod 14.

Reference numerals 24, 24 denote braking devices installed on the rear axles of the left and right rear wheels 3, 3, which depress a pair of left and right brake pedals 29 or actuate an actuator 25 for braking. , 25 operate, the brake devices 24, 2
4 is configured to operate. That is, when the brake pedal is depressed, the brake devices 24, 24 are actuated via a mechanical linking mechanism such as a link or a rod, or when the steering handle 4 is turned, the brake device is interlocked with the operation.
Brake solenoids 28L, 28 of the oil passage switching valve 28
R is excited, the brake actuators 25, 25 are made to protrude forward to press the brake arm 26, and the brake
The key devices 24 are operated.

The timing at which the brake device 24 is activated is detected by a steering angle sensor 30 provided at the turning base of the steering handle 4, and the oil passage switching valve 28 is switched by an instruction from the controller 20. In this embodiment, the timing at which the front wheels 2 switch from the constant-speed four-wheel drive state to the increased speed state and the timing at which the brake devices 24, 24 operate substantially coincide with each other.

The working machine described in this embodiment is a rotary tilling device. The rotary tilling device 15 is pivotally mounted on a main cover 31 that covers the upper part of the tilling portion and a rear portion of the main cover 31. A tillage sensor 33 for detecting a tillage depth from the swing angle of the rear cover 32 is attached to the upper part of the main cover 31. Then, the hydraulic elevating mechanism is controlled so as to maintain the plowing depth set by the plowing depth setting device 34 installed on the machine side.

Next, the block diagram shown in FIG. 2 will be described. On the input side of the controller 20 having a CPU, the position setting device 8 and the lift arm angle sensor 21; the tillage depth setting device 34 and the tillage depth sensor 33; the inclination setting device 19 and the inclination sensor 17; Sensor 18 is connected. In addition, a throttle opening setting device 37 for setting the throttle opening of the engine 5, an engine rotation sensor -38,
A steering angle sensor 30 and an elevating switch 40 for elevating and lowering the work implement are connected. Reference numeral 42 denotes an automatic / manual changeover switch. When this switch is set to automatic, horizontal control and plowing depth control are switched to an automatic mode, and when set to manual, automatic control is cut off. Adjustments are made. 44 is a tillage sensitivity setting device, 45
Is a horizontal sensitivity setting device that can be switched between "dull", "standard", and "quick", respectively. Reference numeral 46 denotes a dial-adjustable skill level setting device which can be switched in three stages. A beginner can set the setting 1 and an intermediate person who can perform standard work can set the setting 2.
The veteran selects setting 3.

On the output side of the controller 20, an ascending proportional solenoid valve 12a, a descending proportional solenoid valve 12
b, horizontal control extending solenoid 22a, shortening solenoid 22b, left brake solenoid 28L, right brake
A solenoid 28R for the key, an actuator 47 for the electronic governor for controlling the rotation of the engine 5, a constant-speed four-wheel drive solenoid 52 of the front wheel speed increasing device 51, and a speed increasing solenoid 53 are connected.

Next, the operation will be described with reference to the flowchart of FIG. First, the automatic / manual changeover switch 42 is switched to automatic, and the skill setting dial 44 is set to the setting 1. With this setting, horizontal control, tillage control, turning control,
Engine rotation control is executed. The sensitivity of the horizontal control is set to "dull", and the sensitivity of the plowing depth control is automatically set to "dull". When the steering handle 4 is turned in order to turn the machine body on the ridge, the work control is automatically raised by turning control, and further, the engine rotation control is operated, and the rotation of the engine 5 is reduced by a predetermined number of rotations. After the turn, the rotation speed of the engine 5 returns to the original rotation speed. During this time, the front wheel 2 is not switched to the speed increase, and the rear wheel 3
The key is not braked either.

[0017] Therefore, although it is slightly turning, a beginner can safely turn without roughening the headland. When the proficiency setting dial 44 is set to the setting 2 suitable for an intermediate person, horizontal control, tillage control, and turning control are executed. At this time, the sensitivity of the horizontal control can be selected from two levels of “dull” and “standard”, and the sensitivity of the plowing depth control is also “dull”
And "standard" can be selected. When the steering handle 4 is turned on the ridge or the like, the turning control is activated, the work machine is raised, and the peripheral speed of the front wheel 2 is increased more than that of the rear wheel 3 so that the front wheel 2 is twice as fast as the rear wheel 3. It can be turned while rotating. After the turn, the work implement descends, and the rotation speed of the front wheels 2 is also returned to the original state of the constant-speed four-wheel drive.

When the skill setting dial 44 is set to the setting 3 for veterans, horizontal control, plowing depth control and turning control are executed. At this time, the sensitivity can be switched between three levels of “dull”, “standard”, and “sensitive” in both the horizontal control and the plowing depth control. At the time of turning, the front wheel 2 is rotated in a speed-up state, and the rear wheel brake on the inside of turning is operated, so that the aircraft is turned with a minimum turning radius in a short time.

As described above, the contents of the control and the sensitivity are automatically changed by the setting of the skill setting dial 44, so that anyone can easily operate the apparatus and even a novice can operate the aircraft without fear of erroneous operation. As a result, workability and operability are significantly improved. In this embodiment, as the control device, horizontal control, plowing depth control, turning control, and engine rotation control are taken as examples. However, other control devices may be used, for example, speed change control, direction control, and the like may be incorporated. .

Next, a second embodiment will be described with reference to FIGS. The improvement described here relates to a tractor having a mechanical hydraulically operated lever.
More specifically, a mechanical hydraulic operating lever 60 is provided. When the hydraulic operating lever 60 is rotated, a hydraulic valve (not shown) is switched, and the working machine is vertically moved. Further, when the shift lever is switched to the reverse position, the hydraulic valve is switched by an electric motor (not shown), and the work implement rises.

In such a conventional apparatus, position control cannot be performed, and there is no dial for setting the ascending position, so that the work implement rises to the maximum ascending position as soon as the body is retracted, There is a problem that the rear window of the cabin mounted on the tractor is damaged depending on the working machine. In this improved device, a hydraulic operating lever 60
Such a defect is prevented in association with the lever stopper 62 of FIG.

As shown in FIG. 4, the lever stopper 62
When using the lower than the maximum rise position,
Since the lever stopper 62 is separated from the lever stopper switch 63, a so-called backup circuit (not shown) for raising the working machine at the rear of the machine is cut off, and the working machine is raised even if the tractor 1 is retracted. Never do. If the worker intentionally wants to lower the raised position of the work equipment, it is better to prevent the work equipment from being damaged by preventing the work equipment from rising to the maximum raised position by operating the backup circuit. In this embodiment, the backup circuit does not operate when the lever stopper 62 is moved forward (downward) from the maximum raised position.

On the other hand, the lever stopper 62 is shown in FIGS.
When it is moved to the maximum ascending position and fixed, the lever-stopper switch 63 is turned ON, and the backup circuit is in an operable state. For this reason, when the tractor-1 is moved backward, the work implement rises to the maximum elevation position. As described above, when the worker recognizes that the work implement may be lifted to the maximum ascent position, and when the lever stopper 62 is moved to the maximum ascent position and fixed, the backup circuit Works normally, so that when the tractor-1 retreats, the work implement will be lifted to the maximum raised position.

FIGS. 8 to 12 illustrate the structure of the oil pan 65 of the tractor 1 described in this embodiment. The oil pan 65 described here serves as a rear pivot that supports a rear portion of the front axle 66 that supports the front wheel 2. Conventionally, the front axle 66 is usually supported by an axle bracket. The axle bracket includes a front pivot and a rear pivot, and the rear pivot is retrofitted to the axle bracket. Therefore, in such a conventional method, a dedicated rear pivot is required, so that the number of parts is increased, and the manufacturing cost and the management cost are disadvantageously increased.

Therefore, in this embodiment, the oil pan 65
It adds a rear pivot function to itself. The oil pan 65 is formed in an inverted U-shape when viewed from the front so that the front wheel drive shaft 67 can be inserted and supported, and the left and right concave portions 68 are oil reservoirs. And the oil pan 65
In the front part, a cylindrical bearing part 69 is provided so as to protrude forward, and forms a rear pivot part that supports the front axle 66. The rear cylindrical portion of the front axle 66 is fitted inside the inner peripheral portion of the bearing portion 69,
Is swingably supported.

As shown in FIG. 10, a passage 70 is provided on the inner periphery of the lower portion of the bearing 69 so as to connect the left and right oil reservoirs. 11 and 12 show a further improvement of a part of the oil pan 65. FIG. As shown in FIG.
The rear portion is fixed to a rear plate 71 of the engine 5 by fastening means such as bolts. A rear passage 72 that connects the left and right oil reservoirs is provided at the rear of the oil pan 65. By the front passage 70 and the rear passage 72, the left and right oil reservoirs of the oil pan 65 are kept in communication with each other, and the left and right oil accumulated in the oil reservoir can be circulated.

[0027]

According to the present invention, as described above, in a powered vehicle including a plurality of control devices, sensitivity setting means, and operator skill level selecting means, when the skill level selecting means is operated,
Since control means for automatically switching the control content or sensitivity of the control device according to the skill level is provided, even an unskilled person can easily operate it, and the control accuracy is improved and the operability is improved. It has the characteristics to be greatly improved.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a control block diagram.

FIG. 3 is a flowchart.

FIG. 4 is a perspective view of a hydraulic operation lever unit.

FIG. 5 is a sectional view of FIG. 4;

FIG. 6 is a perspective view of a hydraulic operation lever section.

FIG. 7 is a sectional view of FIG. 6;

FIG. 8 is a side view of the lower part of the engine, showing a part of the front axle part cut away.

FIG. 9 is a perspective view of an oil pan.

FIG. 10 is an enlarged sectional view of a main part.

FIG. 11 is a side sectional view of a rear portion of the oil pan.

FIG. 12 is a front sectional view of a main part.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tractor 2 Front wheel 3 Rear wheel 4 Steering handle 5 Engine 6 Transmission case 8 Position setting device 10 Lift arm 13 Lower link 14 Lift rod 15 Work implement 16 Hydraulic operation lever 17 Tilt sensor

Claims (1)

[Claims] In a powered vehicle including a plurality of control devices, sensitivity setting means, and operator skill level selecting means, when the skill level selecting means is operated, the contents of control of the control device according to the skill level. Alternatively, a control device for a powered vehicle is provided with control means for automatically switching the sensitivity.