JP3528211B2 - Running speed setting control device for riding type agricultural work machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling speed setting control device for a riding type agricultural work machine. 2. Description of the Related Art Conventionally, Japanese Unexamined Patent Publication No. Sho 63-28737 discloses a technique in which a traveling speed is set to be reduced due to a rise of a work machine as a planting device during turning of a riding type rice transplanter. It has been disclosed. Japanese Patent Application Laid-Open No. 63-44805 discloses an automatic operating lever for turning a riding type rice transplanter, for example, a hydraulic operating lever for raising a planting device as a working machine. There is disclosed a technique in which a steering wheel is turned to enter a turning state. Further, Japanese Patent Application Laid-Open No. 63-59810 discloses an automatic operating lever for turning, such as a hydraulic operating lever for raising a planting device as a working machine, when turning a riding type rice transplanter. manner, working speed is decelerated, then, if Re to operate the clutch planting devices "containing", configured techniques as is returned to the original traveling working speed is disclosed. [0003] [0005] than those described above of the prior art, both have the purpose of to simplify the complicated operation at the time of turning, a technique that can enter the rotary working one-touch operation It is. Although there is a technology that requires the operation clutch to be "engaged" for the return operation, there is no technique for returning the operation by operating the operation handle itself. [0004] Therefore, even if the vehicle enters a straight working state after the turn, deceleration and propulsion continue if the work is not started, and if the work machine is not lowered to the working state, the decelerating state is continued and the work efficiency is reduced. There was a drawback that could not be improved. [0005] In order to solve the above-mentioned problems, the present invention takes the following technical measures. That is,
In a riding type agricultural work machine in which a work machine 41 is appropriately mounted on a traveling vehicle body 1 having a pair of left and right driving front wheels 2, 2 and a pair of left and right driving rear wheels 3, 3, a steering handle 17 is provided. The left
To the right, the drive speed of the rear wheels
Decelerate or reduce front and rear wheel drive speed
And a steering mechanism 17 for driving the front steering wheels 2, 2
When returning to within the speed return angle at which the
The deceleration state of the transmission mechanism is released and returns to the original speed
The speed return angle is smaller than the deceleration switching angle.
A traveling speed setting control device for a riding type agricultural work machine which was set up at a short distance was used. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail with reference to a riding type rice transplanter as one embodiment. Reference numeral 1 denotes a traveling body, a pair of left and right driving front wheels 2 and a pair of left and right driving rear wheels 3. , 3 are mounted on the upper surface of the body frame 4.
The boarding floor -5 supported by is stretched. Reference numeral 5 denotes an engine, which is mounted at the front and rear intermediate portion of the vehicle body frame 4. Reference numeral 6 denotes a transmission case for deceleration.
Power is received from the output shaft of the engine 5 by a belt transmission with a tension clutch interposed, and the reduced power can be taken out from the output shaft 7 protruding forward. Reference numeral 8 denotes a front transmission case, which receives power from the output shaft 7 and in which a speed change operation mechanism capable of decelerating both the front wheel drive shaft 9 and the power output shaft 10 for transmitting and driving the rear wheels. And a clutch and a speed change mechanism of the working machine driving output shaft 11 for transmitting the working machine. Reference numeral 12 denotes a counter transmission case, in which a transmission clutch is provided so that the output shaft 13 which is inputted from the output shaft 10 and drives the rear wheel side can be driven in a reduced speed. 14 is rear
In a transmission case, power is transmitted from the output shaft 13 and a speed reducer and a clutch mechanism are appropriately installed.
It is configured to drive the rear wheels 3,3. Reference numeral 15 denotes a floor body that also serves as a boarding board 15a and an engine cover 15b, and is attached to the front body frame 4. Reference numeral 16 denotes a control frame, which is attached to the upper end of the front transmission case 8 on the front end side and is erected upward. A control handle 17 is provided above the control frame. Reference numeral 18 denotes a pilot seat. A description will be given of the traveling speed of the traveling vehicle body 1 at the time of turning in this embodiment. The deceleration mechanism A provided in the front transmission case 8 for transmitting power to the front wheel side and the rear wheel side includes: It is switched by the hydraulic cylinder device 19 and the hydraulic cylinder device 19
Are configured to be operation-controlled by the electromagnetic hydraulic valve 20. The switching of the electromagnetic hydraulic valve 20 is controlled by a signal transmitted from a controller 21 of the microcomputer. When an electric signal under appropriate conditions is sent from the outside to the controller 21, the solenoid 22 of the valve 20 is excited, and the valve 20 is switched in a direction to retract the piston to reduce the transmission power rotation. It has become. For example, when the steering handle 17 is turned to the left or right by a certain angle or more during turning, switches SW1 and SW2 for detecting this are provided, and the solenoid 22 is excited by a signal when this switch is turned on. . That is, as an embodiment of a structure for automatically decelerating the front wheel side and the rear wheel side due to a turning operation, a system for detecting that the steering wheel 17 has become a certain angle or more has been described. However, as another means, as shown in FIG. 7, the embodiment of the switches SW5 and SW6 for detecting the lifting operation or the lifting height of the working machine, and detecting that the power transmission of the working machine is turned off. The embodiment of the switch SW7, the embodiment of the switches SW8 and SW9 for detecting that the side clutch petals 30a and 30b or one side of the side brake is continuously depressed, and the float 43 does not contact the ground when the working machine 41 is a rice transplanter. In the case of the embodiment of the switch SW10 for detecting the state and the embodiment for detecting that the appropriate operation lever for turning or the operation of the petal is operated, the solenoid 2 is used. Is excited is intended to include a structure to decelerate the running speed. That is, the switch that performs these detections may be the switch SW1 or SW2 described above. Reference numeral 23 denotes a hydraulic cylinder device for steering, which is the same device as a normal power steering mechanism. That is,
The switching hydraulic valve 24 switches in proportion to the left and right turning angles of the steering handle 17 so that the front wheels are steered. Reference numeral 25 denotes a rod for connecting the steering turning metal 26 of the left and right front wheels 2 and 2 to the connecting plate 28 fixed to the steering longitudinal axis 27. Reference numeral 29 denotes a protrusion fixed to the connecting plate 28, and when the left and right front wheels 2, 2 are in a vertical direction in which the vehicle travels straight, the protrusion 29 turns on the switch SW3 to detect this. . When the switch SW3 is turned on, the excitation state of the solenoid 22 is released, and the deceleration transmission state is returned to the original traveling speed. That is, the switch SW3 is a reset switch. The switch SW4 is a switch for sending a signal to the controller 21 so as to have a self-holding function. In this embodiment, the deceleration driving state of the front wheels and the rear wheels is automatically continued by depressing the brake pedal 30. It has become. That is, the steering handle 1
When the cutting angle 7 is set to a certain angle or more, the running speed is automatically reduced.
By depressing 0, the deceleration state continues, for example,
The deceleration state can be continued even if the steering wheel 17 returns to the original state and the state becomes equal to or less than the predetermined turning angle. When the left and right front wheels 2, 2 completely return in the vertical direction in a straight-ahead state, this is detected by the switch SW3, and the deceleration state returns to the original traveling speed state for the first time. Reference numeral 31 denotes a hydraulic cylinder device for switching the transmission clutch B in the counter transmission case 12, and a transmission clutch B provided between the output shaft 10 and the output shaft 13 for driving the rear wheels. The rear wheel side is configured to be decelerated by the protrusion of the piston 31a. Symbol 3 in the figure
Reference numeral 2 denotes a support standing on the rear end side of the vehicle body frame 4,
The lifting link mechanism 33 is attached to this. 34 is an upper link rod, 35 is a lower link rod, and 36 is a vertical link rod connecting the rear ends of both link rods. An arm 37 integral with the upper link rod 34 is operated by a hydraulic cylinder device 38. Reference numeral 39 denotes a hydraulic operation lever for operating the control switching valve 40 of the hydraulic cylinder device 38. Reference numeral 41 denotes a working machine, which in the embodiment is a rice transplanter,
6 through a hitch 42. The rice transplanter 41 is well known in the related art, and although not particularly described, the up / down operating portion on the front side of the float 43 mounted on the lower side is interlocked with the valve 40, and the rice transplanter 41 is automatically set in the paddy field. It is configured to be controlled up and down according to the depth. A transmission case 44 also serves as a machine frame of the planting section. Reference numeral 45 denotes a seedling mounting table for supplying seedlings to the planting claws of a planting device (not shown). Reference numeral 46 designates the "in" and "off" of the planting clutch.
The planting clutch lever to be set is shown. 47 denotes a change lever, and 48 denotes a change guide. Next, the operation of the above example will be described. During the rice transplanting operation, the operation is advanced to near the shore in the propulsion direction, and at the time of the turning work, the steering handle 17 is operated and the rear wheel transmission for the turning direction side is performed. Set the clutch to "off" and shake the side
Step on the brake pedal 30 as if to apply a key. At this time, the rotation of the handle 17 by a certain amount or more is detected by the switch SW1 or SW2, and the signal is sent to the controller 21. The signal from the controller 21 sends the signal to the front wheel 2 and the rear wheel 3 in response to the signal. The speed change mechanism A of the transmission portion is decelerated. Also, when the brake pedal 30 is depressed, the switch SW4 is turned on and the signal thereof is transmitted to the controller 21.
, Whereby the transmission mechanism A is self-held so that the deceleration state of the transmission mechanism A is continued. Accordingly, the steering speed and the side brake operation slow down the traveling speed and facilitate turning, and even amateurs, elderly people, and women can turn accurately. And when the turn is completed,
That is, when the steering wheel 17 is returned to its original position and the front wheel 2 goes straight, the switch SW3 detects this and sends a signal to the controller 21 to excite the solenoid 22 by transmission from the controller 21. Is released, and the speed reduction mechanism A returns to the original high-speed working speed. Therefore, once the turning operation is started, the decelerating state is continued, and does not return to the high-speed state until the turning is completed. As described in another embodiment, the self-holding of the deceleration state is not limited to the operation of the brake pedal 30,
Any operation, such as the lifting operation of the work machine 41 and the “disengagement” operation of the work clutch, may be used. In the embodiment, the means for resetting the self-holding of the deceleration continuation state requires a straight-ahead state by the steering handle 17, but a switch SW11 for detecting a lowering operation of the work machine 41 and a switch for detecting a lowering state. SW1
2. Switch SW1 for detecting "engagement" of the work clutch
3, may be executed by a signal such as detection of the grounding of the float. Further, the self-holding deceleration state may be restored by detecting the straight traveling direction of the front wheel 2 by the steering handle 17 in addition to any of these signals. Next, the embodiment shown in FIGS. 7 and 8 will be described. In this case, an accurate turning is performed while changing the speed of the traveling speed with respect to the turning angle of the steering handle 17. It is important to change according to the working width of the working machine 41 mounted on the traveling vehicle body 1. For example, work machine 4
If 1 is a rice transplanter, the planting line will be 8 or 10 at once.
In the case of a large-sized planting, as in the previous embodiment, only the deceleration running and turning can be satisfied. However, when a small rice transplanter is mounted as in the case of 4-row planting or 5-row planting, the turning radius becomes large. This is too much, and it is necessary to consider the operation of turning the handle 17 further in the middle of the turn and the way of applying the brake. In such a case, it is important to increase the rotation of the front wheel 2 more than the rotation of the rear wheel 3 and change the peripheral speed of the wheel to make a small turn. For this purpose, it is required to operate the rear wheel side reduction mechanism B shown in FIG. That is, the switching valve 50 is switched by the solenoid 49 to control the operation of the hydraulic cylinder device 31, and the rotation on the rear wheel side is decelerated. Describing a specific turning operation pattern, FIG. 8 is a turning diagram when the deceleration running control is performed during (a) to (b) by the turning operation described above. . However, the seventh
According to the embodiment of the figure, (a) of the turning diagram shown in FIG.
As shown in (b) to (c) to (d) to (e) to (f), the switch SW3 is turned on at the steering wheel turning angle θ1 at the initial stage of turning.
Is turned off at a normal turning radius without decelerating turning, and thereafter, when the vehicle enters the region of the turning angle θ2, the switch SW3 is turned on so that the vehicle is traveling at low speed and the peripheral speed of the front wheel is lower than that of the rear wheel. It becomes faster than the peripheral speed and makes a small turn. Thereafter, in the region of the turning angle θ3, the switch SW14 is turned off and the vehicle enters a high-speed state, and the rear wheel side decelerates to the original high-speed state. The running speed is controlled. Even when turning on the opposite side, the same control is performed by the switch SW15 instead of the switch SW14. In such automatic control of the traveling speed, the switches SW16 and SW17 at the selected position of the change lever 47 are set when the vehicle is moving backward or at a high speed on the road.
A signal is sent to the controller 21 to reset the deceleration control and the like, so that the vehicle is operated at a normal traveling speed. As shown in FIG. 10, a counter-transmission case 6a for receiving the transmission from the engine 5 is provided, and the transmission to the front transmission case 8 is shifted in the counter-transmission case 6a. A steering mechanism D having a transmission mechanism D and a transmission mechanism C for shifting the transmission to the rear transmission case 14, which is switched by a connecting plate 28 interlocked with the steering handle 17; If an output signal is output from the switches SW3, SW4, and SW15 through the controller 21 to operate the transmission mechanisms C and D, ideal turning control can be expected. This control circuit is disclosed in FIG. That is, the rear wheel side transmission mechanism C is controlled via the hydraulic cylinder device 53 by the switching valve 52 that switches the operating oil from the hydraulic pump by the solenoid 51, and
A front-wheel-side transmission mechanism D is controlled via a hydraulic cylinder device 56 by a switching valve 55 switched by a solenoid 54. The steering handle 1 shown in FIG.
7, the turning operation of the connecting plate 28,
Automatically keeps the "off" state at all times when the steering wheel is slightly turned to the left or right from the center of the handle at about α1, and the switch is also automatically controlled to hold the state when the steering wheel is continuously turned to α2 in the same direction. SW14 or SW15 is not turned on. Subsequently, within the range of the cut angle of α3, that is, within the fixed final cut angle, the switch SW1
4 or SW15 is turned on, and automatic control is always performed in this range. That is, the time of automatic control means that either the front wheel 2 side and the rear wheel 3 side are decelerated, only the rear wheel side is decelerated, or only the front wheel 2 side is accelerated. Shows the switched state. continue,
In the range of α4 for returning the handle 17 to the straight traveling side, the automatic control state of α3 is executed. That is, a turning command from the controller 21 is issued at the above-mentioned steering wheel turning angle. Also in the case of this automatic control, a signal is sent to the controller 21 by the switches SW16 and SW17 at the selected position of the change lever 47 when the vehicle is traveling backward or on the road at high speed, and the deceleration control and the like are reset. It is configured not to perform automatic control. As shown in FIG. 13, the switch SW
When attaching the SW 14 and the SW 15 to the fixing member 57 on the vehicle body side, if the position is provided on the rotating peripheral surface side of the connecting plate 28 so that the movement can be set in a special manner, the "cut" of automatic control,
The start of "entering" can be freely selected and arbitrary control can be performed. Further, the control setting dial 58 shown in FIG. 11 can be used to select the omitting of the control signal. In other words, it is extremely convenient if only the front wheel-side acceleration control, the rear wheel-side deceleration control, or the control for decelerating the front and rear wheels or selecting the speed can be selected. Control can be selected and incorrect control can be prevented. As will be described repeatedly, the shifts of the transmission mechanisms C and D on the front wheel side and the rear wheel side are performed in such a manner that the speed is simultaneously reduced and the front wheel side is reduced even when the speed is simultaneously reduced. When increasing the rear wheel deceleration,
This control includes all the appropriate shifts during turning, such as when increasing the speed of the front wheel without increasing or decreasing the speed of the rear wheel without increasing or decreasing the speed of the front wheel. That is, the speed change mechanisms A and B include a stepless speed change mechanism and a stepped mechanism capable of various increasing / decreasing speed changes, and also include those configured to enable these controls. According to the present invention, the steering handle 1
7 is returned to within the speed return angle at which it goes straight ahead.
The speed reduction mechanism is released from the deceleration state and returns to the original speed.
The automatic transmission automatically returns to the original speed
It is possible to return to work efficiency and
Operation to switch the transmission mechanism to the deceleration state.
It is set smaller than the deceleration switching angle of the vertical handle 17
Therefore, the deceleration switching angle of the steering handle 17 is operated straight ahead.
The deceleration state will not be unnecessary due to the slight course correction operation at the time.
While the aircraft is turning, the front wheels 2
The deceleration state is maintained until the vehicle turns straight ahead
Adjustment of the direction and position of the aircraft immediately before the end of the turn
Can be easily performed in a decelerated state .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view. FIG. 2 is a plan view of main parts. FIG. 3 is a transmission mechanism diagram of main parts. FIG. 4 is a control circuit diagram. FIG. 6 is a control circuit diagram. FIG. 7 is a control circuit diagram. FIG. 8 is a plan view for explaining operation. FIG. 9 is a plan view for explaining operation. FIG. 10 is a transmission mechanism diagram. FIG. 11 is a control circuit diagram. FIG. 13 is a plan view of an essential part of another example. [Description of References] 1 Running body 2 Drive front wheel 3 Drive rear wheel 17 Steering handle 41 Work implement

Claims (1)

(1) A work machine (41) is appropriately mounted on a traveling body (1) having a pair of left and right driving front wheels (2, 2) and a pair of right and left driving rear wheels (3, 3). Operating machine on a riding agricultural machine
After operating the dollar 17 to the left or right beyond the deceleration switching angle,
Wheel drive or front wheel and a rear wheel to decelerate the driving speed of the wheels
A speed change mechanism for reducing the dynamic speed is provided, and the steering handle 17 is
Return within the speed return angle at which the drive front wheels 2 and 2 go straight
Operation, the deceleration state of the transmission mechanism is released and the original
The speed is returned to the speed.
A traveling speed setting control device for a riding type agricultural work machine set to be smaller than the switching angle .