JP4528232B2 - Tractor traveling operation device - Google Patents

Tractor traveling operation device Download PDF

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JP4528232B2
JP4528232B2 JP2005278252A JP2005278252A JP4528232B2 JP 4528232 B2 JP4528232 B2 JP 4528232B2 JP 2005278252 A JP2005278252 A JP 2005278252A JP 2005278252 A JP2005278252 A JP 2005278252A JP 4528232 B2 JP4528232 B2 JP 4528232B2
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engine speed
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JP2007085518A (en
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敦 新海
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Kubota Corp
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Priority to FR0653951A priority patent/FR2891338B1/en
Priority to CN2006101729118A priority patent/CN101025233B/en
Priority to CN201010193592.5A priority patent/CN101865286B/en
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Description

本発明は、エンジンからの駆動力を入力して走行装置に出力する無段変速装置を備えたトラクタの走行操作装置に関する。 The present invention relates to a traveling operation device for a tractor including a continuously variable transmission that inputs a driving force from an engine and outputs the driving force to a traveling device.

従来の作業車として、特許文献１に示されるものがあった。
特許文献１に示されるものは、エンジン３の動力をベルト式無段変速装置４、ミッションケース５を介して前後車輪６，７（走行装置に相当）に供給する。無段変速装置４を変速操作する電動シリンダ１１、エンジン回転数検出センサ１７、変速操作レバー１４の操作量を検出するポテンショメータＰＭ１に連係された制御装置１５を備え、切り換えスイッチＳＷを路上走行位置に設定しておくと、制御装置１５に備えてある車速制御手段Ｃが作動し、エンジン回転数検出センサ１７によりエンジン回転数Ｎを検出し、検出エンジン回転数Ｎに比例した機体走行速度になるよう予め演算される特性に基づいてストロークセンサ１６の出力がこの特性と合致するよう電動シリンダ１１を駆動制御する。従って、アクセルペダル１９を踏み込み操作するに伴い、機体走行速度が除々に増大することになるというものである。 There existed what was shown by patent document 1 as a conventional work vehicle.
What is disclosed in Patent Document 1 supplies power of an engine 3 to front and rear wheels 6 and 7 (corresponding to a traveling device) via a belt type continuously variable transmission 4 and a transmission case 5. An electric cylinder 11 for shifting the continuously variable transmission 4, an engine speed detection sensor 17, and a control device 15 linked to a potentiometer PM 1 for detecting an operation amount of the shift operation lever 14 are provided, and the changeover switch SW is set to a road traveling position. If set, the vehicle speed control means C provided in the control device 15 is operated, the engine speed N is detected by the engine speed detection sensor 17, and the vehicle body traveling speed proportional to the detected engine speed N is obtained. Based on the characteristics calculated in advance, the electric cylinder 11 is driven and controlled so that the output of the stroke sensor 16 matches the characteristics. Accordingly, as the accelerator pedal 19 is depressed, the aircraft traveling speed gradually increases.

特開平５−２６０８２７号公報（段落〔０００７〕、図１，３）Japanese Unexamined Patent Publication No. 5-260828 (paragraph [0007], FIGS. 1 and 3)

この種の作業車において、たとえば急発進操作など、急激な増速操作が行われると、エンジンの調速機構が応答性よく作動しても、エンジン回転数が遅れてアップすることがある。このとき、変速操作に伴う無段変速装置の高速側への変速操作が、エンジンの回転数アップ遅れが発生しない場合と同様に行われると、エンジン回転数が十分にアップしていなくてエンジン出力が十分に現出されないことから、エンジンストップが発生しやすくなる。   In this type of work vehicle, when a sudden speed-up operation such as a sudden start operation is performed, for example, the engine speed may increase with a delay even if the engine speed control mechanism operates with good responsiveness. At this time, if the speed change operation to the high speed side of the continuously variable transmission accompanying the speed change operation is performed in the same manner as when the engine speed increase is not delayed, the engine speed is not sufficiently increased and the engine output Will not appear sufficiently, making it easier to stop the engine.

本発明の目的は、エンジンに速度変化不良が発生しても、エンジンストップなどの不具合が発生しにくいようにしながら、エンジンと無段変速装置を連係させて変速操作することができるトラクタの走行操作装置を提供することにある。 It is an object of the present invention to perform a tractor traveling operation in which a speed change operation can be performed by linking an engine and a continuously variable transmission while making it difficult for problems such as an engine stop to occur even if a speed change failure occurs in the engine. To provide an apparatus.

本第１発明にあっては、エンジンからの駆動力を入力して走行装置に出力する無段変速装置を備えたトラクタの走行操作装置において、
前記エンジンの調速機構を操作する変速操作具の操作位置を検出する変速操作センサ、前記調速機構によって設定される設定エンジン回転数を検出する設定エンジン回転数センサ、前記エンジンの実回転数を検出する実エンジン回転数センサを備え、前記変速操作具が中立位置から前進域に操作された場合においても、前記変速操作具が中立位置から後進域に操作された場合においても、前記調速機構がアイドリング位置から高速側に操作されるように、前記変速操作具を機械的な連動機構を介して前記調速機構に連動し、前記設定エンジン回転数センサによる検出設定エンジン回転数と、前記実エンジン回転数センサによる検出実エンジン回転数との差の有無を判別し、この判別結果と、前記変速操作センサによる検出操作位置とを基に前記無段変速装置を変速操作する制御手段を備えてあり、前記制御手段を、前記検出設定エンジン回転数と前記検出実エンジン回転数とに差が無い又はほぼ無いと判断した場合には、前記変速操作センサによる検出情報を基に通常制御目標速度を設定して、前記無段変速装置が前記通常制御目標速度になるように前記無段変速装置を変速操作し、前記検出設定エンジン回転数と前記検出実エンジン回転数とに差が有ると判断した場合には、前記変速操作センサによる検出情報を基に前記通常制御目標速度よりも低速の補正制御目標速度を設定して、前記無段変速装置が前記補正制御目標速度になるように前記無段変速装置を変速操作するように構成してある。 In the first aspect of the invention, in the traveling operation device for a tractor including the continuously variable transmission that inputs the driving force from the engine and outputs the driving force to the traveling device,
A speed change operation sensor that detects an operation position of a speed change operating tool that operates the speed control mechanism of the engine, a set engine speed sensor that detects a set engine speed set by the speed control mechanism, and an actual speed of the engine An actual engine speed sensor that detects the speed control mechanism, even when the shift operation tool is operated from the neutral position to the forward travel area and when the shift operation tool is operated from the neutral position to the reverse travel area; So that the speed changer is operated from the idling position to the high speed side via the mechanical interlocking mechanism and the speed adjusting mechanism, the set engine speed detected by the set engine speed sensor, and the actual engine speed. It is determined whether there is a difference from the actual engine speed detected by the engine speed sensor, and based on this determination result and the detected operation position by the shift operation sensor, Yes and a control means for shifting operation of the continuously variable transmission, said control means, when it is determined that the detected setting said detected nearly no or no difference between the actual engine speed and the engine speed, the transmission A normal control target speed is set based on information detected by an operation sensor, the continuously variable transmission is shifted so that the continuously variable transmission reaches the normal control target speed, and the detected setting engine speed and the If it is determined that there is a difference between the detected actual engine speed and the correction control target speed that is lower than the normal control target speed is set based on information detected by the shift operation sensor, the continuously variable transmission Is configured to shift the continuously variable transmission so that the corrected control target speed becomes the same.

すなわち、変速操作具が操作されると、調速機構が操作されてエンジン回転数が変化する。このとき、制御手段が、設定エンジン回転数センサによる検出設定エンジン回転数と、実エンジン回転数センサによる検出実エンジン回転数との差の有無を判別し、この判別結果と、変速操作センサによる検出操作位置とを基に無段変速装置を変速操作する。これにより、実エンジン回転数が調速機構による設定エンジン回転数と同一である場合と、相違している場合とでは、変速操作具の操作位置が同一であっても、無段変速装置が異なる速度の変速状態になるように無段変速装置を変速操作させることができる。   That is, when the transmission operating tool is operated, the speed control mechanism is operated and the engine speed changes. At this time, the control means determines whether there is a difference between the detected engine speed detected by the set engine speed sensor and the actual engine speed detected by the actual engine speed sensor, and the determination result and the detection by the speed change operation sensor. The continuously variable transmission is shifted based on the operation position. As a result, the continuously variable transmission varies depending on whether the actual engine speed is the same as the engine speed set by the speed control mechanism or not, even if the operating position of the speed change tool is the same. The continuously variable transmission can be operated to change speed so that the speed is changed.

従って、変速操作具を操作することにより、エンジン回転数が変化するように、かつ、無段変速装置がエンジン回転数に対応した適切な速度の変速状態に切り換わるようにエンジンと無段変速装置を連係させて変速操作することができ、停車時にはエンジンも無段変速装置も低速や停止状態に操作して、作業や移動時にはエンジンも無段変速装置も高速状態に操作して、騒音発生を極力抑制しながら、燃費を極力よくしながら作業や走行することができる。それでありながら、実際のエンジン回転数が調速機構による設定エンジン回転数どおりにならなくても、無段変速装置が実エンジン回転数に対応した適切な速度の変速状態に変速操作され、急発進操作してもエンジンストップが発生しにくいなど有利な状態で走行することができる。 Therefore, by operating the speed change operation member, so that the engine rotational speed is changed, and the continuously variable transmission is the engine and the continuously variable transmission so it switched to shifting state of the appropriate speed corresponding to the engine speed The gears can be operated in conjunction with each other. When the vehicle is stopped, both the engine and the continuously variable transmission are operated at a low speed and in a stopped state, and when working and moving, both the engine and the continuously variable transmission are operated at a high speed. It is possible to work and travel while suppressing fuel consumption as much as possible and improving fuel efficiency as much as possible. Nevertheless, even if the actual engine speed does not match the engine speed set by the speed control mechanism, the continuously variable transmission is shifted to an appropriate speed corresponding to the actual engine speed, and suddenly started. Even if it is operated, it is possible to travel in an advantageous state such that it is difficult to cause an engine stop.

また、調速機構の増速作動に伴ってエンジン回転数が応答性よくアップする場合、検出設定エンジン回転数と検出実エンジン回転数とに差が無い又はほぼ無い状態になり、制御手段が通常制御目標速度を設定して、無段変速装置を通常制御目標速度になるように変速操作する。調速機構が増速作動しても、エンジン回転数が応答性よくアップしない場合、検出設定エンジン回転数と検出実エンジン回転数とに差が発生した状態になり、制御手段が通常制御目標速度よりも低速の補正制御目標速度を設定して、無段変速装置を補正制御目標速度になるように変速操作する。これにより、エンジン回転数が調速機構の作動に伴って応答性よくアップしない場合と応答性よくアップする場合とでは、調速機構の操作された速度状態が同一であっても、エンジン回転数が応答性よくアップしない場合には、無段変速装置が低速の速度状態になるようにして無段変速装置が変速操作される。Also, when the engine speed increases with good responsiveness due to the speed increasing operation of the speed control mechanism, there is no or almost no difference between the detected set engine speed and the detected actual engine speed, and the control means normally A control target speed is set, and the continuously variable transmission is shifted so as to reach the normal control target speed. If the engine speed does not increase with good responsiveness even if the speed governor operates at a higher speed, there will be a difference between the detected set engine speed and the detected actual engine speed. A lower speed correction control target speed is set, and the continuously variable transmission is speed-changed so as to reach the correction control target speed. As a result, when the engine speed does not increase with good responsiveness in response to the operation of the speed control mechanism and when it increases with good response, the engine speed is the same even if the speed state operated by the speed control mechanism is the same. If the speed does not improve with good responsiveness, the continuously variable transmission is shifted so that the continuously variable transmission is in a low speed state.

従って、急発進操作されるなど、急激な増速操作が行われてエンジン回転数が応答性よくアップしない場合、無段変速装置が比較的低速の速度状態に変速操作され、エンジンストップを発生しにくくしながら発進するなど走行することができ、かつ、エンジンに掛かる負荷が軽くなって早期にエンジンが設定エンジン回転数に上昇して所望速度で走行することができる。Therefore, if a sudden speed-up operation is performed, such as a sudden start operation, and the engine speed does not increase with good responsiveness, the continuously variable transmission is shifted to a relatively low speed, causing an engine stop. It is possible to start the vehicle while making it difficult, and the load on the engine is lightened and the engine can quickly increase to the set engine speed and travel at a desired speed.

本第２発明にあっては、本第１発明の構成において、前記制御手段が、前記検出設定エンジン回転数と前記検出実エンジン回転数とに差が有ると判断した場合において、前記検出設定エンジン回転数と前記検出実エンジン回転数との差と、前記通常制御目標速度及び前記補正制御目標速度とのマップに基づいて、前記検出設定エンジン回転数と前記検出実エンジン回転数との差が大であるほど前記通常制御目標速度に対して前記補正制御目標速度がより低速となる形態で、前記補正制御目標速度を設定するように構成してある。In the second aspect of the invention, in the configuration of the first aspect of the invention, when the control means determines that there is a difference between the detected setting engine speed and the detected actual engine speed, the detected setting engine Based on the map of the difference between the rotational speed and the detected actual engine speed and the map of the normal control target speed and the corrected control target speed, the difference between the detected set engine speed and the detected actual engine speed is large. The correction control target speed is set in such a manner that the correction control target speed is lower than the normal control target speed.

以下、本発明の実施例を図面に基づいて説明する。
図１に示すように、左右一対の操向操作及び駆動自在な前車輪１、左右一対の駆動自在な後車輪２、車体前端部に位置するエンジン３を有した原動部、車体後端部に位置する運転座席４を有した運転部を備えた自走車体の車体フレームの後部を形成する後部ミッションケース５の上部に、左右一対のリフトアーム６を後部ミッションケース５の内部に位置する昇降シリンダ（図示せず）によって上下に揺動操作されるように設け、前記後部ミッションケース５の後壁部に動力取り出し軸７を設けて、トラクタを構成してある。 Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, a pair of left and right steering operations and driveable front wheels 1, a pair of left and right driveable rear wheels 2, a driving unit having an engine 3 located at the front end of the vehicle body, and a rear end of the vehicle body An elevating cylinder in which a pair of left and right lift arms 6 are located inside the rear mission case 5 on the upper part of a rear mission case 5 that forms the rear part of a body frame of a self-propelled vehicle body having a driver unit with a driver seat 4 positioned. (Not shown) is provided so as to be swung up and down, and a power take-out shaft 7 is provided on the rear wall portion of the rear mission case 5 to constitute a tractor.

このトラクタは、車体後部にロータリ耕耘装置（図示せず）を前記リフトアーム６によって昇降操作されるようにして連結するとともに、前記エンジン３の駆動力を動力取り出し軸７からロータリ耕耘装置に伝達するように構成して乗用型耕耘機を構成するなど、車体後部に各種の作業装置を昇降操作及び駆動自在に連結して、各種の乗用型作業機を構成するものである。   The tractor connects a rotary tiller (not shown) to the rear of the vehicle body so as to be lifted and lowered by the lift arm 6 and transmits the driving force of the engine 3 from the power take-out shaft 7 to the rotary tiller. For example, a riding-type field cultivator is configured, and various working devices are connected to the rear portion of the vehicle body so as to be movable up and down and can be driven.

前記後部ミッションケース５の前部に無段変速装置８を連設し、前記エンジン３からの駆動力を無段変速装置８に入力し、この無段変速装置８からの出力を後部ミッションケース５の内部に位置する副変速装置（図示）などを有した走行ミッション（図示せず）を介して後車輪２及び前車輪１に伝達するように構成してある。   A continuously variable transmission 8 is connected to the front of the rear transmission case 5, the driving force from the engine 3 is input to the continuously variable transmission 8, and the output from the continuously variable transmission 8 is used as the rear transmission case 5. Is transmitted to the rear wheel 2 and the front wheel 1 via a traveling mission (not shown) having an auxiliary transmission (not shown) and the like.

前記無段変速装置８は、エンジン３からの駆動力が入力される可変容量形のアキシャルプランジャ形油圧ポンプ８ａ、この油圧ポンプ３ａからの油圧によって駆動されて前記走行ミッションに出力するアキシャルプランジャ形油圧モータ８ｂを備え成る静油圧式無段変速装置によって構成してある。
すなわち、無段変速装置８は、油圧ポンプ８ａの斜板角変更が行われることにより、エンジン３からの駆動力を前進側や後進側に変換して、かつ、前進側においても後進側においても無段階に変速して走行ミッションに出力するように前進伝動状態や後進伝動状態になり、また、油圧モータ８ｂの駆動を停止して走行ミッションへの出力を停止するように中立状態になる。 The continuously variable transmission 8 includes a variable displacement axial plunger type hydraulic pump 8a to which driving force from the engine 3 is input, and an axial plunger type hydraulic pressure driven by the hydraulic pressure from the hydraulic pump 3a and output to the traveling mission. The hydrostatic continuously variable transmission device including the motor 8b is used.
In other words, the continuously variable transmission 8 converts the driving force from the engine 3 to the forward side or the reverse side by changing the swash plate angle of the hydraulic pump 8a, and on both the forward side and the reverse side. A forward transmission state and a reverse transmission state are established so that the gears are shifted steplessly and output to the traveling mission, and a neutral state is established so that driving of the hydraulic motor 8b is stopped and output to the traveling mission is stopped.

図２に示すように、運転部に設けた変速ペダル１０を、押し引き伝動可能な操作ケーブルや連動ロッドなどを利用した機械的な連動機構１１を介して前記エンジン３の調速機構としてのアクセル機構１２の操作レバー１２ａに連動させてある。前記アクセル機構１２に設けた設定エンジン回転数センサ１３、前記エンジン３に設けた実エンジン回転数センサ１４、前記変速ペダル１０に連動させた変速操作センサ１５を制御手段１６に連係させるとともに、この制御手段１６には、前記無段変速装置８に設けた変速アクチュエータ１７及びストロークセンサ１８を連係させてある。   As shown in FIG. 2, an accelerator as a speed control mechanism of the engine 3 is connected to a shift pedal 10 provided in the driving section via a mechanical interlocking mechanism 11 using an operation cable or interlocking rod that can be pushed and pulled. It is interlocked with the operation lever 12a of the mechanism 12. A set engine speed sensor 13 provided in the accelerator mechanism 12, an actual engine speed sensor 14 provided in the engine 3, and a shift operation sensor 15 linked to the shift pedal 10 are linked to the control means 16, and this control is performed. The means 16 is associated with a speed change actuator 17 and a stroke sensor 18 provided in the continuously variable transmission 8.

前記連動機構１１は、変速ペダル１０が中立位置から前進域に操作された場合も、中立位置から後進域に操作された場合も、アクセル機構１２の操作レバー１２ａがアイドリング位置から高速側に揺動操作されるようにして変速ペダル１０と操作レバー１２ａとを連動させている。   In the interlock mechanism 11, the operation lever 12a of the accelerator mechanism 12 swings from the idling position to the high speed side regardless of whether the shift pedal 10 is operated from the neutral position to the forward range or from the neutral position to the reverse range. The shift pedal 10 and the operation lever 12a are interlocked so as to be operated.

設定エンジン回転数センサ１３は、アクセル機構１２の操作レバー１２ａに操作軸が連動されたポテンショメータで成り、アクセル機構１２によってエンジン３に現出させるべきエンジン回転数として設定される設定エンジン回転数を操作レバー１２ａの操作位置に基づいて検出し、この検出設定エンジン回転数Ａを電気信号にして制御手段１６に出力する。   The set engine speed sensor 13 is composed of a potentiometer whose operating axis is linked to the operation lever 12a of the accelerator mechanism 12, and operates the set engine speed set as the engine speed to be displayed on the engine 3 by the accelerator mechanism 12. Detection is performed based on the operation position of the lever 12a, and the detected engine speed A is converted into an electrical signal and output to the control means 16.

実エンジン回転センサ１４は、エンジン３の出力軸（図示せず）に連動された回転センサで成り、エンジン３の実際の回転数を検出し、この検出実エンジン回転数Ｅを電気信号にして制御手段１６に出力する。   The actual engine rotation sensor 14 is composed of a rotation sensor linked to an output shaft (not shown) of the engine 3, detects the actual rotation speed of the engine 3, and controls the detected actual engine rotation speed E as an electric signal. Output to means 16.

変速操作センサ１５は、変速ペダル１０の回転支軸１０ａに操作軸が連動されたポテンショメータで成り、回転支軸１０ａの回転位置に基づいて変速ペダル１０の操作位置を検出し、この検出操作位置Ｈを電気信号にして制御手段１６に出力する。   The shift operation sensor 15 is composed of a potentiometer whose operation shaft is linked to the rotation support shaft 10a of the shift pedal 10, and detects the operation position of the shift pedal 10 based on the rotation position of the rotation support shaft 10a. Is converted into an electrical signal and output to the control means 16.

変速アクチュエータ１７は、無段変速装置８の油圧ポンプ８ａの斜板操作軸（図示せず）に連動させてあり、油圧ポンプ８ａの斜板を回動操作することによって無段変速装置８を変速操作する。   The speed change actuator 17 is interlocked with a swash plate operation shaft (not shown) of the hydraulic pump 8a of the continuously variable transmission 8, and the continuously variable transmission 8 is shifted by rotating the swash plate of the hydraulic pump 8a. Manipulate.

ストロークセンサ１８は、油圧ポンプ８ａの斜板操作軸に連動されており、斜板角に基づいて無段変速装置８がいかなる速度の変速状態になっているかを検出し、この検出変速状態Ｆを電気信号にして制御手段１６に出力する。   The stroke sensor 18 is linked to the swash plate operating shaft of the hydraulic pump 8a, detects the speed change state of the continuously variable transmission 8 based on the swash plate angle, and detects the detected speed change state F. An electrical signal is output to the control means 16.

制御手段１６は、マイクロコンピュータを利用して構成してあり、図４，５，６に示す如く作動する。
すなわち、図４に示すように、制御手段１６は、変速操作センサ１５による検出情報を基に変速ペダル１０が操作されたか否かを判断し、変速ペダル１０が操作されたと判断すると、設定エンジン回転数センサ１３及び実エンジン回転数センサ１４による検出情報を基に、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとの差を演算し、この算出差Ｄを基に、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとに差が有るか否かを判断する。算出差Ｄが設定差Ｄ０（２００ｒｐｍ）より小であれば、検出設定エンジン回転数Ａと検出実エンジン回転Ｅとに差が無いと判断し、算出差Ｄが設定差Ｄ０（２００ｒｐｍ）以上であれば、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとに差が有ると判断する。検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとに差が無いと判断すると、通常変速制御によって無段変速装置８を変速操作する変速制御を実行し、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとに差が有ると判断すると、補正変速制御によって無段変速装置８を変速操作する変速制御を実行し、ストロークセンサ１８による検出変速操作状態Ｆが変速操作センサ１５による検出操作位置Ｈに対応した検出変速操作状態になると、無段変速装置８の変速操作を停止する。 The control means 16 is constructed using a microcomputer and operates as shown in FIGS.
That is, as shown in FIG. 4, the control means 16 determines whether or not the shift pedal 10 has been operated based on information detected by the shift operation sensor 15, and if it is determined that the shift pedal 10 has been operated, The difference between the detected setting engine speed A and the detected actual engine speed E is calculated based on the detection information from the number sensor 13 and the actual engine speed sensor 14, and the detected setting engine speed is calculated based on the calculated difference D. It is determined whether or not there is a difference between A and the detected actual engine speed E. If the calculated difference D is smaller than the set difference D0 (200 rpm), it is determined that there is no difference between the detected set engine speed A and the detected actual engine speed E, and the calculated difference D is greater than or equal to the set difference D0 (200 rpm). For example, it is determined that there is a difference between the detected setting engine speed A and the detected actual engine speed E. If it is determined that there is no difference between the detected setting engine speed A and the detected actual engine speed E, a shift control for shifting the continuously variable transmission 8 by normal shift control is executed, and the detected set engine speed A and the detected actual engine speed E are detected. If it is determined that there is a difference from the engine speed E, the shift control for shifting the continuously variable transmission 8 by the corrected shift control is executed, and the detected shift operation state F by the stroke sensor 18 is detected by the shift operation sensor 15. When the detected shift operation state corresponding to H is entered, the shift operation of the continuously variable transmission 8 is stopped.

図５に示すように、制御手段１６は、通常変速制御による無段変速装置８の変速操作を行うに当たり、変速操作センサ１５による検出情報を基に、変速アクチュエータ１７に備えさせる作動ストロークを通常制御目標速度ＶＨとして設定し、ストロークセンサ１８による検出変速状態Ｆが通常制御目標速度ＶＨになるように変速アクチュエータ１７を操作することにより、無段変速装置８を通常制御目標速度ＶＨの変速状態になるように変速操作する。   As shown in FIG. 5, the control means 16 normally controls the operation stroke provided to the speed change actuator 17 based on the information detected by the speed change operation sensor 15 when performing the speed change operation of the continuously variable transmission 8 by the normal speed change control. By setting the target speed VH and operating the speed change actuator 17 so that the shift state F detected by the stroke sensor 18 becomes the normal control target speed VH, the continuously variable transmission 8 is shifted to the normal control target speed VH. Change the speed as follows.

図６に示すように、制御手段１６は、補正変速制御による無段変速装置８の変速操作を行うに当たり、変速操作センサ１５による検出情報を基に、変速アクチュエータ１７に備えさせる作動ストロークを補正制御目標速度ＶＬとして設定し、ストロークセンサ１８による検出変速状態Ｆが補正制御目標速度ＶＬになるように変速アクチュエータ１７を操作することにより、無段変速装置８を補正制御目標速度ＶＬの変速状態になるように変速操作する。   As shown in FIG. 6, the control means 16 corrects and controls the operation stroke provided in the speed change actuator 17 based on the information detected by the speed change operation sensor 15 when performing the speed change operation of the continuously variable transmission 8 by the correction speed change control. By setting the target speed VL and operating the speed change actuator 17 so that the speed change state F detected by the stroke sensor 18 becomes the correction control target speed VL, the continuously variable transmission 8 is changed to the speed change state of the correction control target speed VL. Change the speed as follows.

制御手段１６は、通常制御目標速度ＶＨ及び補正制御目標速度ＶＬを、図３に示すマップを基にして設定する。
すなわち、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとの差Ｄが２００ｒｐｍより小であるとき、変速ペダル１０が基準角度を操作されるに伴って無段変速装置８の斜板を回動させる操作角度を１００とすると、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとの差Ｄが８００ｒｐｍであるとき、変速ペダル１０が基準角度を操作されるに伴って無段変速装置８の斜板を回動させる操作角度が６０になり、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとの差Ｄが１０００ｒｐｍ以上であるとき、変速ペダル１０が基準角度を操作されるに伴って無段変速装置８の斜板を回動させる操作角度が２０になるようにして、通常制御目標速度ＶＨ及び補正制御目標速度ＶＬを設定する。従って、補正制御目標速度ＶＬは、通常制御目標速度ＶＨよりも低速の制御目標速度として設定される。 The control means 16 sets the normal control target speed VH and the correction control target speed VL based on the map shown in FIG.
That is, when the difference D between the detected engine speed A and the detected actual engine speed E is smaller than 200 rpm, the swash plate of the continuously variable transmission 8 is rotated as the shift pedal 10 is operated at the reference angle. Assuming that the operation angle to be moved is 100, when the difference D between the detected setting engine speed A and the detected actual engine speed E is 800 rpm, the continuously variable transmission 8 is operated as the shift pedal 10 is operated at the reference angle. When the operation angle for rotating the swash plate is 60 and the difference D between the detected engine speed A and the detected actual engine speed E is 1000 rpm or more, the shift pedal 10 is operated at the reference angle. Thus, the normal control target speed VH and the correction control target speed VL are set so that the operation angle for rotating the swash plate of the continuously variable transmission 8 becomes 20. Therefore, the corrected control target speed VL is set as a control target speed lower than the normal control target speed VH.

つまり、自走車体を走行させるに当たり、変速ペダル１０を前進域や後進域に踏み込み操作することにより、連動機構１１がアクセル機構１２の操作レバー１２ａを高速側に揺動操作し、アクセル機構１２が高速側に作動して設定エンジン回転数を高速側に変更設定し、これと共に制御手段１６が変速操作センサ１５からの検出情報を基に、変速アクチュエータ１７を操作して無段変速装置８を高速側に変速操作する。これにより、エンジン回転数がアップするように、かつ、無段変速装置８がエンジン回転数に対応した高速側の変速状態に変速するようにエンジン３と無段変速装置８を連係させて増速操作することができ、自走車体が前進側や後進側に速度アップして走行する。
このとき、エンジン３がアクセル機構１２の作動に応答性よく回転数変化し、エンジン回転数がアクセル機構１２によって変更設定された設定エンジン回転数に等しい又はほぼ等しい回転数にアップした場合、制御手段１６が設定エンジン回転数センサ１３及び実エンジン回転数センサ１４による検出情報を基に、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとの差Ｄが無い又はほぼ無いと判断し、この判断結果と、変速操作センサ１５による検出情報とを基に通常制御目標速度ＶＨを設定し、無段変速装置８が通常制御目標速度ＶＨになるように無段変速装置８を変速操作する。これに対し、エンジン３がアクセル機構１２の作動に応答性よく回転数変化せず、エンジン回転数がアクセル機構１２によって変更設定された設定エンジン回転数に等しい又はほぼ等しい回転数までアップしていない場合、制御手段１６が設定エンジン回転数センサ１３及び実エンジン回転数センサ１４による検出情報を基に、検出設定エンジン回転数Ａと検出実エンジン回転数Ｅとの差Ｄがあると判断し、この判断結果と、変速操作センサ１５による検出情報とを基に通常制御目標速度ＶＨよりも低速の補正制御目標速度ＶＬを設定し、無段変速装置８が補正制御目標速度ＶＬになるように無段変速装置８を変速操作する。
これにより、変速ペダル１０の踏み込み操作に伴うアクセル機構１２の高速側への作動にかかわらず、エンジン回転数がアクセル機構１２による設定エンジン回転数又はこれに近いエンジン回転数までアップしなかった場合、エンジン回転数がアクセル機構１２による設定エンジン回転数又はこれに近いエンジン回転数までアップした場合に比して低速の速度状態までしか無段変速装置８が変速操作されず、エンジン３に掛かる負荷が軽くなってエンジンストップを発生しにくくしながら、かつ、エンジン回転数がアクセル機構１２による設定エンジン回転数に早期に上昇するようにしながら自走車体を走行させることができる。 In other words, when the self-propelled vehicle body is driven, by depressing the speed change pedal 10 to the forward or reverse range, the interlock mechanism 11 swings the operation lever 12a of the accelerator mechanism 12 to the high speed side, and the accelerator mechanism 12 Acting on the high speed side, the set engine speed is changed and set on the high speed side. At the same time, the control means 16 operates the speed change actuator 17 based on the detection information from the speed change operation sensor 15 to speed up the continuously variable transmission 8 Shift to the side. As a result, the engine 3 and the continuously variable transmission 8 are linked to increase the speed so that the engine speed is increased and the continuously variable transmission 8 is shifted to a high-speed shift state corresponding to the engine speed. It can be operated, and the self-propelled vehicle speeds up to the forward side or the reverse side and travels.
At this time, when the engine 3 changes its rotational speed with good responsiveness to the operation of the accelerator mechanism 12, and the engine rotational speed is increased to the rotational speed equal to or substantially equal to the set engine rotational speed changed and set by the accelerator mechanism 12, the control means 16 determines that there is no or almost no difference D between the detected set engine speed A and the detected actual engine speed E based on detection information from the set engine speed sensor 13 and the actual engine speed sensor 14. The normal control target speed VH is set on the basis of the result and information detected by the shift operation sensor 15, and the continuously variable transmission 8 is shifted so that the continuously variable transmission 8 becomes the normal control target speed VH. On the other hand, the engine 3 does not change its rotational speed with good responsiveness to the operation of the accelerator mechanism 12, and the engine rotational speed does not increase to the rotational speed equal to or substantially equal to the set engine rotational speed changed and set by the accelerator mechanism 12. In this case, the control means 16 determines that there is a difference D between the detected set engine speed A and the detected actual engine speed E based on the detection information from the set engine speed sensor 13 and the actual engine speed sensor 14. A correction control target speed VL that is lower than the normal control target speed VH is set based on the determination result and information detected by the shift operation sensor 15, and the continuously variable transmission 8 is continuously variable so that the correction control target speed VL is reached. The speed change operation of the transmission 8 is performed.
As a result, regardless of whether the accelerator mechanism 12 is operated to the high speed side when the shift pedal 10 is depressed, the engine speed does not increase to the set engine speed set by the accelerator mechanism 12 or an engine speed close thereto. As compared with the case where the engine speed is increased to the engine speed set by the accelerator mechanism 12 or an engine speed close thereto, the continuously variable transmission 8 is shifted only to a low speed state, and the load applied to the engine 3 is increased. The self-propelled vehicle body can be made to travel while being lighter and less likely to cause an engine stop, and at the same time the engine speed is increased to the engine speed set by the accelerator mechanism 12 at an early stage.

〔別実施例〕
変速ペダル１０に替えて、変速レバーを採用しても、本発明の目的を達成することができる。従って、変速ペダル１０や変速レバーを総称して変速操作具１０と呼称する。 [Another Example]
Even if a shift lever is employed instead of the shift pedal 10, the object of the present invention can be achieved. Accordingly, the shift pedal 10 and the shift lever are collectively referred to as a shift operation tool 10.

トラクタ全体の側面図Side view of the entire tractor 走行操作装置のブロック図Block diagram of travel control device 通常制御目標速度及び補正制御目標速度の説明図Illustration of normal control target speed and corrected control target speed 変速制御のフロー図Shift control flow chart 通常変速制御のフロー図Normal shift control flow chart 補正変速制御のフロー図Flow chart of correction shift control

１，２ 走行装置
３ エンジン
８ 無段変速装置
１０ 変速操作具
１１ 連動機構
１２ 調速機構
１３ 設定エンジン回転数センサ
１４ 実エンジン回転数センサ
１５ 変速操作センサ
１６ 制御手段
Ａ 検出設定エンジン回転数
Ｅ 検出実エンジン回転数
Ｈ 検出操作位置
ＶＨ 通常制御目標速度
ＶＬ 補正制御目標速度
1, 2 Traveling device 3 Engine 8 Continuously variable transmission 10 Shifting operation tool
11 Linkage mechanism 12 Speed control mechanism 13 Set engine speed sensor 14 Actual engine speed sensor 15 Shift operation sensor 16 Control means A Detection set engine speed E Detection actual engine speed H Detection operation position VH Normal control target speed VL Correction control Target speed

Claims (2)

エンジンからの駆動力を入力して走行装置に出力する無段変速装置を備えたトラクタの走行操作装置であって、
前記エンジンの調速機構を操作する変速操作具の操作位置を検出する変速操作センサ、前記調速機構によって設定される設定エンジン回転数を検出する設定エンジン回転数センサ、前記エンジンの実回転数を検出する実エンジン回転数センサを備え、
前記変速操作具が中立位置から前進域に操作された場合においても、前記変速操作具が中立位置から後進域に操作された場合においても、前記調速機構がアイドリング位置から高速側に操作されるように、前記変速操作具を機械的な連動機構を介して前記調速機構に連動し、
前記設定エンジン回転数センサによる検出設定エンジン回転数と、前記実エンジン回転数センサによる検出実エンジン回転数との差の有無を判別し、この判別結果と、前記変速操作センサによる検出操作位置とを基に前記無段変速装置を変速操作する制御手段を備えてあり、
前記制御手段を、前記検出設定エンジン回転数と前記検出実エンジン回転数とに差が無い又はほぼ無いと判断した場合には、前記変速操作センサによる検出情報を基に通常制御目標速度を設定して、前記無段変速装置が前記通常制御目標速度になるように前記無段変速装置を変速操作し、前記検出設定エンジン回転数と前記検出実エンジン回転数とに差が有ると判断した場合には、前記変速操作センサによる検出情報を基に前記通常制御目標速度よりも低速の補正制御目標速度を設定して、前記無段変速装置が前記補正制御目標速度になるように前記無段変速装置を変速操作するように構成してあるトラクタの走行操作装置。 A traveling operation device for a tractor including a continuously variable transmission that inputs a driving force from an engine and outputs the driving force to a traveling device,
A speed change operation sensor that detects an operation position of a speed change operating tool that operates the speed control mechanism of the engine, a set engine speed sensor that detects a set engine speed set by the speed control mechanism, and an actual speed of the engine It has an actual engine speed sensor to detect,
The speed control mechanism is operated from the idling position to the high speed side even when the speed change operation tool is operated from the neutral position to the forward range or when the speed change operation tool is operated from the neutral position to the reverse range. As described above, the shift operation tool is linked to the speed control mechanism via a mechanical linkage mechanism,
It is determined whether or not there is a difference between the detected engine speed detected by the set engine speed sensor and the actual engine speed detected by the actual engine speed sensor, and the determination result and the detected operation position by the shift operation sensor are determined. Control means for shifting the continuously variable transmission on the basis of ,
When the control means determines that there is no difference or almost no difference between the detected set engine speed and the detected actual engine speed, a normal control target speed is set based on information detected by the shift operation sensor. The continuously variable transmission is shifted so that the continuously variable transmission reaches the normal control target speed, and it is determined that there is a difference between the detected set engine speed and the detected actual engine speed. Is configured to set a correction control target speed lower than the normal control target speed based on information detected by the speed change operation sensor so that the continuously variable transmission becomes the correction control target speed. A traveling operation device for a tractor that is configured to shift the gear . 前記制御手段が、前記検出設定エンジン回転数と前記検出実エンジン回転数とに差が有ると判断した場合において、前記検出設定エンジン回転数と前記検出実エンジン回転数との差と、前記通常制御目標速度及び前記補正制御目標速度とのマップに基づいて、前記検出設定エンジン回転数と前記検出実エンジン回転数との差が大であるほど前記通常制御目標速度に対して前記補正制御目標速度がより低速となる形態で、前記補正制御目標速度を設定するように構成してある請求項１記載のトラクタの走行操作装置。 When the control means determines that there is a difference between the detected set engine speed and the detected actual engine speed, the difference between the detected set engine speed and the detected actual engine speed and the normal control Based on the map of the target speed and the corrected control target speed, the larger the difference between the detected setting engine speed and the detected actual engine speed is, the more the corrected control target speed is relative to the normal control target speed. The tractor travel operation device according to claim 1 , wherein the correction control target speed is set in a lower speed form .
JP2005278252A 2005-09-26 2005-09-26 Tractor traveling operation device Active JP4528232B2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2005278252A JP4528232B2 (en) 2005-09-26 2005-09-26 Tractor traveling operation device
US11/520,457 US7469534B2 (en) 2005-09-26 2006-09-13 Load control structure for work vehicle
KR1020060090936A KR100773633B1 (en) 2005-09-26 2006-09-20 Load control structure for work vehicle
FR0653951A FR2891338B1 (en) 2005-09-26 2006-09-26 CHARGE CONTROL STRUCTURE FOR VEHICLES FOR MAJOR WORKS.
CN2006101729118A CN101025233B (en) 2005-09-26 2006-09-26 Load control structure for work vehicle
CN201010193592.5A CN101865286B (en) 2005-09-26 2006-09-26 Load control structure for work vehicle

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DE102011116268A1 (en) * 2011-10-19 2013-04-25 Wirtgen Gmbh Self-propelled construction machine
JP5092060B1 (en) * 2012-03-30 2012-12-05 株式会社小松製作所 Work vehicle and control method of work vehicle
CN103552465A (en) * 2013-11-05 2014-02-05 宁夏新航能源环境科技有限公司 Energy-saving type hydraulic system
KR20200001477A (en) * 2018-06-26 2020-01-06 가부시끼 가이샤 구보다 Control device for work vehicle and work vehicle
EP4008927A4 (en) * 2019-08-15 2023-12-27 Kanzaki Kokyukoki Mfg. Co., Ltd. Transmission structure

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