JPH07133732A - Vehicle speed control device for moving agricultural machinery - Google Patents
Vehicle speed control device for moving agricultural machineryInfo
- Publication number
- JPH07133732A JPH07133732A JP5305968A JP30596893A JPH07133732A JP H07133732 A JPH07133732 A JP H07133732A JP 5305968 A JP5305968 A JP 5305968A JP 30596893 A JP30596893 A JP 30596893A JP H07133732 A JPH07133732 A JP H07133732A
- Authority
- JP
- Japan
- Prior art keywords
- control device
- vehicle speed
- engine
- governor control
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract description 17
- 241000209094 Oryza Species 0.000 description 6
- 235000007164 Oryza sativa Nutrition 0.000 description 6
- 235000009566 rice Nutrition 0.000 description 6
- 210000000078 claw Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Transplanting Machines (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は連続的に苗植作業を行う
田植機など移動農機の車速制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed control device for a mobile agricultural machine such as a rice transplanter that continuously carries out seedling planting work.
【０００２】[0002]
【従来の技術】この種田植機にあって、作業負荷に関係
なくエンジン回転数を一定維持させるために、車速を変
更制御するようにした手段がある。2. Description of the Related Art In this seed rice transplanter, there is a means for changing and controlling the vehicle speed in order to keep the engine speed constant regardless of the work load.
【０００３】[0003]
【発明が解決しようとする課題】しかし乍らこのような
場合、車速を頻繁に変更制御する必要があるばかりでな
く、軽負荷時にも車速を低速側に制御することによって
作業能率が低下するなどの欠点があった。However, in such a case, not only the vehicle speed needs to be frequently changed and controlled, but also the work efficiency is lowered by controlling the vehicle speed to the low speed side even when the load is light. There was a drawback.
【０００４】[0004]
【課題を解決するための手段】したがって本発明は、エ
ンジン回転数を一定維持させる電子式ガバナ制御装置
と、車速を変速制御する車速変速機構とを備え、これら
電子式ガバナ制御装置と車速変速機構を作業負荷状態に
応じて段階制御してエンジン回転数を一定に保つもの
で、例えば第１段階となる比較的軽負荷作業時には電子
式ガバナ制御装置によるガバナ制御を、また第２段階と
なる第１段階で制御不可能な重負荷作業時には車速変速
機構による車速制御を行わしめて、運転フィーリングと
作業能率の向上化を図るものである。SUMMARY OF THE INVENTION Therefore, the present invention comprises an electronic governor control device for maintaining a constant engine speed, and a vehicle speed shifting mechanism for shifting the vehicle speed. The electronic governor control device and the vehicle speed shifting mechanism are provided. Is controlled in a stepwise manner in accordance with the work load state to keep the engine speed constant. For example, during relatively light load work in the first stage, governor control by an electronic governor control device and in the second stage in the second stage are performed. In heavy-duty work that cannot be controlled in one step, vehicle speed control is performed by the vehicle speed change mechanism to improve driving feeling and work efficiency.
【０００５】[0005]
【実施例】以下、本発明の実施例を図面に基づいて詳述
する。図１は制御回路図、図２は乗用田植機の側面図、
図３は同平面図を示し、図中（１）は作業者が搭乗する
田植本機である走行車であり、エンジン（２）を車体フ
レーム（３）に搭載させ、ミッションケース（４）前方
にフロントアクスルケース（５）を介して水田走行用前
輪（６）を支持させると共に、前記ミッションケース
（４）の後部にリヤアクスルケース（７）を介して水田
走行用後輪（８）を支持させる。そして前記エンジン
（２）等を覆うボンネット（９）両側に予備苗載台（１
０）を取付けると共に、ステップ（１１）を介して作業
者が搭乗する車体カバー（１２）によって前記ミッショ
ンケース（４）等を覆い、前記車体カバー（１２）上部
に運転席（１３）を取付け、その運転席（１３）の前方
で前記ボンネット（９）後部に操向ハンドル（１４）を
設ける。Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a control circuit diagram, FIG. 2 is a side view of a passenger rice transplanter,
FIG. 3 is a plan view of the same. In FIG. 3, (1) is a traveling vehicle that is a rice transplanter on which an operator rides. The engine (2) is mounted on the vehicle body frame (3), and the front of the mission case (4). The front wheel (6) for traveling paddy fields through the front axle case (5) and the rear wheels (8) for traveling paddy field through the rear axle case (7) at the rear of the mission case (4). . On both sides of the bonnet (9) covering the engine (2), etc., a spare seedling stand (1
0) is mounted, the mission case (4) and the like are covered by a vehicle body cover (12) on which an operator rides through step (11), and a driver's seat (13) is attached to the upper portion of the vehicle body cover (12), A steering handle (14) is provided at the rear of the hood (9) in front of the driver's seat (13).
【０００６】また、図中（１５）は６条植え用の苗載台
（１６）並びに複数の植付爪（１７）などを具備する植
付部であり、前高後低の合成樹脂製の苗載台（１６）を
下部レール（１８）及びガイドレール（１９）を介して
植付ケース（２０）に左右往復摺動自在に支持させると
共に、一方向に等速回転させるロータリケース（２１）
を前記植付ケース（２０）に支持させ、該ケース（２
１）の回転軸芯を中心に対称位置に配設する一対の爪ケ
ース（２２）（２２）先端に植付爪（１７）（１７）を
取付ける。Further, (15) in the figure is a planting section equipped with a seedling table (16) for planting 6 rows, a plurality of planting claws (17), etc. A rotary case (21) for supporting the seedling stand (16) on the planting case (20) via the lower rail (18) and the guide rail (19) so as to be slidable left and right, and rotating at a constant speed in one direction.
The planting case (20) to support the case (2
The planting claws (17) and (17) are attached to the tips of the pair of claw cases (22) and (22) which are arranged symmetrically with respect to the axis of rotation of 1).
【０００７】さらに、前記植付ケース（２０）の前側に
ローリング支点軸（２３）を介して支持フレーム（２
４）を設け、トップリンク（２５）及びロワーリンク
（２６）を含む昇降リンク機構（２７）を介して走行車
（１）後側に支持フレーム（２４）を連結させ、前記リ
ンク機構（２７）を介して植付部（１５）を昇降させる
昇降シリンダ（２８）をロワーリンク（２６）に連結さ
せ、前記前後輪（６）（８）を走行駆動して移動すると
同時に、左右に往復摺動させる苗載台（１６）から一株
分の苗を植付爪（１７）によって取出し、連続的に苗植
え作業を行うように構成する。Further, a support frame (2) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23).
4) is provided, and the support frame (24) is connected to the rear side of the traveling vehicle (1) through the elevating link mechanism (27) including the top link (25) and the lower link (26), and the link mechanism (27) is provided. An elevating cylinder (28) for elevating the planting part (15) via a lower link (26) is connected to the lower link (26) to drive and move the front and rear wheels (6) and (8), and at the same time reciprocally slide left and right. The seedlings for one strain are taken out from the seedling mounting table (16) to be picked up by the planting claws (17), and the seedlings are continuously planted.
【０００８】また、図中（２９）は主変速レバー、（３
０）は植付昇降兼作業走行変速用副変速レバー、（３
１）は植付け感度調節レバー、（３２）は主クラッチペ
ダル、（３３）（３３）は左右ブレーキペダル、（３
４）は２条分均平用センターフロート、（３５）は２条
分均平用サイドフロート、（３６）は側条施肥機であ
る。Further, in the figure, (29) is a main transmission lever, and (3
(0) is a sub-shift lever for planting up / down and work traveling gear shifting, (3
1) is a planting sensitivity adjusting lever, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, and (3)
4) is a center float for leveling two lines, (35) is a side float for leveling two lines, and (36) is a side fertilizer applicator.
【０００９】図４乃至図７に示す如く、出入力プーリ
（３７）（３８）及びベルト（３９）を有する車速変速
機構であるベルト無段変速機構（４０）を備え、エンジ
ン（２）の出力軸（４１）に減速ケース（４２）の入力
軸（４３）を前記無段変速機構（４０）を介して連結さ
せると共に、前記減速ケース（４２）に出力軸（４４）
を介してミッションケース（４）を連結させ、前走行駆
動軸（４５）を介してミッションケース（４）にフロン
トアクスルケース（５）を連結させ、植付駆動軸（４
６）を介してミッションケース（４）に植付ケース（２
０）を連結させるもので、無段変速機構（４０）及び減
速ケース（４２）を介してエンジン（２）出力をミッシ
ョンケース（４）に減速伝達させると共に、ミッション
ケース（４）の主変速レバー（２９）による多段変速出
力を前後輪（６）（８）に各アクスルケース（５）
（７）を介して伝達させるように構成している。As shown in FIGS. 4 to 7, a belt continuously variable transmission mechanism (40) which is a vehicle speed transmission mechanism having output / input pulleys (37) and (38) and a belt (39) is provided, and the output of the engine (2) is provided. The input shaft (43) of the speed reduction case (42) is connected to the shaft (41) through the continuously variable transmission mechanism (40), and the output shaft (44) is connected to the speed reduction case (42).
The transmission case (4) is connected via the front drive shaft (45) and the front axle case (5) is connected to the transmission case (4) via the front drive shaft (45).
6) via the mission case (4) to the planted case (2)
0) is connected, and the output of the engine (2) is decelerated and transmitted to the mission case (4) through the continuously variable transmission mechanism (40) and the deceleration case (42), and the main transmission lever of the mission case (4) is connected. The multi-stage shift output by (29) is applied to the front and rear wheels (6) and (8) in each axle case (5).
It is configured to be transmitted via (7).
【００１０】そして、走行車（１）の運転席（１３）下
方のメインフレーム（４７）に電動形変速シリンダ（４
８）を設けて、該シリンダ（４８）のピストン（４８
ａ）と、前記無段変速機構（４０）の各プーリ（３７）
（３８）のベルト（３９）巻付け径を変化させる出入用
カム（４９）（５０）とを、変速リンク（５１）及びロ
ッド（５２）及び連杆（５３）を介して連動連結させる
と共に、植付変速制御用フィードバックポテンショメー
タ（５４）にフィードバックリンク（５５）を介して前
記ロッド（５２）を連動連結させて、前記副変速レバー
（３０）によるシリンダ（４８）の伸縮制御でもって植
付作業中の走行及び植付の無段変速を行うように構成し
ている。An electric transmission cylinder (4) is mounted on the main frame (47) below the driver's seat (13) of the traveling vehicle (1).
8) is provided and the piston (48) of the cylinder (48) is
a) and each pulley (37) of the continuously variable transmission (40)
The belt (39) of (38) is connected with the moving cams (49) (50) for changing the winding diameter through the speed change link (51), the rod (52) and the connecting rod (53). The rod (52) is interlockingly connected to the feedback potentiometer (54) for planting shift control via the feedback link (55), and the planting work is performed by the expansion and contraction control of the cylinder (48) by the auxiliary shift lever (30). It is configured to perform continuous running and planted continuously variable transmissions.
【００１１】図８に示す如く、軽負荷作業時にエンジン
（２）の回転数の一定維持を図る電子式ガバナ制御装置
（５６）をエンジン（２）のキャブレータ（５７）に設
けるもので、エンジン（２）の出力軸（２ａ）よりエン
ジン回転数を検知する電磁ピックアップセンサであるエ
ンジン回転センサ（５８）と、前記キャブレータ（５
７）のスロットルバルブ（５９）の開度調節を行う電動
モータなどバルブアクチュエータ（６０）と、前記バル
ブ（５９）の開度状態を検出するバルブ開度センサ（６
１）と、作業中の基準エンジン回転数を設定する可変抵
抗形エンジン回転設定器（６２）と、各センサ（５８）
（６１）及び設定器（６２）を入力接続させアクチュエ
ータ（６０）に出力接続させてエンジン回転数を一定制
御するガバナ制御回路（６３）とから電子式ガバナ制御
装置（５６）を構成している。As shown in FIG. 8, the carburetor (57) of the engine (2) is provided with an electronic governor control device (56) for maintaining the rotation speed of the engine (2) constant during light load work. The engine rotation sensor (58), which is an electromagnetic pickup sensor for detecting the engine speed from the output shaft (2a) of 2), and the carburetor (5).
7) A valve actuator (60) such as an electric motor for adjusting the opening of the throttle valve (59), and a valve opening sensor (6) for detecting the opening state of the valve (59).
1), a variable resistance engine rotation setting device (62) for setting a reference engine rotation speed during work, and each sensor (58)
An electronic type governor control device (56) is constituted by a governor control circuit (63) for input-connecting (61) and a setting device (62) and output-connecting to an actuator (60) to control the engine speed constantly. .
【００１２】そして図１に示す如く、自動スイッチ（６
４）と、前記入力軸（４３）に設ける主クラッチ（６
５）の入時にオンとなる主クラッチスイッチ（６６）
と、前記副変速レバー（３０）の植付下降操作時にオン
となる植付スイッチ（６７）と、副変速位置である副変
速レバー（３０）の変速操作位置を検出する副変速ポテ
ンショメータ（６８）と、前記フィードバックポテンシ
ョメータ（５４）と、前記ガバナ制御回路（６３）とを
コントローラ（６９）に入力接続させると共に、前記変
速シリンダ（４８）の電磁モータにコントローラ（６
９）を出力接続させて、通常時前記ポンショメータ（６
８）によって検出される副変速レバー（３０）位置に応
じた位置に変速シリンダ（４８）を駆動制御して無段変
速機構（４０）の変速動作を行わしめるように構成して
いる。As shown in FIG. 1, the automatic switch (6
4) and the main clutch (6) provided on the input shaft (43)
Main clutch switch (66) that turns on when 5) is turned on
And a planting switch (67) that is turned on when the sub-shift lever (30) is planted and lowered, and a sub-shift potentiometer (68) that detects the shift operation position of the sub-shift lever (30) that is the sub-shift position. The feedback potentiometer (54) and the governor control circuit (63) are connected to the controller (69), and the controller (6) is connected to the electromagnetic motor of the speed change cylinder (48).
9) is connected to the output, and the ponometer (6
8) is configured to drive and control the shift cylinder (48) to a position corresponding to the position of the auxiliary shift lever (30) detected by the shift control mechanism (40).
【００１３】本実施例は上記の如く構成するものにし
て、以下図９乃至図１０を参照してこの作用を説明す
る。This embodiment is configured as described above, and its operation will be described below with reference to FIGS. 9 to 10.
【００１４】自動スイッチ（６４）がオン、主クラッチ
スイッチ（６５）がオン、植付スイッチ（６７）がオン
の植付走行作業中にあって、前記電子式ガバナ制御装置
（５６）の設定器（６２）で設定される回転指示値（Ｎ
１）と、回転センサ（５８）で検出される検出値（Ｎ
２）（エンジン実回転数）との差（ｎ）（ｎ＝Ｎ１−Ｎ
２）が設定差（α）以内を維持する比較的軽負荷作業の
ときには、第１段の制御となる前記制御回路（６３）に
よるガバナ制御によって指示値（Ｎ１）を略保つ状態に
エンジン回転数は一定制御される。When the automatic switch (64) is turned on, the main clutch switch (65) is turned on, and the planting switch (67) is turned on, the setting device of the electronic governor control device (56) during the planting traveling work. The rotation instruction value (N
1) and the detection value (N
2) Difference from actual engine speed (n) (n = N1-N
In the case of a relatively light load work in which 2) is maintained within the set difference (α), the engine speed is kept substantially in the state of keeping the instruction value (N1) by the governor control by the control circuit (63) which is the first stage control. Is constantly controlled.
【００１５】そして電子式ガバナ制御装置（５６）でエ
ンジン回転数を制御しきれなくなる状態の指示値（Ｎ
１）と検出値（Ｎ２）（Ｎ１＞Ｎ２）との差（ｎ）の設
定差（α）以上が出力される重負荷作業のとき、前記ガ
バナ（５６）での指示値（Ｎ１）と検出値（Ｎ２）との
差（ｎ）が設定差（α）となるまで前記変速シリンダ
（４８）による第２段の車速の減速制御が行われて、エ
ンジン回転数の略一定維持が図られる。Then, the electronic governor control unit (56) indicates a value (N
1) and the detected value (N2) (N1> N2), the detected value (N1) is detected as the indicated value (N1) in the governor (56) during heavy load work in which a set difference (α) or more is output. Until the difference (n) from the value (N2) becomes the set difference (α), the speed reduction control of the second stage vehicle speed by the speed change cylinder (48) is performed to maintain the engine speed substantially constant.
【００１６】斯る設定差（α）以内のとき、前記副変速
レバー（３０）位置をポテンショメータ（６８）で検出
し、このメータ値である副変速値に応じた位置に変速シ
リンダ（４８）をサーボ駆動してのレバー（３０）操作
による植付車速の変速制御が可能となるもので、この場
合レバー（３０）で設定される副変速値（Ｌ１）よりフ
ィードバックポテンショメータ（５４）に検出される検
出値（Ｌ２）が低速側（Ｌ１＞Ｌ２）にある状態（つま
り第２段の車速制御により減速駆動された状態）のと
き、図１０にも示す如くＴ時間毎にｔ時間だけ前記シリ
ンダ（４８）を増速側に駆動する制御が行われ、前記電
子式ガバナ制御装置（５６）の指示値（Ｎ１）と検出値
（Ｎ２）との差（ｎ）が設定差（α）の最下限一杯を保
つ状態で設定車速となるまでの制御が行われて、エンジ
ン回転数が低下することのないしかも最高速度での作業
が行えるものである（エンジン回転低下限界の点で最高
速度が選べる）。つまり第２段の車速制御によって減速
されると、減速しっぱなしとなるため、Ｔ時間毎のｔ時
間だけの増速側駆動によって作業速度の最大値を探し
て、走行負荷などが軽減した場合に最適に対処させるも
のである。When within the set difference (α), the position of the auxiliary shift lever (30) is detected by the potentiometer (68), and the shift cylinder (48) is set at a position corresponding to the auxiliary shift value which is the meter value. It is possible to control the shift of the planted vehicle speed by operating the lever (30) driven by a servo. In this case, the feedback potentiometer (54) detects the auxiliary shift value (L1) set by the lever (30). When the detected value (L2) is on the low speed side (L1> L2) (that is, when the vehicle is decelerated by the vehicle speed control of the second stage), as shown in FIG. 48) is driven to the speed-up side, and the difference (n) between the indicated value (N1) and the detected value (N2) of the electronic governor control device (56) is the lower limit of the set difference (α). Set the vehicle speed while keeping it full. It is possible to work at maximum speed without lowering the engine speed (the maximum speed can be selected in terms of the engine speed lowering limit). In other words, when the vehicle is decelerated by the second-stage vehicle speed control, the vehicle continues to decelerate. Therefore, when the maximum value of the working speed is searched for by the acceleration side drive for every t hours, the traveling load is reduced. To deal with it optimally.
【００１７】また斯る作業中、前記指示値（Ｎ１）と検
出値（Ｎ２）との差（ｎ）が設定差（α）の下限値以上
となるとき再び第２段の車速減速制御が行われて、エン
ジン回転数の略一定維持が図られるものである。During such work, when the difference (n) between the indicated value (N1) and the detected value (N2) becomes equal to or larger than the lower limit value of the set difference (α), the vehicle speed deceleration control of the second stage is performed again. Therefore, the engine speed can be maintained at a substantially constant value.
【００１８】なお図１１は従来の機械式ガバナを用いた
ものとこの電子式ガバナ制御装置（５６）との比較を示
し、点線で表わされる機械式ガバナの負荷性能に対し、
各縦線（ａ１）（ａ２）（ａ３）は第１段のスロットル
バルブ制御と、第２段の車速減速制御とによる電子式ガ
バナ制御装置（５６）の負荷性能を示し、ガバナのみで
は曲線に沿って回転及び出力が低下するのに対し、第２
段制御によって矢印方向に回転が上るように制御してそ
の差（ｂ１）（ｂ２）（ｂ３）分出力も増大させるもの
である。FIG. 11 shows a comparison between the conventional mechanical governor and the electronic governor control device (56). The load performance of the mechanical governor represented by the dotted line is shown in FIG.
Each vertical line (a1) (a2) (a3) shows the load performance of the electronic governor control device (56) by the throttle valve control of the first stage and the vehicle speed deceleration control of the second stage. The rotation and output decrease along the second
By the step control, the rotation is controlled so as to increase in the direction of the arrow to increase the output by the difference (b1) (b2) (b3).
【００１９】なお前述実施例にあっては、電子式ガバナ
制御装置（５６）によるガバナ制御と、無段変速機構
（４０）による車速制御の２段階制御を行う構成を示し
たが、中負荷時にガバナ制御と車速制御を組合せて混合
制御を行うように設けて３段階制御とする構成としても
良い。In the above-described embodiment, the electronic governor control unit (56) controls the governor and the continuously variable transmission mechanism (40) controls the vehicle speed. It is also possible to provide a combination of the governor control and the vehicle speed control so as to perform the mixing control, and to have a three-stage control.
【００２０】[0020]
【発明の効果】以上実施例から明らかなように本発明
は、エンジン回転数を一定維持させる電子式ガバナ制御
装置（５６）と、車速を変速制御する車速変速機構（４
０）とを備え、これら電子式ガバナ制御装置（５６）と
車速変速機構（４０）を作業負荷状態に応じて段階制御
してエンジン回転数を一定に保つものであるから、例え
ば比較的軽負荷作業時には第１段階となる電子式ガバナ
制御装置（５６）を用いたガバナ制御によって、また第
１段階で制御不可能な重負荷作業時には第２段階となる
車速変速機構（４０）を用いた車速制御によって、エン
ジン回転数を安定良好に一定維持させることがで可能に
できて、運転フィーリングと作業能率の向上化を図るこ
とができる。As is apparent from the above embodiments, the present invention provides an electronic governor control device (56) for maintaining a constant engine speed, and a vehicle speed change mechanism (4) for controlling the vehicle speed.
0), the electronic governor control device (56) and the vehicle speed change mechanism (40) are controlled in stages according to the work load state to keep the engine speed constant. The vehicle speed using the governor control using the electronic governor control device (56) which is the first stage during work, and the vehicle speed change mechanism (40) which is the second stage during heavy load work that cannot be controlled in the first stage This can be achieved by maintaining the engine speed stably and satisfactorily by the control, and the driving feeling and work efficiency can be improved.
【００２１】そして、電子式ガバナ制御装置（５６）に
おける回転指示値（Ｎ１）と回転検出値（Ｎ２）との差
（ｎ）の一定以内の条件下のみ、電子式ガバナ制御装置
（５６）によるエンジン回転数のガバナ制御を可能とさ
せることによって、比較的軽負荷作業時でのこのエンジ
ン回転制御を高精度なものとさせることができる。The electronic governor control device (56) is operated only when the difference (n) between the rotation instruction value (N1) and the rotation detection value (N2) in the electronic governor control device (56) is within a certain range. By enabling the governor control of the engine speed, it is possible to make the engine speed control with high accuracy during a relatively light load work.
【００２２】また、電子式ガバナ制御装置（５６）にお
ける回転指示値（Ｎ１）と回転検出値（Ｎ２）との差
（ｎ）の一定以上となるガバナ制御不可能時に、その差
（ｎ）が一定以下となるように車速を減速制御すること
によって、電子式ガバナ制御装置（５６）のみでは制御
不可能な重負荷作業時でのエンジン回転制御を車速の減
速制御によって高精度なものとさせることができる。Further, when the difference (n) between the rotation instruction value (N1) and the rotation detection value (N2) in the electronic governor control device (56) exceeds a certain level and the governor control is impossible, the difference (n) is increased. By controlling the vehicle speed so that the vehicle speed falls below a certain level, the engine speed control during heavy load work that cannot be controlled only by the electronic governor control device (56) can be made highly accurate by controlling the vehicle speed. You can
【００２３】さらに、電子式ガバナ制御装置（５６）に
よるガバナ制御可能条件下で車速設定値より実車速が低
速側にあるとき、所定時間（Ｔ）毎に一定時間（ｔ）だ
け車速を増速側に制御することにより、エンジン回転を
低下させることのない、しかも最高車速での作業を可能
にできるなど顕著な効果を奏するものである。Further, when the actual vehicle speed is lower than the vehicle speed set value under the governor controllable condition by the electronic governor control device (56), the vehicle speed is increased by a constant time (t) every predetermined time (T). By controlling to the side, there is a remarkable effect that the engine speed is not reduced and the work can be performed at the maximum vehicle speed.
【図１】制御回路図である。FIG. 1 is a control circuit diagram.
【図２】田植機の全体側面図である。FIG. 2 is an overall side view of a rice transplanter.
【図３】田植機の全体平面図である。FIG. 3 is an overall plan view of a rice transplanter.
【図４】走行車の側面図である。FIG. 4 is a side view of the traveling vehicle.
【図５】走行車の平面図である。FIG. 5 is a plan view of the traveling vehicle.
【図６】無段変速機構の側面説明図である。FIG. 6 is a side view of a continuously variable transmission mechanism.
【図７】無段変速機構の平面説明図である。FIG. 7 is a plan view of a continuously variable transmission mechanism.
【図８】電子式ガバナ制御装置部の説明図である。FIG. 8 is an explanatory diagram of an electronic governor control device section.
【図９】フローチャートである。FIG. 9 is a flowchart.
【図１０】タイムチャートである。FIG. 10 is a time chart.
【図１１】電子式ガバナ制御装置の特性図である。FIG. 11 is a characteristic diagram of the electronic governor control device.
（４０） 無段変速機構（車速変速機構） （５６） 電子式ガバナ制御装置 （Ｎ１） 回転指示値 （Ｎ２） 回転検出値 （ｎ） 差 (40) Continuously variable transmission mechanism (vehicle speed transmission mechanism) (56) Electronic governor control device (N1) Rotation instruction value (N2) Rotation detection value (n) Difference
Claims (4)
ガバナ制御装置と、車速を変速制御する車速変速機構と
を備え、これら電子式ガバナ制御装置と車速変速機構を
作業負荷状態に応じて段階制御してエンジン回転数を一
定に保つように構成したことを特徴とする移動農機の車
速制御装置。1. An electronic governor control device for maintaining a constant engine speed, and a vehicle speed shifting mechanism for shifting the vehicle speed. The electronic governor control device and the vehicle speed shifting mechanism are stepwise controlled according to a work load state. A vehicle speed control device for a mobile agricultural machine, characterized in that the engine speed is kept constant.
値と回転検出値との差の一定以内の条件下のみ、電子式
ガバナ制御装置によるエンジン回転数のガバナ制御を可
能に構成したことを特徴とする請求項１記載の移動農機
の車速制御装置。2. The electronic governor control device is configured to enable governor control of an engine speed only under a condition that a difference between a rotation instruction value and a rotation detection value in the electronic governor control device is within a certain range. The vehicle speed control device for a mobile agricultural machine according to claim 1.
値と回転検出値との差の一定以上となるガバナ制御不可
能時に、その差が一定以下となるように車速を減速制御
するように構成したことを特徴とする請求項１記載の移
動農機の車速制御装置。3. The electronic speed governor control device is configured to perform deceleration control of the vehicle speed so that when the difference between the rotation instruction value and the rotation detection value is above a certain level and the governor control is impossible, the difference is below a certain level. The vehicle speed control device for a mobile agricultural machine according to claim 1, wherein:
可能条件下で車速設定値より実車速が低速側にあると
き、所定時間毎に一定時間だけ車速を増速側に制御する
ように構成したことを特徴とする請求項１記載の移動農
機の車速制御装置。4. When the actual vehicle speed is lower than the vehicle speed set value under the governor controllable condition by the electronic governor control device, the vehicle speed is controlled to be increased for a fixed time every predetermined time. The vehicle speed control device for a mobile agricultural machine according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30596893A JP3328752B2 (en) | 1993-11-10 | 1993-11-10 | Rice transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30596893A JP3328752B2 (en) | 1993-11-10 | 1993-11-10 | Rice transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07133732A true JPH07133732A (en) | 1995-05-23 |
| JP3328752B2 JP3328752B2 (en) | 2002-09-30 |
Family
ID=17951474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30596893A Expired - Fee Related JP3328752B2 (en) | 1993-11-10 | 1993-11-10 | Rice transplanter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3328752B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10159606A (en) * | 1996-12-03 | 1998-06-16 | Yanmar Agricult Equip Co Ltd | Riding rice transplanter mounted with engine with electronic governor mechanism thereon |
| JPH1137284A (en) * | 1997-07-18 | 1999-02-12 | Yanmar Agricult Equip Co Ltd | Automatic transmission of agricultural working vehicle |
| JP2006266417A (en) * | 2005-03-24 | 2006-10-05 | Iseki & Co Ltd | Transmission controller for working vehicle loaded with toroidal-type transmission |
| JP2007120753A (en) * | 2005-09-30 | 2007-05-17 | Kubota Corp | Load control structure of working vehicle |
| JP2008265755A (en) * | 2008-05-31 | 2008-11-06 | Iseki & Co Ltd | Transmission control device for stepless transmission |
| JP2009150554A (en) * | 2009-02-16 | 2009-07-09 | Yanmar Agricult Equip Co Ltd | Moving agricultural machine |
| JP2011247423A (en) * | 2011-07-13 | 2011-12-08 | Yanmar Co Ltd | Mobile agricultural machine |
-
1993
- 1993-11-10 JP JP30596893A patent/JP3328752B2/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10159606A (en) * | 1996-12-03 | 1998-06-16 | Yanmar Agricult Equip Co Ltd | Riding rice transplanter mounted with engine with electronic governor mechanism thereon |
| JPH1137284A (en) * | 1997-07-18 | 1999-02-12 | Yanmar Agricult Equip Co Ltd | Automatic transmission of agricultural working vehicle |
| JP2006266417A (en) * | 2005-03-24 | 2006-10-05 | Iseki & Co Ltd | Transmission controller for working vehicle loaded with toroidal-type transmission |
| JP4543987B2 (en) * | 2005-03-24 | 2010-09-15 | 井関農機株式会社 | Transmission control device for work vehicle equipped with toroidal transmission |
| JP2007120753A (en) * | 2005-09-30 | 2007-05-17 | Kubota Corp | Load control structure of working vehicle |
| JP4585495B2 (en) * | 2005-09-30 | 2010-11-24 | 株式会社クボタ | Work vehicle load control structure |
| JP2008265755A (en) * | 2008-05-31 | 2008-11-06 | Iseki & Co Ltd | Transmission control device for stepless transmission |
| JP2009150554A (en) * | 2009-02-16 | 2009-07-09 | Yanmar Agricult Equip Co Ltd | Moving agricultural machine |
| JP2011247423A (en) * | 2011-07-13 | 2011-12-08 | Yanmar Co Ltd | Mobile agricultural machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3328752B2 (en) | 2002-09-30 |
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