JPH1148808A - Running control device for work vehicle - Google Patents
Running control device for work vehicleInfo
- Publication number
- JPH1148808A JPH1148808A JP20560897A JP20560897A JPH1148808A JP H1148808 A JPH1148808 A JP H1148808A JP 20560897 A JP20560897 A JP 20560897A JP 20560897 A JP20560897 A JP 20560897A JP H1148808 A JPH1148808 A JP H1148808A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- turning
- turning control
- front wheel
- traveling
- 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.)
- Pending
Links
Landscapes
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、機体の前後一端側
に位置する走行用の操向型車輪と他端側に位置する走行
用の非操向型車輪を備えるとともに、操向型車輪が設定
切れ角以上に操向操作されると、操向型車輪の駆動速度
を非操向型車輪と同一又はほぼ同一にする切り状態と操
向型車輪の駆動速度を非操向型車輪よりも高速にする入
り状態とに切り換え自在な前輪増速装置を入り側に自動
的に切り換え操作して機体を小回り旋回させる旋回制御
手段、又は、操向型車輪が設定切れ角以上に操向操作さ
れると、前記前輪増速装置と、左右一対の非操向型車輪
のうちの旋回内側の非操向型車輪に作用する機体操向ブ
レーキとを入り側に自動的に切り換え操作して機体を小
回り旋回させる旋回制御手段、又は、操向型車輪が設定
切れ角以上に操向操作されると、前記前輪増速装置と旋
回内側の前記機体操向ブレーキとを入り側に自動的に切
り換え操作して機体を小回り旋回させる第1旋回制御モ
ードと、操向型車輪が設定切れ角以上に操向操作される
と、前記前輪増速装置と前記機体操向ブレーキのうちの
前輪増速装置のみを入り側に自動的に切り換え操作して
機体を小回り旋回させる第2旋回制御モードとに切り換
え自在な旋回制御手段を備えてある作業車の走行制御装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a traveling steerable wheel located at one of the front and rear ends of an airframe and a non-steerable traveling wheel located at the other end. When the steering operation is performed beyond the set turning angle, the driving state of the steered wheels becomes the same or almost the same as that of the non-steered wheels, and the driving speed of the steered wheels becomes greater than that of the non-steered wheels. A turning control means for automatically switching the front wheel speed increasing device, which can be switched to an entering state at high speed, to the entering side to turn the aircraft in a small turn, or a steerable wheel is steered beyond a set turning angle. Then, the front wheel speed increasing device and the fuselage steering brake acting on the non-steering wheel inside the turning of the pair of left and right non-steering wheels are automatically switched to the entrance side to operate the aircraft. Turn control means to make a small turn, or steer the steerable wheels beyond the set turning angle The first turning control mode in which the front wheel speed-increasing device and the body steering brake inside the turning are automatically switched to the entrance side to turn the aircraft in a small turn, and the steered wheels are out of setting. When the steering operation is performed at an angle or more, only the front wheel speed increasing device and the front wheel speed increasing device of the body steering brake are automatically switched to the entry side to perform a second turning control mode in which the aircraft is turned slightly. The present invention relates to a traveling control device for a working vehicle, which is provided with turning control means that can be switched between the two.
【0002】[0002]
【従来の技術】上記作業車は、圃場端部で機体をユータ
ーン旋回させるなど機体旋回を行う際、旋回制御手段の
作用により、操向型車輪を操向操作するだけで操作簡単
に、操向型車輪と非操向型車輪を直進時と同様に同一又
はほぼ同一の駆動速度で駆動しながら旋回するよりも小
さな旋回半径で旋回できるようにされたものである。こ
の種の作業車において、従来、例えば、特開昭63‐1
62332号公報に示されるものがあった。すなわち、
前輪と後輪の駆動速度を略等しくする標準駆動状態と、
前輪の駆動速度が後輪よりも高速になる増速駆動状態と
に油圧シリンダによって切り換え操作自在な前輪変速装
置を備えるとともに、前輪を設定角度以上に操向操作し
てリミットスイッチからの信号が制御装置に入力される
と、この制御装置から油圧シリンダに対する制御弁に操
作信号が発信されて油圧シリンダが前輪変速装置を前輪
増速状態に切り換えるようになり、さらに、走行用の主
変速レバーの4速位置、及び副変速レバーの高速位置に
リミットスイッチを設け、主変速レバーを4速位置、副
変速レバーを高速位置に操作しての高速走行時には、前
輪の設定角度以上の操向操作にもかかわらず、制御弁に
操作信号が発せられないようになったものがあった。す
なわち、走行用変速装置を低速側に切り換えている場合
には、操向型車輪としての前輪を設定切れ角以上に操向
操作すると、旋回制御手段としての制御装置によって前
輪増速装置としての前輪変速装置が入り側に自動的に切
り換え操作され、走行用変速装置を高速側に切り換えて
いる場合には、操向型車輪を設定切れ角以上に操向操作
しても前輪増速装置が入り側に切り換え操作されないよ
うになっていた。つまり、低速走行する際には小回り旋
回制御が実行され、高速走行する際には小回り旋回制御
が牽制されるようになっていた。2. Description of the Related Art The above-mentioned work vehicle can be easily operated simply by steering a steerable wheel by the operation of a turning control means when turning the body such as making a U-turn turn at an end of a field. The turning wheel can be turned with a smaller turning radius than turning while driving the die wheel and the non-steering wheel at the same or almost the same driving speed as in the case of going straight. Conventionally, in this type of working vehicle, for example, Japanese Unexamined Patent Publication No.
No. 62332 was disclosed. That is,
A standard drive state in which the drive speeds of the front and rear wheels are substantially equal,
The front cylinder is equipped with a front wheel transmission that can be switched by a hydraulic cylinder to a speed-up drive state in which the front wheel drive speed is higher than that of the rear wheel. The front wheel is steered to a set angle or more to control the signal from the limit switch. When input to the device, an operation signal is transmitted from the control device to a control valve for the hydraulic cylinder, so that the hydraulic cylinder switches the front wheel transmission to the front wheel speed increasing state. A limit switch is provided at the high-speed position and at the high-speed position of the sub-transmission lever. Regardless, there was a control valve that did not issue an operation signal. That is, when the traveling transmission is switched to the low-speed side, when the front wheel as the steerable wheel is steered to a predetermined turning angle or more, the front wheel as the front wheel speed increasing device is controlled by the control device as the turning control means. When the transmission is automatically switched to the entry side and the traveling transmission is switched to the high-speed side, the front wheel speed increasing device is engaged even if the steering wheel is steered beyond the set turning angle. Was not switched to the side. That is, the small-turn turning control is executed when the vehicle runs at a low speed, and the small-turn turning control is suppressed when the vehicle runs at a high speed.
【0003】[0003]
【発明が解決しようとする課題】従来、変速レバーの複
数の操作位置それぞれに検出スイッチを設けるとか、主
変速レバーと副変速レバーのいずれにも検出スイッチを
設けるとかによって低速と高速のいずれの走行にあるか
を検出し、小回り旋回を可能にしたり、牽制したりする
ものであるから、センサー機構の面から構造が複雑にな
る問題があった。本発明の目的は、低速時には操作簡単
に小回り旋回できるとともに高速時には小回り牽制が行
われる作業車の走行制御装置を、比較的構造簡単に得る
ことにある。Conventionally, depending on whether a detection switch is provided at each of a plurality of operating positions of the shift lever or a detection switch is provided at each of the main shift lever and the auxiliary shift lever, either low-speed or high-speed running is performed. However, there is a problem that the structure becomes complicated from the viewpoint of the sensor mechanism, because it is possible to detect whether the vehicle is in the vehicle or not, and to make a small turn, or to check. SUMMARY OF THE INVENTION An object of the present invention is to provide a traveling control device for a work vehicle that can easily make a small turn at a low speed and perform a small turn check at a high speed with a relatively simple structure.
【0004】[0004]
【課題を解決するための手段】請求項1による発明の構
成、作用、効果はつぎのとおりである。The constitution, operation and effect of the invention according to claim 1 are as follows.
【0005】〔構成〕機体の前後一端側に位置する走行
用の操向型車輪の駆動速度を他端側に位置する走行用の
非操向型車輪と同一又はほぼ同一にする切り状態と、操
向型車輪の駆動速度を非操向型車輪よりも高速にする入
り状態とに切り換え自在な前輪増速装置を備えるととも
に、操向型車輪が設定切れ角以上に操向操作されると、
前輪増速装置を入り側に自動的に切り換え操作して機体
を小回り旋回させる旋回制御手段を備えてある作業車の
走行制御装置において、実際の機体走行速度を検出する
速度検出手段を備えるとともに、この速度検出手段によ
る検出速度が設定速度未満であれば、前記旋回制御手段
による前輪増速装置の入り側への切り換え操作を可能に
し、前記速度検出手段による検出速度が設定速度以上で
あれば、前記旋回制御手段による前輪増速装置の入り側
への切り換え操作を不能にする牽制手段を備えてある。[Structure] A cutting state in which the driving speed of a traveling steerable wheel located at one of the front and rear ends of the body is the same as or substantially the same as that of a non-steerable traveling wheel located at the other end. With a front wheel speed-up device that can be switched to an on state where the drive speed of the steered wheels is higher than that of the non-steered wheels, and when the steered wheels are steered beyond the set turning angle,
In a traveling control device for a work vehicle having a turning control device for automatically switching a front wheel speed increasing device to an entrance side to make a small turn of the aircraft, a speed detecting device for detecting an actual aircraft traveling speed is provided, If the speed detected by the speed detecting means is lower than the set speed, the turning control means enables the switching operation to the entrance side of the front wheel speed increasing device, and if the speed detected by the speed detecting means is equal to or higher than the set speed, Checking means is provided for disabling switching operation of the front wheel speed increasing device to the entrance side by the turning control means.
【0006】〔作用〕操向型車輪を非操向型車輪よりも
高速で駆動して小回り旋回する際に機体が揺れるなどの
不具合が発生しやすい走行速度のうちの最低速度を前記
設定速度として設定する。そして、走行用変速装置の出
力軸などの回転数を回転センサーで検出してこの検出回
転数に基づいて実際の機体走行速度を検出するものだか
ら、走行用変速装置の速度状態に基づいて検出するよう
になっていた従来に比して必要数の少ないセンサーで、
前記設定速度未満と以上のいずれの速度で走行されてい
るかを検出し、設定速度未満で走行しながら操向型車輪
を設定切れ角以上に操向操作した際には、牽制手段が旋
回制御手段による前輪増速装置の入り側への切り換えを
可能にするため、前輪増速装置が入り側に切り換え操作
され、操向型車輪が非操向型車輪よりも高速で駆動され
て機体が小旋回半径で旋回していく。そして、操向型車
輪を設定切れ角以上に操向操作しても、設定速度以上で
走行しておれば、牽制手段が旋回制御手段による前輪増
速装置の入り側への切り換えを不能にするため、前輪増
速装置が切り状態のままに操作され、操向型車輪と非操
向型車輪とが同一又はほぼ同一の速度で駆動されて機体
が標準の旋回半径で旋回していく。[Operation] When the steered wheels are driven at a higher speed than the non-steered wheels to make a small turn, the minimum speed among the running speeds in which a trouble such as the body swaying is likely to occur is set as the set speed. Set. Since the rotation speed of the output shaft of the traveling transmission is detected by the rotation sensor and the actual vehicle traveling speed is detected based on the detected rotation speed, the actual vehicle traveling speed is detected based on the speed state of the traveling transmission. The required number of sensors is smaller than in the past,
It detects whether the vehicle is traveling at a speed lower than the set speed or at a speed higher than the above speed, and when the steering wheel is steered at a set angle or more while traveling at a speed lower than the set speed, the traction control means turns the turning control means. The front wheel speed-up device is switched to the inbound side to enable the front wheel speed-up device to be switched to the entry side, and the steerable wheels are driven at a higher speed than the non-steerable wheels and the aircraft turns slightly. Turning around the radius. Even if the steerable wheel is steered at a set turning angle or more, if the vehicle is running at the set speed or more, the restraint means disables the turning control means from switching the front wheel speed increasing device to the entrance side. Therefore, the front wheel speed increasing device is operated with the steering wheel turned off, the steered wheels and the non-steered wheels are driven at the same or almost the same speed, and the aircraft turns with the standard turning radius.
【0007】〔効果〕前記設定速度未満の低速で走行し
ている場合には、操向型車輪の操向操作を行うだけで簡
単に小回り旋回できて作業装置を次の作業列に迅速に位
置合わせできるのであり、前記設定速度以上の高速で走
行している場合には、操向型車輪を設定切れ角以上に操
向操作しても、牽制手段のために小回り旋回が牽制され
て安定的に走行できる。しかも、低速と高速のいずれで
走行されているかの検出を従来より数少ないセンサーで
行えるように構造の簡略化ができ、経済面などで有利に
得られる。[Effect] When the vehicle is traveling at a low speed less than the set speed, the steering wheel can be easily turned only by performing the steering operation of the steering wheel, and the working device can be quickly positioned in the next work line. Therefore, when the vehicle is traveling at a speed higher than the set speed, even if the steerable wheel is steered to a set angle or more, the small turning is restrained by the restraint means and the wheel is stably operated. You can run. In addition, the structure can be simplified so that it is possible to detect whether the vehicle is traveling at a low speed or a high speed with a smaller number of sensors than in the past, which is advantageous in terms of economy and the like.
【0008】請求項2による発明の構成、作用、効果は
つぎのとおりである。The structure, operation and effect of the invention according to claim 2 are as follows.
【0009】〔構成〕機体の前後一端側に位置する走行
用の操向型車輪の駆動速度を他端側に位置する走行用の
非操向型車輪と同一又はほぼ同一にする切り状態と、操
向型車輪の駆動速度を非操向型車輪よりも高速にする入
り状態とに切り換え自在な前輪増速装置と、左右一対の
前記非操向型車輪に各別に作用する一対の機体操向ブレ
ーキとを備えるとともに、操向型車輪が設定切れ角以上
に操向操作されると、前輪増速装置と旋回内側の非操向
型車輪に作用する機体操向ブレーキとを入り側に自動的
に切り換え操作して機体を小回り旋回させる旋回制御手
段を備えてある作業車の走行制御装置において、実際の
機体走行速度を検出する速度検出手段を備えるととも
に、この速度検出手段による検出速度が設定速度未満で
あれば、前記旋回制御手段による前輪増速装置と機体操
向ブレーキの入り側への切り換え操作を可能にし、前記
速度検出手段による検出速度が設定速度以上であれば、
前記旋回制御手段による前輪増速装置と機体操向ブレー
キの入り側への切り換え操作を不能にする牽制手段を備
えてある。[Structure] A cutting state in which the driving speed of a traveling steerable wheel located at one of the front and rear ends of the body is the same as or substantially the same as that of a non-steerable traveling wheel located at the other end. A front wheel speed-up device that can be switched to an on state in which the driving speed of the steered wheels is higher than that of the non-steered wheels, and a pair of body steerings that respectively act on the pair of left and right non-steered wheels When the steered wheels are steered beyond the set turning angle, the front wheel speed increasing device and the airframe steering brake acting on the non-steered wheels inside the turn are automatically set on the entry side. In a traveling control device for a work vehicle provided with turning control means for turning the aircraft in a small turn by switching operation, speed detection means for detecting an actual aircraft traveling speed is provided, and the speed detected by the speed detecting means is set to a set speed. If it is less than If permit switching operation of the front wheel acceleration device and machine gymnastics countercurrent brake inlet side by means, detection speed by the speed detecting means is set speed or more,
Checking means for disabling switching operation of the front wheel speed increasing device and the fuselage steering brake to the entrance side by the turning control means is provided.
【0010】〔作用〕操向型車輪を非操向型車輪よりも
高速で駆動して小回り旋回する際に機体が揺れるなどの
不具合が発生しやすい走行速度のうちの最低速度を前記
設定速度として設定する。そして、走行用変速装置の出
力軸などの回転数を回転センサーで検出してこの検出回
転数に基づいて機体走行速度を検出するものだから、走
行用変速装置の速度状態に基づいて検出するようになっ
ていた従来に比して必要数の少ないセンサーで、前記設
定速度未満と以上のいずれの速度で走行されているかを
検出し、設定速度未満で走行しながら操向型車輪を設定
切れ角以上に操向操作した際には、牽制手段が旋回制御
手段による前輪増速装置と機体操向ブレーキの入り側へ
の切り換えを可能にするため、前輪増速装置及び機体操
向ブレーキが入り側に切り換え操作され、操向型車輪が
非操向型車輪よりも高速で駆動されるとともに旋回内側
の非操向型車輪にブレーキが掛かって機体が小旋回半径
で旋回していく。そして、操向型車輪を設定切れ角以上
に操向操作しても、設定速度以上で走行しておれば、牽
制手段が旋回制御手段による前輪増速装置と機体操向ブ
レーキの入り側への切り換えを不能にするため、前輪増
速装置及び機体操向ブレーキが切り状態のままに操作さ
れ、操向型車輪と非操向型車輪とが同一又はほぼ同一の
速度で駆動されて機体が標準の旋回半径で旋回してい
く。[Operation] When the steered wheels are driven at a higher speed than the non-steered wheels to make a small turn, the minimum speed among the running speeds in which a trouble such as the body swaying is likely to occur is set as the set speed. Set. Then, since the rotation speed of the output shaft of the traveling transmission is detected by the rotation sensor and the body traveling speed is detected based on the detected rotation speed, the detection is performed based on the speed state of the traveling transmission. The required number of sensors is smaller than the conventional sensor, which detects whether the vehicle is running at a speed lower than the set speed or at a speed higher than the set speed. When the steering operation is performed, the front wheel speed increasing device and the aircraft steering brake are moved to the entry side so that the restraint means can switch the front wheel speed increasing device and the aircraft steering brake to the entry side by the turning control means. The switching operation is performed, the steered wheels are driven at a higher speed than the non-steered wheels, and the brake is applied to the non-steered wheels inside the turning, so that the aircraft turns with a small turning radius. Then, even if the steering wheel is steered at a set turning angle or more, if the vehicle is running at the set speed or more, the check means is turned to the front wheel speed increasing device by the turning control means and the entrance side of the body steering brake. In order to disable switching, the front wheel speed-increasing device and the aircraft steering brake are operated in the off state, the steered wheels and the non-steered wheels are driven at the same or almost the same speed, and the aircraft is standard. Turn with a turning radius of.
【0011】〔効果〕前記設定速度未満の低速で走行し
ている場合には、操向型車輪の操向操作を行うだけで簡
単に小回り旋回できて作業装置を次の作業列に迅速に位
置合わせできるのであり、前記設定速度以上の高速で走
行している場合には、操向型車輪を設定切れ角以上に操
向操作しても、牽制手段のために小回り旋回が牽制され
て安定的に走行できる。しかも、低速と高速のいずれで
走行されているかの検出を従来より数少ないセンサーで
行えるように構造の簡略化ができ、経済面などで有利に
得られる。[Effect] When the vehicle is traveling at a low speed less than the set speed, the steering wheel can be easily turned only by performing the steering operation of the steering wheel, and the working device can be quickly moved to the next work line. Therefore, when the vehicle is traveling at a speed higher than the set speed, even if the steerable wheel is steered to a set angle or more, the small turning is restrained by the restraint means and the wheel is stably operated. You can run. In addition, the structure can be simplified so that it is possible to detect whether the vehicle is traveling at a low speed or a high speed with a smaller number of sensors than in the past, which is advantageous in terms of economy and the like.
【0012】請求項3による発明の構成、作用、効果は
つぎのとおりである。The structure, operation and effect of the invention according to claim 3 are as follows.
【0013】〔構成〕機体の前後一端側に位置する走行
用の操向型車輪の駆動速度を他端側に位置する走行用の
非操向型車輪と同一又はほぼ同一にする切り状態と、操
向型車輪の駆動速度を非操向型車輪よりも高速にする入
り状態とに切り換え自在な前輪増速装置と、左右一対の
前記非操向型車輪に各別に作用する一対の機体操向ブレ
ーキとを備えるとともに、操向型車輪が設定切れ角以上
に操向操作されると、前輪増速装置と旋回内側の非操向
型車輪に作用する機体操向ブレーキとを入り側に自動的
に切り換え操作して機体を小回り旋回させる第1旋回制
御モードと、操向型車輪が設定切れ角以上に操向操作さ
れると、前輪増速装置と機体操向ブレーキとのうちの前
輪増速装置のみを入り側に自動的に切り換え操作して機
体を小回り旋回させる第2旋回制御モードとに切り換え
操作自在な旋回制御手段を備えてある作業車の走行制御
装置において、実際の機体走行速度を検出する速度検出
手段を備えるとともに、前記旋回制御手段が第1旋回制
御モードと第2旋回制御モードのいずれの旋回制御モー
ドにある場合でも、前記速度検出手段による検出速度が
設定速度未満であれば、前記旋回制御手段による前輪増
速装置および機体操向ブレーキの入り側への切り換え操
作を可能にし、前記速度検出手段による検出速度が設定
速度以上であれば、前記旋回制御手段による前輪増速装
置および機体操向ブレーキの入り側への切り換え操作を
不能にする牽制手段を備えてある。[Structure] A cutting state in which the driving speed of a traveling steerable wheel located at one of the front and rear ends of the body is the same as or substantially the same as that of a non-steerable traveling wheel located at the other end. A front wheel speed-up device that can be switched to an on state in which the driving speed of the steered wheels is higher than that of the non-steered wheels, and a pair of body steerings that respectively act on the pair of left and right non-steered wheels When the steered wheels are steered beyond the set turning angle, the front wheel speed increasing device and the airframe steering brake acting on the non-steered wheels inside the turn are automatically set on the entry side. A first turning control mode in which the body is turned in a small turn by switching operation to the first wheel, and when the steerable wheels are steered beyond a set turning angle, the front wheel speed increasing device and the front wheel speed increasing brake of the body steering brake are operated. Automatically switch only the device to the entry side and turn the aircraft In a traveling control device for a work vehicle having a turning control means operable to switch between a second turning control mode and a second turning control mode, a speed detecting means for detecting an actual body running speed is provided, and the turning control means comprises a first turning control means. In any of the turning control modes of the control mode and the second turning control mode, if the speed detected by the speed detecting means is lower than a set speed, the turning control means turns on the front wheel speed increasing device and the body steering brake. Side switching operation, and if the speed detected by the speed detecting means is equal to or higher than a set speed, the turning control means disables the switching operation of the front wheel speed increasing device and the body steering brake to the entrance side. Means are provided.
【0014】〔作用〕操向型車輪を非操向型車輪よりも
高速で駆動して小回り旋回する際に機体が揺れるなどの
不具合が発生しやすい走行速度のうちの最低速度を前記
設定速度として設定する。そして、走行用変速装置の出
力軸などの回転数を回転センサーで検出してこの検出回
転数に基づいて機体走行速度を検出するものだから、走
行用変速装置の速度状態に基づいて検出するようになっ
ていた従来に比して必要数の少ないセンサーで、前記設
定速度未満と以上のいずれの速度で走行されているかを
検出し、第1旋回制御モードの場合には、設定速度未満
で走行しながら操向型車輪を設定切れ角以上に操向操作
した際には、牽制手段が旋回制御手段による前輪増速装
置と機体操向ブレーキの入り側への切り換えを可能にす
るため、前輪増速装置及び機体操向ブレーキが入り側に
切り換え操作され、操向型車輪が非操向型車輪よりも高
速で駆動されるとともに旋回内側の非操向型車輪にブレ
ーキが掛かって機体が小旋回半径で旋回していく。第2
旋回制御モードの場合には、設定速度未満で走行しなが
ら操向型車輪を設定切れ角以上に操向操作した際には、
牽制手段が旋回制御手段による前輪増速装置の切り換え
を可能にするため、前輪増速装置が入り側に切り換え操
作され、操向型車輪が非操向型車輪よりも高速で駆動さ
れて機体が小旋回半径で旋回していく。そして、第1旋
回制御モードの場合も第2旋回制御モードの場合も、操
向型車輪を設定切れ角以上に操向操作しても、設定速度
以上で走行しておれば、牽制手段が旋回制御手段による
前輪増速装置や機体操向ブレーキの入り側への切り換え
を不能にするため、前輪増速装置や機体操向ブレーキが
切り状態のままに操作され、操向型車輪と非操向型車輪
とが同一又はほぼ同一の速度で駆動されて機体が標準の
旋回半径で旋回していく。[Operation] When the steered wheels are driven at a higher speed than the non-steered wheels to make a small turn, the minimum speed among the running speeds in which a trouble such as the body shaking is likely to occur is set as the set speed. Set. Then, since the rotation speed of the output shaft of the traveling transmission is detected by the rotation sensor and the body traveling speed is detected based on the detected rotation speed, the detection is performed based on the speed state of the traveling transmission. With a smaller number of sensors than before, it detects whether the vehicle is traveling at a speed lower than the set speed or at a speed higher than the above. In the case of the first turning control mode, the vehicle travels at a speed lower than the set speed. When the steering wheel is steered beyond the set turning angle, the front wheel speed increase is performed so that the braking control means can switch the front wheel speed increasing device and the aircraft steering brake to the entrance side by turning control means. The device and fuselage steering brake are switched to the entry side, the steered wheels are driven at a higher speed than the non-steered wheels, and the brakes are applied to the non-steered wheels inside the turn, causing the aircraft to turn a small turning radius. Turn with Ku. Second
In the case of the turning control mode, when the steering wheel is steered at a set angle or more while traveling at a speed less than the set speed,
In order for the restraint means to be able to switch the front wheel speed increasing device by the turning control means, the front wheel speed increasing device is switched to the entrance side, and the steered wheels are driven at a higher speed than the non-steered wheels, and Turn with a small turning radius. In both the first turning control mode and the second turning control mode, even if the steerable wheels are steered at a set turning angle or more, if the vehicle is running at a set speed or more, the braking means turns. In order to make it impossible for the control means to switch the front wheel speed increasing device and the aircraft steering brake to the entry side, the front wheel speed increasing device and the aircraft steering brake are operated with the off state, and the steerable wheels and the non-steer The model wheels are driven at the same or almost the same speed, and the body turns with a standard turning radius.
【0015】〔効果〕前記設定速度未満の低速で走行し
ている場合には、操向型車輪の操向操作を行うだけで簡
単に小回り旋回できて作業装置を次の作業列に迅速に位
置合わせできるのであり、前記設定速度以上の高速で走
行している場合には、操向型車輪を設定切れ角以上に操
向操作しても、牽制手段のために小回り旋回が牽制され
て安定的に走行できる。しかも、低速と高速のいずれで
走行されているかの検出を従来より数少ないセンサーで
行えるように構造の簡略化ができ、経済面などで有利に
得られる。[Effect] When the vehicle is traveling at a low speed less than the set speed, the steering wheel can be easily turned only by performing the steering operation of the steering wheel, so that the work device can be quickly positioned in the next work line. Therefore, when the vehicle is traveling at a speed higher than the set speed, even if the steerable wheel is steered to a set angle or more, the small turning is restrained by the restraint means and the wheel is stably operated. You can run. In addition, the structure can be simplified so that it is possible to detect whether the vehicle is traveling at a low speed or a high speed with a smaller number of sensors than in the past, which is advantageous in terms of economy and the like.
【0016】請求項4による発明の構成、作用、効果は
つぎのとおりである。The structure, operation and effect of the invention according to claim 4 are as follows.
【0017】〔構成〕請求項3による発明の構成におい
て、前記旋回制御手段を、一つの押しボタン式切換えス
イッチによって制御切りと前記第1旋回制御モードと前
記第2旋回制御モードとの3種のモードに切り換え操作
するとともに前記切換えスイッチを押し操作する毎に、
前記3種のモードの間で順次に切り換わるように構成し
てある。[Structure] In the structure according to the third aspect of the present invention, the turning control means is controlled by one push-button type changeover switch into three types, namely, control off, the first turning control mode and the second turning control mode. Each time the mode is switched and the switch is pressed,
It is configured to switch sequentially between the three modes.
【0018】〔作用〕旋回制御手段を入切り専用のスイ
ッチで入りと切りとに切り換え操作し、モード変更専用
のスイッチで第1旋回制御モードと第2旋回制御モード
とに切り換え操作するように構成するに比し、装備する
必要があるスイッチも操作する必要があるスイッチも少
なく済ませながら、制御の入り切りとモード変更とを行
える。[Operation] The turning control means is switched between ON and OFF by a switch dedicated to ON / OFF, and is switched between the first turning control mode and the second turning control mode by a switch dedicated to mode change. In contrast, the number of switches that need to be equipped and the number of switches that need to be operated can be reduced, and control can be turned on and off and the mode can be changed.
【0019】〔効果〕スッチ数を少なく済ませて操作部
構造の面でも操作手間の面でも簡素化できるとともに誤
操作されにくくできる。[Effect] By reducing the number of switches, it is possible to simplify not only the structure of the operation unit but also the operation time, and it is also possible to prevent erroneous operation.
【0020】請求項5による発明の構成、作用、効果は
つぎのとおりである。The structure, operation and effect of the invention according to claim 5 are as follows.
【0021】〔構成〕請求項3又は4による発明の構成
において、電源入りに操作されると、前記旋回制御手段
が制御切りと前記第1旋回制御モードと前記第2旋回制
御モードとのうちの電源切り操作が行われた際に選択さ
れていたモードになるように構成してある。[Structure] In the structure according to the third or fourth aspect of the present invention, when the power is turned on, the turning control means turns off the control and selects one of the first turning control mode and the second turning control mode. The configuration is such that the mode selected when the power-off operation is performed is set.
【0022】〔作用〕駐車して休憩するなど電源を切っ
て作業を中断しても、次に電源を入れると、旋回制御手
段は制御切りと第1旋回制御モードと第2旋回制御モー
ドのうちの先に電源を切った際に設定していたモードに
なり、再度モード設定を行う手間を掛けなくとも、中断
前と同じモードで作業を再開していける。[Operation] Even if the work is interrupted by turning off the power such as parking and resting, when the power is turned on next time, the turning control means turns off the control, the first turning control mode, and the second turning control mode. The mode that was set when the power was turned off earlier was restored, and work can be resumed in the same mode as before the interruption without the need to set the mode again.
【0023】〔効果〕電源を切った後にも、モード再設
定手間を掛けることなく電源切り前と同じモードで作業
を再開できるように操作面で優れたものにできた。[Effect] Even after the power is turned off, the operation can be made excellent so that the work can be resumed in the same mode as before the power was turned off without the trouble of resetting the mode.
【0024】[0024]
【発明の実施の形態】図1に示すように、操向及び駆動
自在な左右一対の前車輪1,1と操向不能で駆動自在な
左右一対の後車輪2,2とによって自走するとともに前
車輪1を操向操作するためのステアリングホイール3、
運転座席4などを有する走行機体の後部に、ロータリ耕
耘装置などの各種作業装置を昇降操作自在に連結するリ
フトアーム5、連結した作業装置に動力伝達する動力取
出し軸6を備えさせて、農用トラクターを構成してあ
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a pair of left and right front wheels 1, 1 which are steerable and drivable and a pair of left and right rear wheels 2, 2 which are not steerable and drivable. A steering wheel 3 for steering the front wheel 1;
An agricultural tractor having a lift arm 5 for connecting various working devices such as a rotary tilling device so as to be able to move up and down freely and a power take-off shaft 6 for transmitting power to the connected working devices, at the rear of a traveling body having a driver's seat 4 and the like. Is configured.
【0025】走行機体の前部に位置する原動部にエンジ
ンEを設け、前記走行機体の後部を形成するミッション
ケース8のケース内後部に後輪用差動機構11を設け、
前輪1を両端側に揺動操向自在に支持する前輪伝動ケー
ス38の左右中間部内に前輪用差動機構13を設け、図
2に示す伝動構造によってエンジンEから後輪用差動機
構11及び前輪用差動機構13に動力伝達するように構
成してある。すなわち、エンジンEから主クラッチ7を
介して取り出す回動力を、前記ミッションケース8に入
力して走行用変速装置9に伝達し、この走行用変速装置
9の出力軸10の回動力を後輪用差動機構11と前輪増
速装置20とに分岐させて伝達し、この前輪増速装置2
0の出力軸21の回動力を回転軸12を介して前輪用差
動機構13に伝達するように構成してある。前記走行用
変速装置9には、エンジンEからの回動力をシフトギヤ
の掛け換えによって複数段に変速する主変速装置(図示
せず)、この主変速装置からの回動力をシフトギヤの掛
け換えによって前進駆動力と後進駆動力とに切り換える
前後進切換え装置(図示せず)、この前後進切換え装置
からの前進駆動力や後進駆動力をシフトギヤの掛け換え
によって高速側と低速側とに切り換えて前記出力軸10
に伝達する副変速装置(図示せず)を備えてある。An engine E is provided at a driving portion located at a front portion of the traveling body, and a rear wheel differential mechanism 11 is provided at a rear portion inside a case of a transmission case 8 forming a rear portion of the traveling body.
A front wheel differential mechanism 13 is provided in a left and right intermediate portion of a front wheel transmission case 38 that supports the front wheel 1 at both ends so as to be swingably steerable. The transmission mechanism shown in FIG. Power is transmitted to the front wheel differential mechanism 13. That is, the rotational power taken out of the engine E via the main clutch 7 is input to the transmission case 8 and transmitted to the traveling transmission 9, and the rotational power of the output shaft 10 of the traveling transmission 9 is used for the rear wheels. The transmission is branched and transmitted to the differential mechanism 11 and the front wheel speed increasing device 20.
The rotation power of the output shaft 21 of zero is transmitted to the front wheel differential mechanism 13 via the rotation shaft 12. The traveling transmission 9 includes a main transmission (not shown) that shifts the rotational power from the engine E to a plurality of stages by changing the shift gear, and forwards the rotational power from the main transmission by changing the shift gear. A forward / reverse switching device (not shown) for switching between a driving force and a reverse driving force, switching the forward driving force or the reverse driving force from the forward / reverse switching device between a high speed side and a low speed side by changing a shift gear and outputting the output. Axis 10
A sub-transmission (not shown) for transmitting the power to the vehicle is provided.
【0026】図3に示すように、前記ミッションケース
8のケース内底部において、前記前輪増速装置20の入
力ギヤ22を、走行用変速装置9の前記出力軸10が一
体回転自在に備える出力ギヤ14に中間ギヤ15を介し
て連動させ、前記入力ギヤ22が一端側に一体回転自在
に連結する入力軸23の他端側に伝動ギヤ24を一体回
転自在に備えさせるとともに、この伝動ギヤ24に噛み
合う増速伝動ギヤ25を前記出力軸21の一端側に、前
記入力ギヤ22に噛み合う標準伝動ギヤ26を前記出力
軸21の他端側にそれぞれ相対回転自在に支持させ、前
記増速伝動ギヤ25と出力軸21との間に摩擦クラッチ
機構27を設け、前記標準伝動ギヤ26と、出力軸21
がスプライン係合によって一体回転及び摺動自在に備え
る切換え体28との間に噛合いクラッチ機構29を設け
て、前記前輪増速装置20を構成してある。前記摩擦ク
ラッチ機構27は、増速伝動ギヤ25が一体回転自在に
備えるクラッチボディ27aと、出力軸21がスプライ
ン係合によって一体回転自在に備える受動体27bと、
この受動体27bとクラッチボディ27aとの間に位置
する多板式摩擦クラッチ機構本体27cとで成り、前記
切換え体28に一端側が相対回転のみ自在に係合するシ
フター30の他端側にピストン31aが連結している油
圧シリンダ31によって入り切り操作できるとともに、
この入り切り操作によって増速伝動ギヤ25を出力軸2
1に一体回転するように連結したり、この連結を解除し
たりするように構成してある。前記噛合いクラッチ機構
29は、標準伝動ギヤ26が一側面がわに一体回転自在
に備える内歯式ギヤと、切換え体28が一側面がわに一
体回転自在に備えるギヤとで成り、油圧シリンダ31に
よって入り切り操作できるとともに、この入り切り操作
によって標準伝動ギヤ26を出力軸21に一体回転する
ように連結したり、この連結を解除したりするように構
成してある。すなわち、油圧シリンダ31を伸長側に操
作し、この油圧シリンダ31がシフター30を介して切
換え体28をクラッチボディ27aの方に摺動させて多
板式摩擦クラッチ機構本体27bに圧接操作すると、多
板式摩擦クラッチ機構本体27bの摩擦板どうしが圧接
状態になるため、摩擦クラッチ機構27が入り状態にな
り、増速伝動ギヤ25と出力軸21とが一体回転するよ
うに両者25,21を摩擦によって連結する。このと
き、切換え体28の前記ギヤが標準伝動ギヤ26の前記
内歯式ギヤから外れるため、噛合いクラッチ機構29は
切りになり、標準伝動ギヤ26と出力軸21とが相対回
転するように両者26,21の連結を解除する。これに
対し、油圧シリンダ31を短縮側に操作し、油圧シリン
ダ31がシフター30を介して切換え体28を標準伝動
ギヤ26の方に摺動させて切換え体28の前記ギヤを標
準伝動ギヤ26の前記内歯式ギヤに噛み合わせると、こ
のギヤ噛み合いのため、噛合いクラッチ機構29が入り
状態になり、標準伝動ギヤ26と出力軸21とが一体回
転するように両者26,21を切換え体28を介して連
結する。このとき、多板式摩擦クラッチ機構本体27c
の摩擦板どうしの圧接が解除されるため、摩擦クラッチ
機構27は切りになり、増速伝動ギヤ25と出力軸21
とが相対回転するように両者25,21の連結を解除す
る。As shown in FIG. 3, an input gear 22 of the front wheel speed increasing device 20 and an output gear of which the output shaft 10 of the traveling transmission 9 is integrally rotatable are provided at the inner bottom of the transmission case 8. 14, the input gear 22 is integrally rotatably provided at the other end of an input shaft 23 to which the input gear 22 is rotatably connected at one end. The speed-up transmission gear 25 meshes with one end of the output shaft 21 and the standard transmission gear 26 that meshes with the input gear 22 is supported at the other end of the output shaft 21 so as to be rotatable relative to each other. A friction clutch mechanism 27 is provided between the output shaft 21 and the standard transmission gear 26 and the output shaft 21.
Is provided with a meshing clutch mechanism 29 between a switching body 28 which is integrally rotatable and slidably provided by spline engagement to constitute the front wheel speed increasing device 20. The friction clutch mechanism 27 includes a clutch body 27a provided with the speed increasing transmission gear 25 so as to be rotatable integrally, a passive body 27b provided with the output shaft 21 so as to be able to rotate integrally by spline engagement,
A piston 31a is provided at the other end of the shifter 30 having one end engaged with the switching body 28 for relative rotation only, the multi-plate friction clutch mechanism body 27c being located between the passive body 27b and the clutch body 27a. With the hydraulic cylinder 31 connected, it can be turned on and off,
By this on / off operation, the speed increasing transmission gear 25 is connected to the output shaft 2.
1 is connected so as to rotate integrally, and this connection is released. The meshing clutch mechanism 29 is composed of an internal gear provided with a standard transmission gear 26 rotatably integrally on one side and a gear provided with a switching body 28 rotatable integrally on one side. An on / off operation can be performed by the on / off operation 31, and the standard transmission gear 26 is connected to the output shaft 21 so as to rotate integrally with the output shaft 21 by this on / off operation, and this connection is released. That is, when the hydraulic cylinder 31 is operated to the extension side, and the hydraulic cylinder 31 slides the switching body 28 through the shifter 30 toward the clutch body 27a and presses against the multi-plate friction clutch mechanism main body 27b, the multi-plate type Since the friction plates of the friction clutch mechanism main body 27b are in pressure contact with each other, the friction clutch mechanism 27 is in the engaged state, and the speed-up transmission gear 25 and the output shaft 21 are connected by friction so that the output shaft 21 and the output shaft 21 rotate integrally. I do. At this time, since the gear of the switching body 28 is disengaged from the internal gear of the standard transmission gear 26, the meshing clutch mechanism 29 is disengaged, so that the standard transmission gear 26 and the output shaft 21 rotate relative to each other. The connection between 26 and 21 is released. On the other hand, the hydraulic cylinder 31 is operated to the shortening side, and the hydraulic cylinder 31 slides the switching body 28 toward the standard transmission gear 26 via the shifter 30 to change the gear of the switching body 28 to the standard transmission gear 26. When the internal gear is meshed with the internal gear, the meshing clutch mechanism 29 is engaged due to the gear meshing, and the switching mechanism 28 is switched between the standard transmission gear 26 and the output shaft 21 so that the output shaft 21 rotates integrally. Connect through. At this time, the multi-plate friction clutch mechanism body 27c
Is released, the friction clutch mechanism 27 is disengaged, and the speed increasing transmission gear 25 and the output shaft 21 are disengaged.
The connection between the two 25 and 21 is released so that the two rotate relatively.
【0027】これにより、油圧シリンダ31を伸縮操作
して摩擦クラッチ機構27と噛合いクラッチ機構29の
うちの噛合いクラッチ機構29の方を入り状態に操作す
ると、前輪増速装置20は切り状態になり、走行用変速
装置9の出力軸10から入力ギヤ22に入力する回動力
を標準伝動ギヤ26、噛合いクラッチ機構29、切換え
体28を介して出力軸21に伝達し、出力軸21の回動
力を前輪駆動力として回転軸12に出力するとともに、
入力ギヤ22と標準伝動ギヤ26とによる伝動比のため
に、前輪1の駆動速度を後輪2の駆動速度と同一又はほ
ぼ同一にする。すなわち、左右前輪1,1の平均周速度
が左右後輪2,2の平均周速度に等しく又はほぼ等しく
なるように左右前輪1,1に前進駆動力又は後進駆動力
を伝達する。これに対し、摩擦クラッチ機構27と噛合
いクラッチ機構29のうちの摩擦クラッチ機構27の方
を入り状態に操作すると、前輪増速装置20は入り状態
になり、走行用変速装置9の出力軸10から入力ギヤ2
2に入力する回動力を入力軸23、伝動ギヤ24、増速
伝動ギヤ25、摩擦クラッチ機構27を介して出力軸2
1に伝達し、出力軸21の回動力を前輪駆動力として回
転軸12に出力するとともに、伝動ギヤ22と増速伝動
ギヤ25による伝動比のために、前輪1の駆動速度を後
輪2の駆動速度より高速にする。すなわち、左右前輪
1,1の平均周速度が左右後輪2,2の平均周速度の約
1.9倍になるように左右前輪1,1に前進駆動力又は
後進駆動力を伝達する。Thus, when the hydraulic cylinder 31 is expanded and contracted to operate the friction clutch mechanism 27 and the meshing clutch mechanism 29 of the meshing clutch mechanism 29 in the ON state, the front wheel speed increasing device 20 is switched to the OFF state. Then, the rotational power input from the output shaft 10 of the traveling transmission 9 to the input gear 22 is transmitted to the output shaft 21 via the standard transmission gear 26, the meshing clutch mechanism 29, and the switching body 28, and the rotation of the output shaft 21 is performed. Power is output to the rotating shaft 12 as front wheel driving force,
Due to the transmission ratio between the input gear 22 and the standard transmission gear 26, the drive speed of the front wheels 1 is made equal to or almost equal to the drive speed of the rear wheels 2. That is, the forward drive force or the reverse drive force is transmitted to the left and right front wheels 1 and 1 such that the average peripheral speed of the left and right front wheels 1 and 1 is equal to or approximately equal to the average peripheral speed of the left and right rear wheels 2 and 2. On the other hand, when the friction clutch mechanism 27 of the friction clutch mechanism 27 and the meshing clutch mechanism 29 is operated to the engaged state, the front wheel speed increasing device 20 is engaged, and the output shaft 10 of the traveling transmission 9 is operated. To input gear 2
2 is input to the output shaft 2 via the input shaft 23, the transmission gear 24, the speed increasing transmission gear 25, and the friction clutch mechanism 27.
1 and outputs the rotational power of the output shaft 21 to the rotating shaft 12 as front wheel driving force. In addition, because of the transmission ratio between the transmission gear 22 and the speed increasing transmission gear 25, the driving speed of the front wheel 1 Make it faster than the driving speed. That is, forward driving force or reverse driving force is transmitted to the left and right front wheels 1 and 1 such that the average peripheral speed of the left and right front wheels 1 and 1 is about 1.9 times the average peripheral speed of the left and right rear wheels 2 and 2.
【0028】図2に示すように、前記後輪用差動機構1
1の左右一対の出力軸それぞれに機体操向ブレーキ32
a,32bを備えさせるとともに、各機体操向ブレーキ
32a,32bは、油圧式のブレーキシリンダ33a,
33bによって入り切り操作するように構成し、そし
て、入り操作された際には、後輪用差動機構11の出力
軸に摩擦制動力を付与することによってこの出力軸が伝
動する左側又は右側の後車輪2に摩擦制動力を付与し、
この後車輪2を旋回内側にして機体を旋回させるべく操
向操作するように構成してある。As shown in FIG. 2, the rear wheel differential mechanism 1
A body steering brake 32 is provided on each of a pair of left and right output shafts.
a, 32b, and each of the body steering brakes 32a, 32b is provided with a hydraulic brake cylinder 33a,
33b, the on / off operation is performed, and when the on / off operation is performed, a friction braking force is applied to the output shaft of the rear wheel differential mechanism 11, whereby the output shaft is transmitted to the left or right rear. To apply a friction braking force to the wheel 2,
Thereafter, the steering operation is performed so that the wheels 2 are turned inside and the aircraft is turned.
【0029】図4に示すように、左右前輪1,1の操向
方向及び切れ角を検出する切れ角センサー34と、走行
用変速装置9の前記出力軸10の回転数を検出する回転
センサー35とに連係させるとともに切換えスイッチ3
6を備えさせた旋回制御機構37を、前記油圧シリンダ
31の電磁バルブ機構(図示せず)に操作信号を出力し
て油圧シリンダ31を操作するように構成することによ
って前記前輪増速装置20にこれの切り換え操作を行う
ように連係させるとともに、前記一対のブレーキシリン
ダ33a,33bそれぞれの電磁バルブ(図示せず)に
操作信号を出力して両ブレーキシリンダ33a,33b
を操作するように構成することによって前記一対の機体
操向ブレーキ32a,32bにこれらの切り換え操作を
行うように連係させてある。As shown in FIG. 4, a turning angle sensor 34 for detecting the steering direction and the turning angle of the left and right front wheels 1, 1 and a rotation sensor 35 for detecting the number of revolutions of the output shaft 10 of the traveling transmission 9. And changeover switch 3
6 is provided to the front wheel speed increasing device 20 by configuring the turning control mechanism 37 provided with the hydraulic cylinder 31 to output an operation signal to an electromagnetic valve mechanism (not shown) of the hydraulic cylinder 31 to operate the hydraulic cylinder 31. In addition to linking the switching operations, the brake cylinders 33a and 33b output operation signals to electromagnetic valves (not shown) of the pair of brake cylinders 33a and 33b, respectively.
Is operated so that the pair of body steering brakes 32a and 32b are linked to perform these switching operations.
【0030】前記切れ角センサー34は、前車輪1を両
端側に回転及び操向自在に支持するとともに中間部に前
記前輪用差動機構13を内装する前輪伝動ケース38の
中間部に支持される検出スイッチで成り、左右前輪1,
1それぞれのナックルアーム39をロッド40を介して
揺動操作するピットマンアーム41が備えるスイッチ操
作部材42を検出対象体とし、前車輪1が小回り旋回制
御を実行させるためのものとして設定した設定切れ角A
以上に操向された否かを検出するとともに、設定切れ角
A以上に操向操作された場合の操向方向が右向きと左向
きのいずれであるかを検出し、各検出結果を電気信号と
して旋回制御機構37に出力する。すなわち、前記ステ
アリングハンドル3が回転操作されてピットマンアーム
41が左右前輪1,1を操向操作する際、左右前輪1,
1を直進向きから左向きに操向操作する場合と右向きに
操向操作する場合のいずれにおいても、旋回内側に位置
する前輪1の直進向きからの操向角が35度未満であれ
ば、スイッチ操作部材42が検出スイッチの操作アーム
34aに当接しなくてこの操作アーム34aを左側にも
右側にも押圧操作しない。すると、切れ角センサー34
は、前車輪1の切れ角が前記設定切れ角Aに達していな
いと検出する。左右前輪1,1を左向きに操向する場
合、旋回内側に位置する左前輪1の直進向きからの操向
角が35度になるに伴ってスイッチ操作部材42が操作
アーム34aに当接してこの操作アーム34aを左側に
押圧操作し始め、左前輪1の操向角が35度から操向限
界までにある間は、スイッチ操作部材42が操作アーム
34aを左側に押圧したままになる。すると、切れ角セ
ンサー34は、前車輪1が左向きに前記設定切れ角A以
上に操向操作されていると検出する。左右前輪1,1を
右向きに操向する場合、旋回内側に位置する右前輪1の
直進向きからの操向角が35度になるに伴ってスイッチ
操作部材42が操作アーム34aに当接してこの操作ア
ーム34aを右側に押圧操作し始め、右前輪1の操向角
が35度から操向限界までにある間は、スイッチ操作部
材42が操作アーム34aを右側に押圧したままにな
る。すると、切れ角センサー34は、前車輪1が右向き
に前記設定切れ角A以上に操向操作されていると検出す
る。The turning angle sensor 34 supports the front wheel 1 at both ends so as to rotate and steer freely, and is supported at an intermediate portion of a front wheel transmission case 38 which houses the front wheel differential mechanism 13 at an intermediate portion. It consists of a detection switch.
(1) A set turning angle set as a target for detection of a switch operation member 42 provided in a pitman arm 41 that swings each knuckle arm 39 via a rod 40, and for causing the front wheel 1 to execute small turning control. A
In addition to detecting whether or not the steering has been performed, it detects whether the steering direction when the steering operation is performed beyond the set turning angle A is rightward or leftward, and turns each detection result as an electric signal. Output to the control mechanism 37. That is, when the steering handle 3 is rotated to operate the pitman arm 41 to steer the left and right front wheels 1, 1,
In both the case where the steering wheel 1 is steered from the straight running direction to the left and the case where the steering wheel is steered rightward, if the steering angle of the front wheel 1 located inside the turning from the straight running direction is less than 35 degrees, the switch operation is performed. The member 42 does not come into contact with the operation arm 34a of the detection switch, and the operation arm 34a is not pressed to the left or right. Then, the cutting angle sensor 34
Detects that the turning angle of the front wheel 1 has not reached the set turning angle A. When the left and right front wheels 1 and 1 are steered to the left, the switch operation member 42 comes into contact with the operation arm 34a as the steering angle of the left front wheel 1 positioned inside the turning from the straight traveling direction becomes 35 degrees. The switch arm 42a continues to press the operation arm 34a to the left while the operation arm 34a starts to be pressed to the left and the steering angle of the left front wheel 1 is between 35 degrees and the steering limit. Then, the turning angle sensor 34 detects that the front wheel 1 is being steered to the left by more than the set turning angle A. When the right and left front wheels 1 and 1 are steered rightward, the switch operation member 42 comes into contact with the operation arm 34a as the steering angle of the right front wheel 1 located inside the turning from the straight traveling direction becomes 35 degrees. The switch arm 42a continues to press the operation arm 34a rightward while the operation arm 34a starts to be pressed rightward and the steering angle of the right front wheel 1 is between 35 degrees and the steering limit. Then, the turning angle sensor 34 detects that the front wheel 1 is steered rightward beyond the set turning angle A or more.
【0031】図4に示すように、前記回転センサー35
は、ギヤパルスセンサーで成り、前記出力軸10が一体
回転自在に備える前記出力ギヤ14を検出対象体として
出力軸の回転数を検出するとともにこの検出結果を旋回
制御機構37が有する速度検出手段47に出力する。す
なわち、出力ギヤ14の歯部が回転センサー35の検出
範囲を通過すると、その都度、回転センサー35がパル
スを速度検出手段47に発信する。速度検出手段47
は、回転センサー35から設定時間内にパルス発信され
る回数を計測することによって回転センサー35による
検出回転数を検出し、この検出回転数に基づいて機体の
実際の走行速度を検出する。As shown in FIG.
Is constituted by a gear pulse sensor, detects the number of rotations of the output shaft using the output gear 14 provided integrally with the output shaft 10 as a detection target, and uses the detection result as a speed detecting means 47 provided in the turning control mechanism 37. Output to That is, each time the tooth portion of the output gear 14 passes through the detection range of the rotation sensor 35, the rotation sensor 35 transmits a pulse to the speed detection means 47. Speed detecting means 47
Detects the number of revolutions detected by the rotation sensor 35 by measuring the number of times a pulse is transmitted from the rotation sensor 35 within a set time, and detects the actual traveling speed of the aircraft based on the detected revolution number.
【0032】図4に示すように、前記切換えスイッチ3
6は、走行機体の運転部に位置する操作パネル43が備
える一つの押しボタン式スイッチで成り、押し操作され
ると、切りモードと第1旋回制御モードと第2旋回制御
モードとの3種の指令から一つの指令を旋回制御機構3
7に出力するように、かつ、押し操作される毎に、出力
する指令を前記の3種の指令の間で順次に、かつ、切り
モード、第2旋回制御モード、第1旋回制御モードの順
序の繰り返しで切り換えるように構成してある。尚、図
4に示す如く切換えスイッチ36に近接する表示ランプ
36aを操作パネル43に備えてある。この表示ランプ
36aは、切換えスイッチ36が第1旋回制御モードの
指令を出力する際に、点灯して表示するものである。As shown in FIG. 4, the changeover switch 3
Reference numeral 6 denotes a single push-button switch provided on an operation panel 43 located in a driving unit of the traveling body, and when pressed, three types of a cut mode, a first turning control mode, and a second turning control mode. One of the commands is turned control mechanism 3
7 and each time the push operation is performed, a command to be output is sequentially performed among the above three kinds of commands, and the order of the cut mode, the second swing control mode, and the first swing control mode. It is configured to switch by repeating the above. As shown in FIG. 4, the operation panel 43 has a display lamp 36a close to the changeover switch 36. The display lamp 36a is turned on and displayed when the changeover switch 36 outputs a command for the first turning control mode.
【0033】前記旋回制御機構37はマイクロコンピュ
ータで成り、切換えスイッチ36が切りモードの指令を
出力する場合には、制御作動を行わない切り状態になっ
て前輪増速装置20と機体操向ブレーキ32a,32a
との操作を行わず、切換えスイッチ36が第1旋回制御
モード又は第2旋回制御モードの指令を出力する場合に
は、制御作動を行う入り状態になって切れ角センサー3
4と速度検出手段47と回転センサー35と切換えスイ
ッチ36とからの情報と、図5及び図6に示す制御フロ
ーとに基づいて前輪増速装置20と一対の機体操向ブレ
ーキ32a,32aとを自動的に操作するように構成し
てある。The turning control mechanism 37 is constituted by a microcomputer, and when the changeover switch 36 outputs a command for a cut-off mode, the control operation is not performed and the front wheel speed increasing device 20 and the body steering brake 32a are turned off. , 32a
When the changeover switch 36 outputs the command of the first turning control mode or the second turning control mode without performing the operation of the turning angle sensor 3 and the turning angle sensor 3
The front wheel speed increasing device 20 and the pair of body steering brakes 32a, 32a are controlled based on information from the speed control unit 4, the speed detecting means 47, the rotation sensor 35, and the changeover switch 36, and the control flow shown in FIGS. It is configured to operate automatically.
【0034】すなわち、切換えスイッチ36が第1旋回
制御モード又は第2旋回制御モードの指令を出力する
と、前輪増速装置20を切り状態に操作する(ステップ
#1)とともに左後輪1の機体操向ブレーキ32aも右
後輪1の機体操向ブレーキ32bも切り状態に操作し
(ステップ#2,ステップ#3)、この後ステップ#4
に移り、切れ角センサー34による検出切れ角Sが前記
設定切れ角A以上であるか否かを判断する。検出切れ角
Sが設定切れ角A以上ではないと判断した場合には、ス
テップ#1に戻る。検出切れ角Sが設定切れ角A以上で
あると判断した場合には、ステップ#5に移り、切換え
スイッチ36による指令が第1旋回制御モードであるか
否かを判断する。切換えスイッチ36による指令が第1
旋回制御モードであると判断した場合には、ステップ#
6に移り、速度検出手段47による検出速度Vが第1設
定速度N1より低速であるか否かを判断する。検出速度
Vが第1設定速度N1より低速でないと判断した場合に
は、ステップ#1に戻る。検出速度Vが第1設定速度N
1より低速であると判断した場合には、ステップ#7に
移って前輪増速装置20を入り状態に操作し、この後ス
テップ#8に移り、切れ角センサー34による検出操向
方向が左向きであるか否かを判断する。左向きであると
判断した場合には、ステップ#9に移って左後輪1の機
体操向ブレーキ32aを入り状態に操作し、左向きでな
いと判断した場合(検出操向方向が右向きに相当する)
には、ステップ#10に移って右後輪1の機体操向ブレ
ーキ32bを入り状態に操作する。ステップ#9及びス
テップ#10の後、ステップ#11に移り、切れ角セン
サー34による検出切れ角Sが設定切れ角Aより小であ
るか否かを判断し、設定切れ角Aより小ではないと判断
した場合には、ステップ#7に戻り、設定切れ角Aより
小であると判断した場合には、ステップ#1に戻る。ス
テップ#5において、切換えスイッチ36による指令が
第1旋回制御モードではないと判断した場合(切換えス
イッチ36による指令が第2旋回制御モードの場合に相
当する)には、ステップ#12に移り、速度検出手段4
7による検出速度Vが前記第1設定速度N1よりも高速
の第2設定速度N2よりも小であるか否かを判断する。
第2設定速度N2よりも小ではないと判断した場合に
は、ステップ#1に戻る。第2設定速度N2よりも小で
あると判断した場合には、ステップ#13に移って前輪
増速装置20を入り状態に操作し、この後ステップ#1
4に移り、切れ角センサー34による検出切れ角Sが設
定切れ角Aより小であるか否かを判断する。設定切れ角
Aより小ではないと判断した場合には、ステップ#13
に戻り、設定切れ角Aより小であると判断した場合に
は、ステップ#1に戻る。尚、この実施形態では、前記
第1設定速度N1としては約3.6km/hを設定し、
前記第2設定速度N2としては約5km/hを設定して
ある。That is, when the changeover switch 36 outputs a command for the first turning control mode or the second turning control mode, the front wheel speed increasing device 20 is turned off (step # 1), and at the same time, the body operation of the left rear wheel 1 is performed. The directional brake 32a and the fuselage steering brake 32b of the right rear wheel 1 are operated to be turned off (Step # 2, Step # 3), and thereafter Step # 4 is performed.
Then, it is determined whether or not the turning angle S detected by the turning angle sensor 34 is equal to or larger than the set turning angle A. If it is determined that the detected turning angle S is not equal to or greater than the set turning angle A, the process returns to step # 1. If it is determined that the detected turning angle S is equal to or larger than the set turning angle A, the process proceeds to step # 5, and it is determined whether or not the command from the changeover switch 36 is the first turning control mode. The command from the changeover switch 36 is the first
If it is determined that the mode is the turning control mode, step #
Then, it is determined whether or not the speed V detected by the speed detecting means 47 is lower than the first set speed N1. If it is determined that the detected speed V is not lower than the first set speed N1, the process returns to step # 1. When the detected speed V is equal to the first set speed N
If it is determined that the speed is lower than 1, the process proceeds to step # 7 to operate the front wheel speed increasing device 20 in the on state, and then proceeds to step # 8 where the steering direction detected by the turning angle sensor 34 is leftward. It is determined whether or not there is. If it is determined that the vehicle is facing left, the process proceeds to step # 9, where the fuselage steering brake 32a of the left rear wheel 1 is operated, and if it is determined that the vehicle is not facing left (the detected steering direction is equivalent to right).
In step # 10, the operation proceeds to step # 10 to operate the body steering brake 32b of the right rear wheel 1 in the engaged state. After step # 9 and step # 10, the process proceeds to step # 11, where it is determined whether or not the detected turning angle S detected by the turning angle sensor 34 is smaller than the set turning angle A. If it is determined, the process returns to step # 7, and if it is determined that it is smaller than the set turning angle A, the process returns to step # 1. If it is determined in step # 5 that the command from the changeover switch 36 is not in the first turning control mode (corresponding to the case where the command from the changeover switch 36 is in the second turning control mode), the process proceeds to step # 12, and the speed is changed. Detecting means 4
It is determined whether or not the detected speed V according to 7 is lower than a second set speed N2 which is higher than the first set speed N1.
If it is determined that the speed is not lower than the second set speed N2, the process returns to step # 1. If it is determined that the speed is lower than the second set speed N2, the process proceeds to step # 13, where the front wheel speed increasing device 20 is operated to the on state, and thereafter, step # 1 is performed.
Then, it is determined whether or not the detected turning angle S detected by the turning angle sensor 34 is smaller than the set turning angle A. If it is determined that it is not smaller than the set turning angle A, step # 13
When it is determined that the angle is smaller than the set turning angle A, the process returns to step # 1. In this embodiment, the first set speed N1 is set to about 3.6 km / h,
About 5 km / h is set as the second set speed N2.
【0035】これにより、旋回制御機構37が旋回制御
手段44と牽制手段45とモード設定手段48とを構成
するとともに、各手段44,45,48は次の如く作動
する。すなわち、切換えスイッチ36が押し操作されて
制御切りの指令を出力すると、この指令に基づいてモー
ド設定手段48が旋回制御手段44を切りモードに切り
換え操作し、切換えスイッチ36が第1旋回制御モード
の指令を出力すると、この指令に基づいてモード設定手
段48が旋回制御手段44を第1旋回制御モードに切り
換え操作し、切換えスイッチ36が第2旋回制御モード
の指令を出力すると、この指令に基づいてモード設定手
段48が旋回制御手段44を第2旋回制御モードに切り
換え操作する。Thus, the turning control mechanism 37 constitutes the turning control means 44, the traction control means 45, and the mode setting means 48, and the respective means 44, 45, 48 operate as follows. That is, when the changeover switch 36 is pushed to output a command to turn off the control, the mode setting means 48 switches the turning control means 44 to the cutoff mode based on this command, and the changeover switch 36 operates in the first turning control mode. When the command is output, the mode setting means 48 switches the turning control means 44 to the first turning control mode based on the command, and when the changeover switch 36 outputs the command for the second turning control mode, based on the command, The mode setting means 48 switches the turning control means 44 to the second turning control mode.
【0036】旋回制御手段44は、第1旋回制御モード
と第2旋回制御モードとのいずれの状態にある場合で
も、前輪1が直進向きの操向状態や前記設定切れ角Aよ
り小さい切れ角の操向状態にあれば、切れ角センサー3
4からの情報に基づいて前輪増速装置20も一対の機体
操向ブレーキ32a,32bも切り状態に操作する。そ
して、第1旋回制御モードの状態にある場合には、前輪
1が前記設定切れ角A以上に操向操作されると、切れ角
センサー34からの情報に基づいて前輪増速装置20
と、一対の機体操向ブレーキ32a,32bのうちの旋
回内側に位置する後車輪2に作用する方の機体操向ブレ
ーキ32a又は32bとを入り側に操作し、前車輪1の
駆動速度を後車輪2の駆動速度よりも高速にするととも
に旋回内側の後車輪2にブレーキを掛けて機体を小回り
旋回させる。第2旋回制御モードの状態にある場合に
は、前輪1が前記設定切れ角A以上に操向操作される
と、切れ角センサー34からの情報に基づいて前輪増速
装置20と機体操向ブレーキ32a,32bのうちの前
輪増速装置20のみを入り側に切り換え操作し、前車輪
1の駆動速度を後車輪2の駆動速度よりも高速にして機
体を小回り旋回させる。The turning control means 44 controls the front wheel 1 in a straight-ahead steering state or a turning angle smaller than the set turning angle A in either of the first turning control mode and the second turning control mode. The steering angle sensor 3 in the steering state
4, the front wheel speed increasing device 20 and the pair of body steering brakes 32a, 32b are operated to be in the off state. In the first turning control mode, when the front wheel 1 is steered beyond the set turning angle A, the front wheel speed increasing device 20 is operated based on information from the turning angle sensor 34.
And the body steering brake 32a or 32b acting on the rear wheel 2 of the pair of body steering brakes 32a and 32b, which acts on the rear wheel 2, is operated to the entry side, and the driving speed of the front wheels 1 is reduced. The speed is made higher than the driving speed of the wheels 2, and the brake is applied to the rear wheels 2 inside the turning to make the aircraft turn slightly. In the state of the second turning control mode, when the front wheel 1 is steered to the predetermined turning angle A or more, the front wheel speed increasing device 20 and the body steering brake are controlled based on the information from the turning angle sensor 34. Only the front wheel speed increasing device 20 of 32a and 32b is switched to the entry side, and the drive speed of the front wheels 1 is made higher than the drive speed of the rear wheels 2 to make a small turn of the aircraft.
【0037】旋回制御手段44が前記第1旋回制御モー
ドの状態にある場合には速度検出手段47による検出速
度Vが前記第1設定速度N1より低速であれば、旋回制
御手段44が前記第2旋回制御モードの状態にある場合
には速度検出手段47による検出速度Vが前記第1設定
速度N1よりも高速の前記第2設定速度N2よりも低速
であればそれぞれ、牽制手段45が速度検出手段47か
らの情報に基づいて旋回制御手段44に対する牽制作用
を解除し、旋回制御手段44が切れ角センサー34から
の情報に基づいて前輪増速装置20や機体操向ブレーキ
32a,32bを入り側に切り換え操作することを可能
にする。しかし、旋回制御手段44が前記第1旋回制御
モードの状態にある場合には速度検出手段47による検
出速度Vが前記第1設定速度N1以上であれば、旋回制
御手段44が前記第2旋回制御モードの状態にある場合
には速度検出手段47による検出速度Vが前記第2設定
速度N2以上であればそれぞれ、牽制手段45が速度検
出手段47からの情報に基づいて旋回制御手段44に対
する牽制作用を実行し、旋回制御手段44が切れ角セン
サー34からの情報に基づいて前輪増速装置20や機体
操向ブレーキ32a,32bを入り側に切り換え操作す
ることを不能にする。When the turning control means 44 is in the first turning control mode, if the speed V detected by the speed detecting means 47 is lower than the first set speed N1, the turning control means 44 sets the second turning control mode to the second turning control mode. In the case of the turning control mode, if the detected speed V detected by the speed detecting means 47 is lower than the second set speed N2, which is higher than the first set speed N1, the braking control unit 45 sets the speed detecting means 45, respectively. Based on the information from 47, the turning control means 44 is released from the towing operation, and the turning control means 44 moves the front wheel speed increasing device 20 and the body steering brakes 32a, 32b to the entrance side based on the information from the turning angle sensor 34. Enables switching operation. However, when the turning control means 44 is in the first turning control mode, if the speed V detected by the speed detecting means 47 is equal to or higher than the first set speed N1, the turning control means 44 performs the second turning control. In the state of the mode, if the speed V detected by the speed detecting means 47 is equal to or higher than the second set speed N2, the restraining means 45 applies the towing control means 44 to the turning control means 44 based on the information from the speed detecting means 47, respectively. To disable the turning control means 44 from switching the front wheel speed increasing device 20 and the body steering brakes 32a and 32b to the entrance side based on the information from the turning angle sensor 34.
【0038】つまり、作業列の終端に達した機体を次の
作業列に旋回走行させるに当たり、作業列と作業列の中
心間隔が比較的広い場合には、切換えスイッチ36によ
って旋回制御手段44を第2旋回制御モードに切り換え
ておいて走行速度を第2設定速度N2未満にしながら、
作業列と作業列の中心間隔が比較的狭い場合には、切換
えスイッチ36によって旋回制御手段44を第1旋回制
御モードに切り換えておいて走行速度を第1設定速度N
1未満にしながら、それぞれ前車輪1を設定切れ角A以
上に操向操作する。すると、第2旋回制御モードの場合
には、旋回制御手段44が前輪増速装置20を切り状態
から入り状態に切り換え操作して前車輪1が後車輪2よ
りも高速で駆動されることにより、機体を小旋回半径で
旋回させて次の作業列に迅速に位置合わせできる。第1
旋回制御モードの場合には、旋回制御手段44が前輪増
速装置20を切り状態から入り状態に切り換え操作する
とともに旋回内側に位置する後車輪2に作用する機体操
向ブレーキ32a又は32bを切り状態から入り状態に
切り換え操作して前車輪1が後車輪2よりも高速で駆動
されるとともに旋回内側の後車輪2にブレーキが掛かる
ことにより、機体をより小さな旋回半径で旋回させて次
の作業列に迅速に位置合わせできる。That is, when the airframe that has reached the end of the work train is turned to the next work train, if the center distance between the work trains is relatively wide, the changeover switch 36 controls the turning control means 44 by the changeover switch 36. While switching to the two-turn control mode and keeping the traveling speed lower than the second set speed N2,
When the center interval between the work rows is relatively small, the turning control means 44 is switched to the first turning control mode by the changeover switch 36 and the traveling speed is set to the first set speed N.
The steering operation of the front wheels 1 is made to be equal to or more than the set turning angle A while keeping the steering angle to less than 1. Then, in the case of the second turning control mode, the turning control means 44 operates the front wheel speed increasing device 20 to switch from the off state to the on state, and the front wheel 1 is driven at a higher speed than the rear wheel 2. The aircraft can be turned with a small turning radius to quickly align with the next work row. First
In the case of the turning control mode, the turning control means 44 switches the front wheel speed increasing device 20 from the off state to the on state, and turns off the body steering brake 32a or 32b acting on the rear wheel 2 located inside the turning. The front wheel 1 is driven at a higher speed than the rear wheel 2 and the brake is applied to the rear wheel 2 inside the turning, so that the aircraft turns with a smaller turning radius and the next work line Can be positioned quickly.
【0039】作業時など、旋回制御手段44を第1旋回
制御モード又は第2旋回制御モードにしたままで走行
し、前車輪1を設定切れ角A以上に操向操作して機体操
向させることがあっても、旋回制御手段44が第1旋回
制御モードになっている場合には機体が前記第1設定速
度N1以上で走行していると、旋回制御手段44が第2
旋回制御モードになっている場合には機体が前記第2設
定速度N2以上で走行していると、牽制手段45による
牽制作用のために前輪増速装置20及び機体操向ブレー
キ32a,32bが入り側に切り換え操作されず、機体
を小回りしないように安定よく操向操作できる。For example, during operation, the vehicle is driven while the turning control means 44 is in the first turning control mode or the second turning control mode, and the front wheels 1 are steered to the set turning angle A or more to steer the body. Even if there is, when the turning control means 44 is in the first turning control mode and the aircraft is running at the first set speed N1 or more, the turning control means 44
In the turning control mode, when the aircraft is running at or above the second set speed N2, the front wheel speed increasing device 20 and the aircraft steering brakes 32a and 32b are turned on for the towing by the restraining means 45. The steering operation can be performed stably so as not to turn around the aircraft without being switched to the side.
【0040】図4に示すように、前記旋回制御機構37
にモード選定部49を備えさせてある。このモード選定
部49は、旋回制御機構37のための電源スイッチ50
が入り操作された際、先に切り操作された際に旋回制御
手段44が備えていたモードを旋回制御手段44に再度
備えさせるものであり、電源スイッチ50と前記モード
設定手段48からの情報と、予め入力してある制御フロ
ーとに基づいて次の如く作動するように構成してある。As shown in FIG. 4, the turning control mechanism 37
Is provided with a mode selection unit 49. The mode selection unit 49 includes a power switch 50 for the turning control mechanism 37.
When the turning operation is performed, the mode provided by the turning control means 44 when the turning operation is first performed is provided to the turning control means 44 again. The information from the power switch 50 and the mode setting means 48 The operation is performed as follows based on a control flow inputted in advance.
【0041】すなわち、旋回制御機構37を構成するマ
イクロコンピュータが記憶部51として有するEEPR
OM上に12個のモード記憶用アドレス(第16〜27
番アドレス)を確保する。すなわち、連結作業装置の昇
降制御など、各種の電子制御を実行するために必要な記
憶部を優先的に確保した後に残るアドレス領域の複数個
のアドレスをモード記憶用に使用する。図7〜図10に
示すように、第16〜27番アドレスそれぞれの上位8
ビットに書き込み毎の連番を0〜35の繰り返しで書き
込んで記憶させ、下位8ビットにモードの情報を書き込
んで記憶させる。書込み連番0〜35は、実際には0x
00〜0x23の数値として書き込む。切りモードの情
報は0x00として、第2旋回制御モードの情報は0x
0Fとして、第1旋回制御モードの情報は0xF0とし
てそれぞれ書き込む。すなわち、切換えスイッチ36が
押し操作されると、その都度、モード設定手段48から
の情報に基づいて旋回制御手段44に備えさせるモード
が切りモードと第2旋回制御モードと第1旋回制御モー
ドのいずれであるかを判断し、先に書き込みを行ったア
ドレスの次のアドレス番号を有するアドレスの上位8ビ
ットに先の書込み連番に続く所定の書込み連番0〜35
を、下位8ビットに先の書込みモード情報に続く所定の
モード情報0x00,0x0F,0xF0をそれぞれ書
き込む。書き込み途中に電源が切れるなどの事態が発生
した場合、図9に第21番アドレスの書込み連番で示す
とか、図10に第23番アドレスのモード情報で示す如
く本来書き込まれるはずのないデータを書き込む書き損
じが発生することがある。That is, the EEPR which the microcomputer constituting the turning control mechanism 37 has as the storage unit 51
On the OM, 12 mode storage addresses (16th to 27th)
Address). That is, a plurality of addresses in an address area remaining after preferentially securing a storage unit necessary for performing various electronic controls such as a lifting / lowering control of the connection working device are used for mode storage. As shown in FIG. 7 to FIG.
A serial number for each write is written and stored in the bit by repeating 0 to 35, and mode information is written and stored in the lower 8 bits. The write serial numbers 0 to 35 are actually 0x
Write as a numerical value from 00 to 0x23. The information of the turning mode is 0x00, and the information of the second turning control mode is 0x00.
As 0F, the information of the first turning control mode is written as 0xF0. That is, each time the changeover switch 36 is pressed, the mode provided to the turning control means 44 based on the information from the mode setting means 48 is set to any one of the cutting mode, the second turning control mode, and the first turning control mode. And a predetermined write serial number 0 to 35 following the previous write serial number is added to the upper 8 bits of the address having the address number next to the address of the previously written address.
Are written in the lower 8 bits of the predetermined mode information 0x00, 0x0F, and 0xF0, respectively, following the previous write mode information. In the case where the power is turned off during the writing or the like, data which is not supposed to be written as shown by the write serial number of the 21st address in FIG. 9 or the mode information of the 23rd address in FIG. Writing errors may occur.
【0042】電源スイッチ50が入り操作されると、第
16〜27番アドレスの最初から順に上位8ビットの書
込み連番を検証し、現在検証しようとするアドレス(現
在アドレスと称する。)の書込み連番の値が、この現在
アドレスの直前に検証対象としたアドレス(直前アドレ
スと称する。第16番アドレスが現在アドレスとなる場
合には、第27番アドレスが直前アドレスとなる。)の
書込み連番の値より1多いか35少なければ、現在アド
レスが最新のアドレスで、このアドレスに書き込まれて
いるデータが最新のデータであると判断する。また、図
7に示すように現在アドレスの書込み連番の値が直前ア
ドレスの書込み連番の値より11少ないか、または図8
に示すように現在アドレスの書込み連番の値が直前アド
レスの書込み連番の値より25多ければ、直前アドレス
が最新のアドレスで、このアドレスに書き込まれている
データが最新のデータであると判断する。これら以外の
場合、たとえば図9に第21番アドレスで示す如く現在
アドレスの書込み連番の値が35を越えているなどの場
合、これは前回の書き込み時に書き損じが発生したもの
であり、この現在アドレスが最新のアドレスであると判
断する。そして、この場合、最新アドレスに書き込まれ
るはずであった書込み連番を直前アドレスに書き込まれ
ている書込み連番から特定する。すなわち、たとえば、
直前アドレスに0〜34のうちのいずれかの書込み連番
が書き込まれいる場合、この書込み連番より1多い書込
み連番1〜35が最新アドレスに書き込まれるはずの書
込み連番であると特定する。直前アドレスに書込み連番
35が書き込まれいる場合、この書込み連番に続く書込
み連番0が最新アドレスに書き込まれるはずの書込み連
番であると特定する。When the power switch 50 is turned on and operated, the write serial numbers of the upper 8 bits are verified in order from the beginning of the 16th to 27th addresses, and the write sequence of the address to be verified at present (referred to as the current address). The value of the number is the write serial number of the address to be verified immediately before this current address (referred to as the immediately preceding address; if the 16th address is the current address, the 27th address is the immediately preceding address). If the value is one more or less than 35, it is determined that the current address is the latest address and the data written to this address is the latest data. Also, as shown in FIG. 7, the value of the write serial number of the current address is 11 less than the value of the write serial number of the immediately preceding address, or FIG.
If the value of the write sequence number of the current address is 25 times greater than the value of the write sequence number of the immediately preceding address as shown in (1), it is determined that the immediately preceding address is the latest address and the data written to this address is the latest data. I do. In other cases, for example, when the value of the write serial number of the current address exceeds 35 as shown by the 21st address in FIG. 9, this is due to the writing failure at the previous write, and It is determined that the address is the latest address. Then, in this case, the write serial number that should have been written to the latest address is specified from the write serial number written to the immediately preceding address. That is, for example,
When any one of the write serial numbers 0 to 34 is written in the immediately preceding address, the write serial numbers 1 to 35 which are one more than this write serial number are specified as the write serial numbers to be written to the latest address. . When the write serial number 35 has been written to the immediately preceding address, it is specified that the write serial number 0 following this write serial number is the write serial number to be written to the latest address.
【0043】いずれのアドレスが最新のアドレスである
かの判断ができると、最新アドレスの下位8ビットに書
き込まれているモード情報を検証し、このモード情報が
切りモードと第2旋回制御モードと第1旋回制御モード
のうちのいずれかに該当するものであれば、このモード
が旋回制御手段44に備えさせるべきモードであると判
断する。図10に第23番アドレスで示すように、最新
アドレスに書き込まれているモード情報が書き損じの情
報で切りモードと第2旋回制御モードと第1旋回制御モ
ードのいずれにも該当しない場合、最新アドレスに書き
込まれるはずであったモード情報を直前アドレスに書き
込まれているモード情報から特定するとともに、この特
定モードを旋回制御手段44に備えさせるべきモードで
あると判断する。すなわち、切換えスイッチ36によっ
ては切りモードと第2旋回制御モードと第1旋回制御モ
ードとの3種のモードにその順序で切り換え操作される
ことから、直前アドレスに切りモードが書き込まれてい
る場合には第2旋回制御モードが、第2旋回制御モード
が書き込まれている場合には第1旋回制御モードが、第
1旋回制御モードが書き込まれている場合には切りモー
ドがそれぞれ最新アドレスに書き込まれるはずのモード
であると特定するとともに旋回制御手段44に備えさせ
るべきモードであると判断する。旋回制御手段44に備
えさせるべきモードの判断ができると、そのモードを旋
回制御手段44に備えさせるべき信号をモード設定手段
48に出力することにより、先に電源切り操作された際
に備えていた切りモード又は第2旋回制御モード又は第
1旋回制御モードを旋回制御手段44に備えさせる。こ
れと同時に、直前アドレスの書き込みデータから特定し
た書込み連番とモード情報とを書き損じのあったアドレ
スに書き込み、次の読み出し時に支障のないようにす
る。When it is possible to determine which address is the latest address, the mode information written in the lower 8 bits of the latest address is verified. If it corresponds to any one of the one turning control modes, it is determined that this mode is a mode to be provided for the turning control means 44. As shown by the 23rd address in FIG. 10, when the mode information written in the latest address is miswritten information and does not correspond to any of the cutting mode, the second turning control mode, and the first turning control mode, the latest address Is specified from the mode information written in the immediately preceding address, and the specific mode is determined to be a mode to be provided to the turning control means 44. That is, since the changeover switch 36 is operated to switch to the three types of modes of the turning mode, the second turning control mode, and the first turning control mode in that order, when the turning mode is written in the immediately preceding address, Means that the first turning control mode is written to the latest address when the second turning control mode is written and the turning mode is written to the latest address when the first turning control mode is written. It is determined that the mode is supposed to be the mode, and it is determined that the mode should be provided for the turning control means 44. When the mode to be provided to the turning control means 44 can be determined, a signal to be provided for the mode to the turning control means 44 is output to the mode setting means 48 so that the mode is prepared when the power is turned off first. The turning control means 44 is provided with a turning mode, a second turning control mode, or a first turning control mode. At the same time, the write serial number and the mode information specified from the write data of the immediately preceding address are written to the address where the writing has failed, so that there is no problem in the next reading.
【0044】つまり、電源を切って作業を中断した後に
作業を再開するなどの場合、電源の入れ操作を行うと、
旋回制御手段44がモード選定部49の作用によって先
の電源切り時と同じモードになり、再度切換えスイッチ
36を操作してモード設定を行う手間を掛けなくとも、
中断前と同じ切りモード又は第1旋回制御モード又は第
2旋回制御モードで前輪増速装置20や機体操向ブレー
キ32a,32bが操作されるようにしながら作業でき
る。そして、第16〜27番アドレスで成る複数の記憶
部を使用して電源切り時のモードを記憶させることによ
り、単一の記憶部のみを使用するに比して記憶部個々の
書換え回数を少なく済ませて記憶部全体としての使用寿
命を長くしながら、書き損じが発生した場合でも備えさ
せるべき所定のモードを特定して旋回制御手段44に確
実に備えさせながらできる。That is, in the case where the power is turned off, the work is interrupted, and the work is restarted, for example, when the power is turned on,
The mode of the turning control means 44 is changed to the same mode as when the power is turned off by the operation of the mode selecting section 49, and it is not necessary to operate the changeover switch 36 again to set the mode.
The operation can be performed while operating the front wheel speed increasing device 20 and the body steering brakes 32a and 32b in the same turning mode, the first turning control mode, or the second turning control mode as before the suspension. By storing the power-off mode by using a plurality of storage units consisting of the 16th to 27th addresses, the number of times of rewriting of each storage unit can be reduced as compared with using only a single storage unit. This can be done while extending the service life of the storage unit as a whole, and specifying the predetermined mode to be prepared even in the event of a writing error and ensuring that the turning control means 44 is prepared.
【0045】〔別実施形態〕本発明は農用トラクターの
他に田植機や芝刈り機にも適用できるのであり、これら
の車両を総称して作業車と呼称する。[Other Embodiments] The present invention can be applied not only to agricultural tractors but also to rice transplanters and lawnmowers, and these vehicles are collectively referred to as work vehicles.
【図1】農用トラクター全体の側面図Fig. 1 Side view of the whole agricultural tractor
【図2】走行用伝動系統図FIG. 2 is a drive transmission system diagram for traveling.
【図3】前輪増速装置の断面図FIG. 3 is a sectional view of a front wheel speed increasing device.
【図4】制御系のブロック図FIG. 4 is a block diagram of a control system.
【図5】旋回制御のフロー図FIG. 5 is a flowchart of turning control.
【図6】旋回制御のフロー図FIG. 6 is a flowchart of turning control.
【図7】記憶部の書き込み説明図FIG. 7 is an explanatory diagram of writing in a storage unit.
【図8】記憶部の書き込み説明図FIG. 8 is an explanatory diagram of writing in a storage unit.
【図9】記憶部の書き込み説明図FIG. 9 is an explanatory diagram of writing in a storage unit.
【図10】記憶部の書き込み説明図FIG. 10 is an explanatory diagram of writing in a storage unit.
1 操向型車輪 2 非操向型車輪 20 前輪増速装置 32a,32b 機体操向ブレーキ 36 切換えスイッチ 44 旋回制御手段 45 牽制手段 47 速度検出手段 N1,N2 設定速度 V 検出速度 A 設定切れ角 DESCRIPTION OF SYMBOLS 1 Steering type wheel 2 Non-steering type wheel 20 Front wheel speed increasing device 32a, 32b Aircraft steering brake 36 Changeover switch 44 Turning control means 45 Checking means 47 Speed detecting means N1, N2 Set speed V Detected speed A Set break angle
Claims (5)
向型車輪の駆動速度を他端側に位置する走行用の非操向
型車輪と同一又はほぼ同一にする切り状態と、操向型車
輪の駆動速度を非操向型車輪よりも高速にする入り状態
とに切り換え自在な前輪増速装置を備えるとともに、操
向型車輪が設定切れ角以上に操向操作されると、前輪増
速装置を入り側に自動的に切り換え操作して機体を小回
り旋回させる旋回制御手段を備えてある作業車の走行制
御装置であって、 実際の機体走行速度を検出する速度検出手段を備えると
ともに、この速度検出手段による検出速度が設定速度未
満であれば、前記旋回制御手段による前輪増速装置の入
り側への切り換え操作を可能にし、前記速度検出手段に
よる検出速度が設定速度以上であれば、前記旋回制御手
段による前輪増速装置の入り側への切り換え操作を不能
にする牽制手段を備えてある作業車の走行制御装置。A cutting state in which the driving speed of a traveling steerable wheel located at one of the front and rear ends of the fuselage is the same or substantially the same as that of a non-steerable traveling wheel located at the other end. A front wheel speed-up device that can be switched to an on state in which the driving speed of the directional wheels is higher than that of the non-steered wheels is provided, and when the steered wheels are steered beyond a preset turning angle, the front wheels A traveling control device for a work vehicle including a turning control device for automatically switching a speed increasing device to an entrance side to make a small turn of the aircraft, comprising a speed detecting device for detecting an actual traveling speed of the aircraft. If the speed detected by the speed detecting means is lower than the set speed, the turning control means enables the switching operation to the entrance side of the front wheel speed increasing device, and if the speed detected by the speed detecting means is equal to or higher than the set speed. The swing control hand Work vehicle travel control device that is provided with a restraining means for disabling the switching operation to the entrance side of the front wheel acceleration apparatus according.
向型車輪の駆動速度を他端側に位置する走行用の非操向
型車輪と同一又はほぼ同一にする切り状態と、操向型車
輪の駆動速度を非操向型車輪よりも高速にする入り状態
とに切り換え自在な前輪増速装置と、左右一対の前記非
操向型車輪に各別に作用する一対の機体操向ブレーキと
を備えるとともに、操向型車輪が設定切れ角以上に操向
操作されると、前輪増速装置と旋回内側の非操向型車輪
に作用する機体操向ブレーキとを入り側に自動的に切り
換え操作して機体を小回り旋回させる旋回制御手段を備
えてある作業車の走行制御装置であって、 実際の機体走行速度を検出する速度検出手段を備えると
ともに、この速度検出手段による検出速度が設定速度未
満であれば、前記旋回制御手段による前輪増速装置と機
体操向ブレーキの入り側への切り換え操作を可能にし、
前記速度検出手段による検出速度が設定速度以上であれ
ば、前記旋回制御手段による前輪増速装置と機体操向ブ
レーキの入り側への切り換え操作を不能にする牽制手段
を備えてある作業車の走行制御装置。2. A steering state in which the driving speed of a traveling steerable wheel located at one of the front and rear ends of the fuselage is the same or substantially the same as that of a non-steerable traveling wheel located at the other end. A front wheel speed-up device that can be switched to an engaged state in which the driving speed of the directional wheels is higher than that of the non-steered wheels, and a pair of body steering brakes that respectively act on the pair of left and right non-steered wheels When the steered wheels are steered beyond the set turning angle, the front wheel speed increasing device and the body steering brake acting on the non-steered wheels inside the turn are automatically turned to the entry side. A traveling control device for a work vehicle having a turning control means for performing a switching operation to make a small turn of the aircraft, comprising a speed detecting means for detecting an actual traveling speed of the aircraft, and a speed detected by the speed detecting means being set. If less than the speed, the turning control means To enable the switching operation of the front wheel speed-up device and the machine gymnastics countercurrent brake inlet side due,
If the speed detected by the speed detecting means is equal to or higher than a set speed, traveling of the work vehicle provided with a restraint means for disabling a switching operation of the front wheel speed increasing device and the body steering brake to the entrance side by the turning control means. Control device.
向型車輪の駆動速度を他端側に位置する走行用の非操向
型車輪と同一又はほぼ同一にする切り状態と、操向型車
輪の駆動速度を非操向型車輪よりも高速にする入り状態
とに切り換え自在な前輪増速装置と、左右一対の前記非
操向型車輪に各別に作用する一対の機体操向ブレーキと
を備えるとともに、操向型車輪が設定切れ角以上に操向
操作されると、前輪増速装置と旋回内側の非操向型車輪
に作用する機体操向ブレーキとを入り側に自動的に切り
換え操作して機体を小回り旋回させる第1旋回制御モー
ドと、操向型車輪が設定切れ角以上に操向操作される
と、前輪増速装置と機体操向ブレーキとのうちの前輪増
速装置のみを入り側に自動的に切り換え操作して機体を
小回り旋回させる第2旋回制御モードとに切り換え操作
自在な旋回制御手段を備えてある作業車の走行制御装置
であって、 実際の機体走行速度を検出する速度検出手段を備えると
ともに、前記旋回制御手段が第1旋回制御モードと第2
旋回制御モードのいずれの旋回制御モードにある場合で
も、前記速度検出手段による検出速度が設定速度未満で
あれば、前記旋回制御手段による前輪増速装置および機
体操向ブレーキの入り側への切り換え操作を可能にし、
前記速度検出手段による検出速度が設定速度以上であれ
ば、前記旋回制御手段による前輪増速装置および機体操
向ブレーキの入り側への切り換え操作を不能にする牽制
手段を備えてある作業車の走行制御装置。3. A steering state in which the driving speed of a traveling steerable wheel located at one of the front and rear ends of the fuselage is the same or substantially the same as that of a non-steerable traveling wheel located at the other end. A front wheel speed-up device that can be switched to an engaged state in which the driving speed of the directional wheels is higher than that of the non-steered wheels, and a pair of body steering brakes that respectively act on the pair of left and right non-steered wheels When the steered wheels are steered beyond the set turning angle, the front wheel speed increasing device and the body steering brake acting on the non-steered wheels inside the turn are automatically turned to the entry side. A first turning control mode in which the body is turned in a small turn by switching operation, and a front wheel speed increasing device of the front wheel speed increasing device and the body steering brake when the steerable wheels are steered more than the set turning angle. The second is to automatically switch only the entry side to the entry side and make the aircraft make a small turn A traveling control device for a work vehicle, comprising: a turning control unit that can be freely switched to a turning control mode, wherein the turning control unit includes a speed detecting unit that detects an actual vehicle traveling speed, and the turning control unit includes a first turning control. Mode and second
In any of the turning control modes of the turning control mode, if the speed detected by the speed detecting means is lower than the set speed, the turning control means switches the front wheel speed increasing device and the body steering brake to the entrance side. Enable
If the speed detected by the speed detecting means is equal to or higher than a set speed, traveling of the work vehicle having a front wheel speed increasing device and a check means for disabling a switching operation of a body steering brake to an entrance side by the turning control means. Control device.
式切換えスイッチによって制御切りと前記第1旋回制御
モードと前記第2旋回制御モードとの3種のモードに切
り換え操作するとともに前記切換えスイッチを押し操作
する毎に、前記3種のモードの間で順次に切り換わるよ
うに構成してある請求項3記載の作業車の走行制御装
置。4. The turning control means is operated by one push-button type changeover switch to switch between three types of modes, namely, control off, the first turning control mode and the second turning control mode, and the changeover switch is operated. 4. The travel control device for a working vehicle according to claim 3, wherein the mode is sequentially switched between the three modes each time the push operation is performed.
手段が制御切りと前記第1旋回制御モードと前記第2旋
回制御モードとのうちの電源切り操作が行われた際に選
択されていたモードになるように構成してある請求項3
又は4記載の作業車の走行制御装置。5. When the power is turned on, the turning control means is selected when the power is turned off among the control turning off, the first turning control mode, and the second turning control mode. 4. The apparatus according to claim 3, wherein the apparatus is configured to be in a mode in which the mode is changed.
Or the travel control device for a work vehicle according to 4.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20560897A JPH1148808A (en) | 1997-07-31 | 1997-07-31 | Running control device for work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20560897A JPH1148808A (en) | 1997-07-31 | 1997-07-31 | Running control device for work vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH1148808A true JPH1148808A (en) | 1999-02-23 |
Family
ID=16509696
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP20560897A Pending JPH1148808A (en) | 1997-07-31 | 1997-07-31 | Running control device for work vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH1148808A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005040463A1 (en) * | 2003-10-06 | 2005-05-06 | Performance Fibers, Inc. | Dimensionally stable yarns |
-
1997
- 1997-07-31 JP JP20560897A patent/JPH1148808A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005040463A1 (en) * | 2003-10-06 | 2005-05-06 | Performance Fibers, Inc. | Dimensionally stable yarns |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4389993B2 (en) | Vehicle steering device | |
JPS63159135A (en) | Drive operation structure for agricultural tractor | |
CN105984494A (en) | Steering system for vehicle and vehicle with same | |
CN100439176C (en) | Vehicle operation controller | |
JP2003170849A (en) | Steering device for vehicle | |
JPH1148808A (en) | Running control device for work vehicle | |
JPS5926366A (en) | Steering apparatus for car | |
JP2023063953A (en) | Vehicle control apparatus | |
CN113002616A (en) | Multi-mode steering system and method applied to automatic driving | |
JP2009012685A (en) | Steering device | |
JP3489971B2 (en) | Work vehicle travel control device | |
JPH1148810A (en) | Running control device for work vehicle | |
JPS5963273A (en) | Steering device of automobile | |
JP2528460B2 (en) | 4-wheel steering system for vehicles | |
JP2018030480A (en) | Front wheel turning control device | |
JP4431264B2 (en) | Agricultural tractor steering device | |
JPS63184576A (en) | Rear wheel steering device for automobile | |
JP2002316674A (en) | Working vehicle | |
JPH10100740A (en) | Turning control device for tractor | |
JPH01109172A (en) | Mechanism for controlling steering angle of four-wheel steering vehicle | |
CN117886261A (en) | Reversing method and device for electric forklift | |
JPS5926367A (en) | Steering apparatus for car | |
KR20080107170A (en) | An active geometry controlled suspension system for a vehicle | |
JPS62227873A (en) | Four wheel steering device for vehicle | |
JP3365408B2 (en) | Tractor turning control |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A977 | Report on retrieval |
Effective date: 20040209 Free format text: JAPANESE INTERMEDIATE CODE: A971007 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20040304 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20040701 |