JPS63269733A - Speed change operation structure for agricultural tractor - Google Patents
Speed change operation structure for agricultural tractorInfo
- Publication number
- JPS63269733A JPS63269733A JP10394887A JP10394887A JPS63269733A JP S63269733 A JPS63269733 A JP S63269733A JP 10394887 A JP10394887 A JP 10394887A JP 10394887 A JP10394887 A JP 10394887A JP S63269733 A JPS63269733 A JP S63269733A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- drive mechanism
- potentiometer
- speed change
- speed side
- 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
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 9
- 101150021206 HST3 gene Proteins 0.000 abstract 3
- 230000007423 decrease Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
- Arrangement Or Mounting Of Control Devices For Change-Speed Gearing (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は静油圧式無段変速装置（Ｈｙｄｒｏ ５ｔａｔ
ｉｃ Ｐｏｗｅｒ Ｔｒａｎｓｍｉｓｓｉｏｎ 〕（以
後ＨＳＴと称す）の変速位置を固定することによって、
一定速度で走行可能な農用トラクタの変速操作構造に関
する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a hydrostatic continuously variable transmission (Hydro 5tat).
By fixing the shift position of the IC Power Transmission (hereinafter referred to as HST),
This invention relates to a speed change operation structure for an agricultural tractor that can travel at a constant speed.
−ｉ自動車等で用いられている一定速度走行操作構造（
クルーズコントロール機構と称される）は、登り傾斜地
等での走行負荷変動に対して、走行車軸等の回転速度を
フィードバックして、エンジン出力を増減させる構成を
採っていた（例えば特開昭５９−１２１４０号公報）。-i Constant speed driving operation structure used in automobiles, etc. (
The cruise control mechanism (also known as a cruise control mechanism) was configured to increase or decrease engine output by feeding back the rotational speed of the traveling axle, etc., in response to changes in the traveling load on uphill slopes, etc. 12140).
この場合には、実車速を知る必要がある為に走行車軸の
回転速度を検出しなければならないが、その為には、走
行車軸に直接エンコーダ等を取付けることはできないの
で、ギヤ機構を介して走行車軸とエンコーダ入力軸とを
伝動する構成が必要となったり、又は、非接触式センサ
で測定するとしても光学式や電磁誘導式等の高価なセン
サが必要となり、何れにしても車速検出構造が複雑高価
なものになりがちであった。In this case, since it is necessary to know the actual vehicle speed, it is necessary to detect the rotational speed of the traveling axle, but for this purpose, it is not possible to attach an encoder directly to the traveling axle, so it is necessary to detect the rotational speed of the traveling axle. A configuration that transmits power between the traveling axle and the encoder input shaft is required, or even if a non-contact sensor is used for measurement, an expensive sensor such as an optical or electromagnetic induction type is required, and in either case, the vehicle speed detection structure is tended to be complicated and expensive.
本発明の目的は検出対象を合理的に選定して、車速検出
構造を簡単にできるものを提供する点にある。An object of the present invention is to provide a vehicle speed detection structure that can simplify the vehicle speed detection structure by rationally selecting a detection target.
本発明による特徴構成は
■ ＨＳ Ｔを、速度設定手段で人為設定された変速位
置に駆動機構を介して変速操作するよう構成する点と、
■ 走行機体の絶対水平基準面に対する前後傾斜姿勢を
検出する傾斜センサを設ける点と、■ この傾斜センサ
の登り傾斜検出結果に基づいて駆動機構を設定変速位置
より高速側に作動させ、下り傾斜検出結果に基づいて駆
動機構を設定変速位置より低速側に作動させて、走行車
速を一定に維持する制御手段を有している点と、
にあり、その作用効果は次の通りである。The features of the present invention are: (1) The HST is configured to perform a speed change operation via a drive mechanism to a speed change position that is manually set by a speed setting means; (2) The forward and backward tilted posture of the traveling aircraft with respect to the absolute horizontal reference plane is detected. (1) The drive mechanism is operated to a higher speed side than the set gear shift position based on the uphill slope detection result of this tilt sensor, and the drive mechanism is operated to the lower speed side from the set gear shift position based on the downhill slope detection result. The present invention has the following features: It has a control means that operates to maintain a constant traveling vehicle speed, and its effects are as follows.
〔作 用］
傾斜地での走行では、傾斜度合に応じて走行負荷トルク
が変化するので、登り傾斜の場合は傾斜角度が大きくな
るにつれて走行負荷トルクが大になり、下り傾斜の場合
は傾斜角度が大きくなるにつれて走行負荷トルクが小に
なる。したがって、進行方向に対する前後傾斜度を測定
すれば、走行速度の平坦地に対する傾斜地での増減量を
間接的に知ることができる。[Function] When driving on a slope, the running load torque changes depending on the degree of inclination. Therefore, in the case of an uphill slope, the running load torque increases as the slope angle increases, and in the case of a downhill slope, the running load torque increases as the slope angle increases. As the torque increases, the running load torque decreases. Therefore, by measuring the longitudinal inclination with respect to the direction of travel, it is possible to indirectly know the increase or decrease in travel speed on a slope compared to a flat land.
そして、この種の農用トラクタでは第２図のトルク（Ｔ
）一回転速度（Ｎ）特性曲線で示されるように、作業走
行に適したオールスピードガバナタイプの調速機構で走
行制御されるので、走行負荷トルク（Ｓ）が登り傾斜で
大になった場合に、エンジン特性は点（ａ）の状態から
点（ｂ）の状態へ変化する。ここに、トルク（Ｔ）はＴ
、からＴ２に増大して負荷に見合ったものとなっている
が回転速度はＮ、からＮｚに低下して、走行速度が落ち
ている。そこで、ＨＳＴの変速位置を設定変速位置より
高速側の点（ｃ）の状態に切換えると、トルク（Ｔ）を
走行負荷トルク（Ｓ）に見合ったものに維持し乍ら、回
転速度をもとのＮ、の状態に維持して、回転数の低下分
を補償することができる。In this type of agricultural tractor, the torque (T
) As shown in the one-rotation speed (N) characteristic curve, travel is controlled by an all-speed governor-type governor mechanism suitable for work travel, so if the travel load torque (S) becomes large on an uphill slope. , the engine characteristics change from the state at point (a) to the state at point (b). Here, torque (T) is T
, increases from T2 to match the load, but the rotational speed decreases from N to Nz, and the running speed decreases. Therefore, by switching the HST shift position to point (c), which is higher speed than the set shift position, the rotational speed can be adjusted based on the rotational speed while maintaining the torque (T) commensurate with the running load torque (S). By maintaining the state at N, it is possible to compensate for the decrease in rotational speed.
このように、傾斜センサを走行速度増減を間接的に感知
するセンサとして使用する構成によって、走行速度を直
接測定する従来の構成のものに比べて、走行車軸等との
位置関係による抱束条件がないので、センサの取付位置
が走行機体の空スペースを有効利用して選定できその制
約を少なくできるとともに、傾斜地での速度変化を補償
する手段として、ＨＳＴの設定を変化させる構成によっ
て、もともと、ＨＳＴに対する変速手段は備わっている
ので、一般の乗用車のようにクルーズコントロール機構
とアクセル関係とを連係する機構を必要としない。In this way, by using the inclination sensor as a sensor that indirectly detects increases and decreases in traveling speed, the binding conditions due to the positional relationship with the traveling axle etc. are reduced compared to the conventional configuration which directly measures the traveling speed. Therefore, the sensor mounting position can be selected by making effective use of the empty space of the traveling aircraft, reducing the restrictions.In addition, as a means of compensating for speed changes on slopes, HST was originally designed to change the HST setting. Since the vehicle is equipped with a transmission means for the vehicle, there is no need for a mechanism that links the cruise control mechanism and the accelerator, as is the case with general passenger cars.
第５図に示すように、機体前部にエンジン（１）、操縦
部（２）をはさんで機体後部にＨＳ Ｔ （３）ミッシ
ョンケース（４）を配して農用トラクタを構成するとと
もに、前後車輪（５） 、 （６）に囲まれた下腹部空
間にモー７（７）を配して、芝刈作業機を構成している
。As shown in Figure 5, an agricultural tractor is constructed by placing an engine (1) and a control section (2) at the front of the machine, and an HST (3) and a mission case (4) at the rear of the machine. A mower 7 (7) is disposed in the lower abdominal space surrounded by the front and rear wheels (5) and (6) to constitute a lawn mower.
次に、走行速度を一定に維持する制御手段（Ｂ）を説明
する。第１図に示すように、ＨＳ Ｔ （３）に対する
速度設定用ペダル（８）を操縦部（２）に配するととも
に、このペダル（８）の揺動支点位置にこのペダル（８
）の揺動量を検出するポテンショメータ（９）を配して
速度設定手段（Ａ）を構成する。Next, the control means (B) for maintaining the traveling speed constant will be explained. As shown in FIG. 1, a speed setting pedal (8) for the HST (3) is disposed on the control section (2), and this pedal (8) is located at the swing fulcrum position of this pedal (8).
) is arranged to constitute a speed setting means (A).
一方、ＨＳ Ｔ （３）側には内装された斜板角度を制
御するトラニオン軸（３Ａ）に対してこのトラニオン軸
（３八）を回動駆動するステッピングモータ等の駆動機
構（１０）が設けられ、前記ポテンショメータ（９）か
らの検出値にもとづいて、制御装置（１７）を介して駆
動機構（１０）を制御して、走行速度を一定に維持する
ようにしである。この場合に、変速ペダル（８）による
操作で希望車速に達したならば、運転者がスイッチ（１
１）を操作して車速を一定状態にロックする。On the other hand, on the HS T (3) side, a drive mechanism (10) such as a stepping motor is installed to rotate the trunnion shaft (38) with respect to the trunnion shaft (3A) that controls the angle of the swash plate. Based on the detected value from the potentiometer (9), the drive mechanism (10) is controlled via the control device (17) to maintain a constant traveling speed. In this case, when the desired vehicle speed is reached by operating the gear shift pedal (8), the driver switches the switch (1
1) to lock the vehicle speed to a constant state.
このような一定速度制御機構に対して、重錘（１２）と
重錘（１２）揺動軸にポテンショメータ（１３）を取付
けて傾斜センサ（１４）を構成し、第４図に示すように
、重錘（１２）の傾斜地での揺動にかかるポテンショメ
ータ（９）の絶対水平基準面に対応した設定値（θ）（
電圧値）を境とした増減検出量に応じて登り傾斜か下り
傾斜かが判断でき、設定値との偏差に応じて、ポテンシ
ョメータ（１３）の基準電圧（３，５Ｖ）を設定値（θ
）として、基準電圧より大であれば登り傾斜、小であれ
ば下り傾斜といった設定ができる。したがって、登り（
頃斜の場合はＨＳ Ｔ （３）を更に高速側に操作し、
かつ、下り傾斜ではＨＳ Ｔ （３）を低速側に操作す
る。以上、走行車速を一定に維持する制御手段（Ｂ）と
称する。尚、第１図中（１５）はブレーキペダル（１６
）に対して設けられたリミットスイッチであって、この
リミットスイッチ（１５）が作動するとＨＳＴ（３）は
中立位置に復帰すべく構成しである。For such a constant speed control mechanism, a tilt sensor (14) is constructed by attaching a potentiometer (13) to the weight (12) and the swing axis of the weight (12), as shown in FIG. The setting value (θ) corresponding to the absolute horizontal reference plane of the potentiometer (9) related to the swinging of the weight (12) on a slope
It is possible to judge whether the slope is uphill or downhill according to the detected amount of increase or decrease with respect to the voltage value), and depending on the deviation from the set value, the reference voltage (3,5V) of the potentiometer (13) is set at the set value (θ
), it is possible to set an upward slope if the voltage is higher than the reference voltage, and a downward slope if the voltage is lower than the reference voltage. Therefore, the climb (
In the case of a slant, operate HST (3) further to the high speed side,
In addition, on a downhill slope, operate HST (3) to the low speed side. In the above, this will be referred to as a control means (B) for maintaining the traveling vehicle speed constant. In addition, (15) in Fig. 1 is the brake pedal (16).
), and when the limit switch (15) is activated, the HST (3) is configured to return to the neutral position.
（イ）速度設定手段（Ａ）としてはハンドルレバーでも
よい。(a) The speed setting means (A) may be a handle lever.
（ロ）駆動機構（１０）としては電動モータ以外の他の
モータ或いはラックビンオン機構とシリンダを組合せた
機構でもよい。(b) The drive mechanism (10) may be a motor other than an electric motor or a mechanism combining a rack bin on mechanism and a cylinder.
（ハ）傾斜センサ（１４）としてはポテンショメータ以
外のホール素子等の回転計を使用してもよく、又、重錘
式以外のものでもよい。(c) As the inclination sensor (14), a tachometer such as a Hall element other than a potentiometer may be used, and a type other than a weight type may be used.
尚、特許請求の範囲の項に図面との対照を便利にする為
に符号を記すが、該記入により本発明は添付図面の構造
に限定されるものではない。Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.
図面は本発明に係る農用トラクタの変速操作構造の実施
例を示し、
第１図は制御ブロック図、第２図はエンジンに対する調
速機構によるトルク−回転数曲線、第３図はフローチャ
ート図、第４図は傾斜センサの前後傾斜検出状態を示す
原理図、第５図は農用トラクタの側面図である。
（３）・・・・・・油圧式無段速装置、（１０）・・・
・・・駆動機構、（１４）・・・・・・傾斜センサ、（
Ａ）・・・・・・速度設定手段、（Ｂ）・・・・・・制
御手段。The drawings show an embodiment of the speed change operation structure for an agricultural tractor according to the present invention, in which Fig. 1 is a control block diagram, Fig. 2 is a torque-rotational speed curve by the speed governing mechanism for the engine, Fig. 3 is a flowchart, and Fig. 3 is a flowchart. FIG. 4 is a principle diagram showing the front and rear inclination detection state of the inclination sensor, and FIG. 5 is a side view of the agricultural tractor. (3)...Hydraulic stepless speed device, (10)...
... Drive mechanism, (14) ... Tilt sensor, (
A)... Speed setting means, (B)... Control means.
Claims (1)
速度設定手段（Ａ）で人為設定された変速位置に駆動機
構（１０）を介して変速操作するよう構成するとともに
、走行機体の絶対水平基準面に対する前後傾斜姿勢を検
出する傾斜センサ（１４）を設け、この傾斜センサ（１
４）の登り傾斜検出結果に基づいて、駆動機構（１０）
を設定変速位置より高速側に作動させ、下り傾斜検出結
果に基づいて駆動機構（１０）を設定変速位置より低速
側に作動させて、走行車速を一定に維持する制御手段（
Ｂ）を有している農用トラクタの変速操作構造。Hydraulic continuously variable transmission (hereinafter referred to as HST) (3),
It is configured to perform a speed change operation via a drive mechanism (10) to a speed change position manually set by the speed setting means (A), and is equipped with an inclination sensor (14) for detecting the forward and backward inclination posture of the traveling aircraft with respect to an absolute horizontal reference plane. This tilt sensor (1
Based on the uphill slope detection result of 4), the drive mechanism (10)
control means (10) for maintaining the traveling vehicle speed constant by operating the drive mechanism (10) to a higher speed side than the set gear shift position and operating the drive mechanism (10) to a lower speed side from the set gear shift position based on the downhill slope detection result;
B) A speed change operation structure for an agricultural tractor having the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10394887A JPS63269733A (en) | 1987-04-27 | 1987-04-27 | Speed change operation structure for agricultural tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10394887A JPS63269733A (en) | 1987-04-27 | 1987-04-27 | Speed change operation structure for agricultural tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63269733A true JPS63269733A (en) | 1988-11-08 |
Family
ID=14367651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10394887A Pending JPS63269733A (en) | 1987-04-27 | 1987-04-27 | Speed change operation structure for agricultural tractor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63269733A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017078012A1 (en) * | 2015-11-05 | 2017-05-11 | ヤンマー株式会社 | Work vehicle |
| US11945705B2 (en) | 2018-09-13 | 2024-04-02 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6192938A (en) * | 1984-10-11 | 1986-05-10 | Mazda Motor Corp | Steady speed driving device for car |
| JPS6280131A (en) * | 1985-10-01 | 1987-04-13 | Touyoushiya:Kk | Constant speed state holding device in fluid type continuously variable transmission-loaded tractor |
-
1987
- 1987-04-27 JP JP10394887A patent/JPS63269733A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6192938A (en) * | 1984-10-11 | 1986-05-10 | Mazda Motor Corp | Steady speed driving device for car |
| JPS6280131A (en) * | 1985-10-01 | 1987-04-13 | Touyoushiya:Kk | Constant speed state holding device in fluid type continuously variable transmission-loaded tractor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017078012A1 (en) * | 2015-11-05 | 2017-05-11 | ヤンマー株式会社 | Work vehicle |
| JP2017091061A (en) * | 2015-11-05 | 2017-05-25 | ヤンマー株式会社 | Work vehicle |
| EP3373104A4 (en) * | 2015-11-05 | 2018-11-21 | Yanmar Co., Ltd. | Work vehicle |
| US11186170B2 (en) | 2015-11-05 | 2021-11-30 | Yanmar Power Technology Co., Ltd. | Work vehicle |
| US11945705B2 (en) | 2018-09-13 | 2024-04-02 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
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