JP4887835B2 - Tractor - Google Patents

Description

  The present invention relates to a tractor that is driven and driven via an HST (hydraulic continuously variable transmission).

When a switching valve having a throttle is provided in the HST hydraulic circuit and the HST trunnion shaft is rotated and adjusted near the neutral position in order to reduce the shift shock in the HST shift control and improve the riding feeling. A technique for switching the switching valve to the throttle position (for example, see Patent Document 1) is known.
JP-A-5-106731 (first page, FIG. 2).

  In particular, at the time of traveling shift or starting when the sub-shift is at the high speed position, the driving load from the traveling wheel side delays the tracking of the vehicle speed with respect to the rotation adjustment of the trunnion shaft, and the hydraulic circuit in the HTS is overloaded. As a result, the relief may be blown, and the durability of the HST may be easily lowered. Moreover, it is easy to give an unpleasant feeling by generating abnormal noise. Furthermore, if the trunnion shaft is rotated and adjusted from the neutral position by the pulse output and rotated rapidly or rapidly decelerated, the travel stops suddenly when the output pulse is turned off, and an impact is generated and the riding comfort is deteriorated. Therefore, the present invention controls the rotational speed of the trunnion shaft so that the hydraulic pressure in the hydraulic circuit in the HST does not change during such HST gear shifting operation.

According to the first aspect of the present invention, the traveling forward and backward movement is operated by the linear lever (29), and the trunnion shaft (2) of the traveling HST (1) is operated according to the operation amount or operation position of the pedal (3). In the tractor that adjusts the rotation by driving the motor (4), the rotation adjustment speed of the trunnion shaft (2) by the motor (4) at the high speed position (H) of the auxiliary transmission is set to the medium speed position (M ) Or at a low speed position (L), and when the linear lever (29) is moved to the reverse position at the high speed position (H) of the sub-shift, the pedal (3) is depressed to the maximum position. Even in such a case, the tractor configuration is characterized in that a limit value is provided for the maximum vehicle speed during forward travel.

According to the second aspect of the present invention, the current value of the motor (4) for adjusting the rotation of the trunnion shaft (2) is detected by the current sensor (51), and the rotational position of the trunnion shaft (2) is determined by the trunnion position sensor ( 34), when the current value of the motor (4) is less than a certain value and the value of the trunnion position sensor (34) is less than a certain value, a warning is issued, When the speed is increased, the output to the motor (4) is stopped regardless of the operation of the pedal (3), and when the speed is decreased, the output to the motor (4) is continued in response to the operation of the pedal (3). The tractor according to claim 1 is configured as described above .

According to the first aspect of the present invention, the rotation adjustment speed of the trunnion shaft 2 and the swash plate is controlled to be slow so that the hydraulic pressure adjustment of the hydraulic circuit in the HST is smoothly performed even when the sub-shift is in the high speed position. Thus, it is possible to reduce the pressure increase to the overload state, and to perform a safe and stable continuously variable speed running by the HST1.
Further, as described above, in the trunnion control, when going backward, it is dangerous to exceed the speed. Therefore, safety is maintained by setting the limit value .

In the invention according to claim 2, when the motor current value is a constant value a or less and the change of the trunnion position sensor 34 value per constant time is a constant value α or less, the motor 4, the drive mechanism unit, Assuming that there is a high possibility that the related harness is disconnected or poorly contacted, an alarm is issued, the output to the motor 4 is stopped regardless of the pedal 3 operation when the speed is increased, and the pedal 3 operation is supported when the speed is reduced Thus, the system is configured to be safe so that the output to the trunnion motor 4 is continued .

  Based on the illustrated example, the tractor traveling interlock is configured to drive the front axle 11 of the left and right front wheels 10 via the engine 6, HST1, auxiliary transmission 7, front differential 8, front axle 9, and the like. Also, the auxiliary transmission 7 is interlocked so as to drive the rear axle 18 of the left and right rear wheels 17 via the rear wheel take-out shaft 12, the 4WD clutch 13, the rear wheel interlocking shaft 14, the rear differential 15, the rear axle shaft 16, and the like. Constitute. From the HST 1, a front PTO shaft 21, a mid PTO shaft 22, and the like are linked via a PTO clutch 19 and a PTO transmission gear 20. The HST 1 has an input shaft 23 that is input from the engine 6, an output shaft 24 that is continuously output from the input shaft 23, and a PTO output shaft 25 that is directly linked to the input shaft 23. Each output shaft 24 is linked to the auxiliary transmission 7 or the PTO clutch 19. Such a tractor travels while continuously shifting the HST 1 by rotating the trunnion shaft 2 by depressing an accelerator petal (pedal) 3 provided on the floor 27 at the foot of the steering handle 28 in front of the driver's seat 26. be able to. Further, the forward F and reverse R of the travel are switched by switching the linear switch 30 between the forward position F and the reverse position R by operating a linear lever 29 disposed on the side of the driver's seat 26 or the like. The pedal position sensor 31 includes a potentiometer that detects a stepping rotation angle by operating the accelerator pedal 3. The pedal position sensor 31 is input to the controller 50, and the trunnion motor (motor) 4 is output to perform forward rotation. Or it is set as the structure driven reversely. The trunnion motor 4 is configured to rotate the pinion gear 32 to mesh and rotate the sector gear 33 of the trunnion shaft 2 of the HST 1. Further, the sub-transmission device 7 is configured so that the sub-transmission gears at the high speed position H, the medium speed position M, and the low speed position L are switched by a sub transmission lever 34 provided on the side of the driver's seat 26. Yes. An HST trunnion position sensor 34 comprising a potentiometer for detecting the rotation angle of the trunnion shaft 2 is provided on the trunnion shaft 2 side, and the trunnion shaft 2 rotates according to the operation amount by the accelerator pedal 3. It is configured to perform feedback control to check that has been performed.

  The hydraulic circuit 5 of the HST 1 includes a hydraulic pump 49, a clutch cylinder 36 for turning on and off the PTO clutch 19, a clutch cylinder 37 for operating a front wheel steering clutch, and a steering handle 28 for steering a rear wheel. Is connected to a part of the operating system hydraulic circuit 42 in which the control valves 39, 40, 41, etc., such as the power steering cylinder 38, etc., which are operated in the above, are arranged to constitute a charge circuit 48 for receiving hydraulic pressure supply. The HST hydraulic circuit 5 is driven by the input shaft 23 and is swash plate 43 whose angle is adjusted by the rotation of the trunnion shaft 2 (the plunger piston and the cylinder are revolved along the swash plate 43). By changing the angle of the swash plate 43, the stroke (oil feed volume) of the plunger piston is changed.) The discharge port and the suction port of the variable capacity HST pump 44 having the above and the oil feed from the HST pump 44 The suction port and discharge port of the driven fixed capacity type (configuration in which the swash plate angle cannot be changed) are connected in a closed circuit configuration, and the rotation of the input shaft 23 is continuously variable and output. The output is made to the shaft 24. The HST hydraulic circuit 5 is provided with a neutral valve 46, a low pressure relief valve, a high pressure relief valve 47, and the like.

  In the HST 1, the rotation drive direction of the trunnion motor 4 by the operation of the accelerator pedal 3 is switched between the normal rotation direction and the reverse rotation direction by switching the linear switch 30 by the linear lever 29. When the linear lever 29 is operated to the forward position F or the reverse position R and the accelerator pedal 3 is depressed, the trunnion motor 4 is driven from the neutral position N in the forward direction or the reverse direction, and the trunnion shaft 2 is moved to the accelerator pedal. 3 can be rotated from the neutral position N to the forward movement position F side or the reverse movement position R side according to the depression amount or depression position. When the trunnion shaft 2 is in the neutral position N, the output shaft 24 of the HST motor 45 is in a stopped state and is in a traveling stopped state. When the HST trunnion shaft 2 (and the swash plate 43) is rotated and adjusted from the neutral position N to the forward position F, the output shaft 24 of the HST motor 45 of the HST1 rotates in the forward direction according to the rotation angle of the trunnion shaft 2. To increase forward. Further, when the trunnion shaft 2 is rotated back from the forward position F to the neutral position N, it can be decelerated forward. Further, when the trunnion shaft 2 is rotated and adjusted to the reverse position R (reverse direction), the reverse speed can be increased or decreased in substantially the same manner.

  Here, the tractor according to the present invention is a tractor that adjusts the rotation of the trunnion shaft 2 of the traveling HST 1 by driving the motor 4 in accordance with the operation amount or operation position of the pedal 3. The rotation adjustment speed of the trunnion shaft 2 by the motor 4 is set to be slower than the rotation adjustment speed at the medium speed position M and the low speed position L of the sub-shift. When the tractor travels, the driver steps on the accelerator pedal 3 to rotate the trunnion shaft 2 and the swash plate by driving the accelerator motor 4 to continuously shift the HST 1. Such rotation adjustment of the trunnion shaft 2 is performed at a normal rotation adjustment speed when the sub-shift is at the medium speed position M or the low-speed position L, but when the sub-shift is at the high speed position H, The rotation is adjusted at a slower speed than the rotation adjustment speed of the trunnion shaft 2 when the sub-shift position is at the medium speed position M or the low speed position L. For this reason, the change in the swash plate angle of HST1 is also performed at a slow speed, and the oil pressure in the HST hydraulic circuit 5 is gradually increased to continuously change the speed.

  As shown in FIGS. 4 to 6, on the input side of the controller 50, there are a sub shift low speed switch 35L and a medium speed switch 35M for switching each shift position by the pedal position sensor 31, the HST trunnion position sensor 34, and the sub shift lever 35. A high-speed switch 35H, a motor current sensor 51 for detecting the current value of the accelerator motor 4, and the like are arranged. On the output side, a trunnion forward rotation relay 52 for rotating the trunnion shaft 2 in the forward rotation direction, a trunnion reverse rotation relay 53 for rotating the trunnion shaft 2 in the reverse rotation direction, a trunnion output 54, etc. Place. These trunnion forward relay 52, reverse relay 53, and trunnion output 54 are for driving the trunnion motor 4 by pulse output, and are driven at the time of this ON time output, but the duty between this ON time and OFF time. The ratio is set smaller at the high speed position H of the sub-shift than at the medium speed position M and at the low speed position L (FIG. 4). In particular, when HST1 by the linear lever 29 is at the reverse position R, the target trunnion shaft 2 position calculation value corresponding to the pedal 3 position sets the maximum speed to 1/2 of the forward speed. When the sub-shift is at the high speed position H, the pulse output ON time L is made smaller than the standard value, and the trunnion shaft 2 is rotated at a slow speed to change the speed. Therefore, when the sub-shift is at the high speed position H, the follow-up of the vehicle speed is not delayed with respect to the displacement of the trunnion shaft 2, so that the relief of the HST circuit and the generation of abnormal noise are reduced. Even if the linear lever 29 is operated to the reverse position R and the sub-shift is set to the high speed position H, the trunnion shaft 2 is rotated slowly so that it can travel safely.

  Next, the tractor according to the present invention is a tractor that rotates and adjusts the trunnion shaft 2 of the HST 1 by driving the motor 4 in accordance with the operation amount or operation position of the pedal 3. The rotation adjustment speed is set to be slow. When the driver depresses the accelerator pedal 3 during traveling of the tractor, the trunnion shaft 2 is rotationally adjusted by driving the trunnion motor 4 to continuously change the HST 1. At this time, when the trunnion shaft 2 is at a position close to the neutral position N, the rotation adjustment speed of the trunnion shaft 2 is decreased. Accordingly, in the vicinity of the neutral position N, the change in the HST swash plate angle by the trunnion shaft 2 is performed at a slow speed, and the shift adjustment speed of the HST 1 is performed at a slow speed.

  As shown in FIGS. 7 and 8, the duty ratio of the output pulse for driving the trunnion motor 4 is such that the duty ratio in the operation area A in the vicinity of the neutral position N of the trunnion shaft 2 is other than in the vicinity of the neutral position N. It is set to be smaller than the duty ratio in the operation area B. When the trunnion shaft 2 is in the region A position close to the neutral position N when the speed is increased or decreased by operating the accelerator pedal 3, it is output by an ON pulse smaller than the standard value B. Adjust the rotation by slowing the rotation adjustment speed. For this reason, when the trunnion shaft 2 is rotated by the trunnion motor 4, the rotation adjustment speed of the trunnion shaft 2 is slowed at the time of acceleration or deceleration in the vicinity of the neutral position N, so that the vehicle speed is very low. However, the reduction ratio of HST1 according to the vehicle speed can be obtained, and the occurrence of a travel shock due to a sudden stop against the inertia of the vehicle body can be reduced.

  In the configuration in which the trunnion shaft 2 is rotated and adjusted by the trunnion motor 4 as described above and the HST 1 is shift-controlled, the trunnion position sensor 34 is used to determine whether the output from the trunnion motor 4 is normal. However, with this alone, it is necessary to consider backlash of the drive unit, the sensor unit, and the like, and it takes a considerable time to detect an abnormality. In traveling of the tractor, for example, since it travels at a maximum of 40 km / h, it is necessary to detect and notify an abnormality as soon as possible to ensure safety. Therefore, as shown in FIGS. 9 to 11, the trunnion motor 4 is driven by the pulse output from the controller 50 (FIG. 9). Thus, the current E of the trunnion motor 4 is detected by the motor current sensor 51, and a curve D indicating the state of the detection value of the sensor 34 for detecting the rotation position (angle) of the trunnion shaft 2 can be drawn in a stepped manner. This change is detected by the trunnion position sensor 34. During output from the controller 50 to the trunnion motor 4, the motor current value is equal to or less than a predetermined value a and the trunnion is determined by the motor current and the detected value of the trunnion position sensor 34, as in the main routine R <b> 1 in the flowchart of FIG. 10. When the change of the position sensor 34 value per certain time is less than or equal to the certain value α, the motor 4, the drive mechanism unit, or the related harness is likely to be disconnected or defective, and an alarm is issued. When the speed is increased, the output to the motor 4 is stopped regardless of the operation of the pedal 3, and when the speed is decreased, the output to the trunnion motor 4 is continued corresponding to the operation of the pedal 3.

  Further, when output to the trunnion motor 4, the current value of the trunnion motor 4 is equal to or greater than a constant value a, smaller than the current value b at no load, and the change per time detected by the trunnion position sensor 34 is (α + b ) In the following cases, as in subroutine R2 in the flowchart of FIG. 10, a warning message for prompting an inspection is displayed and an alarm is given because there is an influence on durability of the trunnion motor 4 such as brush wear and coil deterioration. At this time, trunnion control corresponding to the operation of the accelerator pedal 3 is continuously performed. Before a serious failure such as stopping the trunnion motor 4, inspection is promoted to ensure safety.

  Furthermore, when the controller 50 is not outputting to the trunnion motor 4, the detected value of the trunnion position sensor 34 is monitored, and if this sensor value changes by a certain value β or more, the subroutine R3 of the flowchart of FIG. In this way, it is configured to notify that clutch slipping, sensor abnormality, etc. have occurred, and to continue the rotation control of the trunnion shaft 2 corresponding to the operation of the accelerator pedal 3. Safety can be improved by notifying the operator of abnormal signs accurately.

  Further, as shown in the flowchart of FIG. 11, the detected value of the motor current sensor 51 when output to the trunnion motor 4 is equal to or greater than the no-load current value b of the trunnion motor 4 and the time of the detected value of the trunnion position sensor 34. When the change in hit is below a certain value γ, an alarm is issued as to the friction plate slip, sensor failure, sensor actuator dropout, mounting failure, etc. as in the main routine R1, and in the case of acceleration, the accelerator is Regardless of the operation of the pedal 3, the output to the trunnion motor 4 is stopped, and in the case of deceleration, the output to the trunnion motor 4 is continued in response to the operation of the accelerator pedal 3. When the change per time of the detected value of the position sensor 34 is not more than a certain value δ greater than the certain value γ, an alarm is issued and the control of the trunnion shaft 2 corresponding to the operation of the accelerator pedal 3 is continued. For this reason, since the details of the failure can be displayed, the repair can be easily performed. Further, since the control can be selected to continue or stop in response to a failure, safe traveling control can be performed.

  Further, as shown in the subroutine R2 of FIG. 11, the detected value of the motor current sensor 51 when output to the trunnion motor 4 is greater than a certain value larger than the current value during normal normal operation, and the trunnion position sensor 34 If the change in the detected value per time is less than a certain value γ, it is assumed that a mechanical lock of the drive system has occurred, and an alarm is issued. In the case of acceleration, the trunnion motor 4 is turned on regardless of the operation of the accelerator pedal 3. The output is stopped, and in the case of deceleration, the output to the trunnion motor 4 is continued corresponding to the operation of the accelerator pedal 3. When the change per time of the detected value of the trunnion position sensor 34 is less than a certain value δ greater than the certain value γ, an alarm is issued and the trunnion control corresponding to the operation of the accelerator pedal 3 is continued. .

  Next, mainly based on FIGS. 12 to 14, in the HST trunnion control, when the neutral position of the accelerator pedal 3 or the neutral position N of the trunnion shaft 2 is not adjusted, the control range is narrowed. Or by changing the sub-shift position (FIG. 14). When the neutral position N such as the accelerator pedal 3 or the trunnion shaft 4 is not adjusted, it is not stored in the nonvolatile memory 55 of the controller 50. In this case, control is performed with a preset standard value, but the operation range of the trunnion shaft 2 is made narrower than the normal adjusted operation range so that the vehicle speed cannot be output. It is. When the failed controller 50 is replaced, it is necessary to adjust the neutral position N of the trunnion shaft 2, the highest speed position, the neutral position of the accelerator pedal 3, and the like. Until this adjustment is completed, the tractor may be operated. In such a case, there is a case where the same movement as when the accelerator pedal 3 is operated normally is dangerous. However, in such a case, since only a low vehicle speed is generated, it is effective in avoiding the danger.

  In this trunnion control, the operating range of the trunnion shaft 2 is determined according to the sub-shift position at the low speed L, the medium speed M, and the high speed position H. The operation range is the low speed L, medium speed M, and high speed position H in this order. The configuration is made narrower. If the operating range of the trunnion shaft 2 is made constant at each of these shift positions L, M, and H, the vehicle speed is excessively high at the high speed position H, which is dangerous, but the above configuration prevents this danger. Can do.

  In such HST trunnion control (FIG. 15), when the neutral position of the accelerator pedal 3 and the neutral position N of the trunnion shaft 2 are not adjusted, that is, when not stored in the nonvolatile memory 55 of the controller 50, When the engine 6 is started, an engine stop relay 56 is output from the controller 50 to stop the tractor by stopping the engine, and the trunnion shaft 2 and the accelerator pedal 3 travel in an unadjusted state. Can be prevented.

  Next, in the trunnion control having 4WS control for steering the front wheel 10 and the rear wheel 17 mainly based on FIGS. 16 to 18, when the controller 50 is replaced due to a failure, the front wheel steering angle sensor 57 and the rear wheel steering are replaced. Although it is necessary to adjust the rectilinear position of the angle sensor 58, the tractor may be operated until the adjustment is performed. In such a case, it may be dangerous if the same movement as in the steering operation is not performed. Therefore, when the straight traveling positions of the front wheel steering angle sensor 57 and the rear wheel steering angle sensor 58 are not adjusted as described above, that is, when they are not stored in the nonvolatile memory 55 of the controller 50, the preset standard is set. Although the control is performed by the value, the operation range of the trunnion shaft 2 is made narrower than the adjusted normal range so that the vehicle speed does not come out. Front and rear wheel steering angle sensors 57 and 58 are arranged on the input side of the controller 50, and these steering modes are FWS mode by steering the front wheel 10, RWS mode by steering the rear wheel 17, and front and rear. It is configured to be able to select the 4WS mode by steering the wheels 10 and 17. These modes can be selected by selecting operations of the FWS switch 59, the RWS switch 60, and the 4WS switch 61. The 4WS switching relays 62, 63, 64 arranged on the output side show the output of the operation range control of the trunnion shaft 2 that is narrowly limited when switched to the 4WS switch 61, and are in three stages A, B, C. Is set to

  Next, based on FIG. 19, even if the load fluctuates due to a slope or the like during tractor travel and the vehicle speed is affected, the trunnion shaft 2 position is automatically driven to ensure a stable vehicle speed. , Detailed operation of the accelerator pedal 3 is unnecessary. For this reason, in the tractor that controls traveling by driving the motor 4 on the trunnion shaft 2 that uses HST1 as the transmission as described above, when the auxiliary transmission 7 is at the high speed position H, the target maximum vehicle speed 40 km / h is determined. Thus, the target maximum vehicle speed and the trunnion position are controlled in conjunction with each other. In addition, even if the vehicle speed increases or decreases due to fluctuations in the load on the tractor in the state where the sub-shift is depressed at the high speed position H and the accelerator pedal 3 is depressed to the maximum position and the target maximum vehicle speed is secured accordingly. When the pedal 3 is depressed to the maximum position, the trunnion shaft 2 is driven by a motor so that the target maximum position is maintained.

  Further, mainly based on FIG. 20, in the trunnion control as described above, it is dangerous to exceed the speed during reverse travel. Therefore, the limit value is set for each of the shift positions H, M, and L of the sub shift. It keeps safety. When the linear lever 29 is in the reverse position, when the sub-shift is set to the high speed position H and the accelerator pedal 3 is depressed to the maximum position, the target maximum vehicle speed (H speed) that is half of the forward speed is output. When the trunnion shaft 2 is driven, or when the sub-shift is at the middle speed position M and the accelerator pedal 3 is depressed to the maximum position, the trunnion shaft is set so as to produce the target maximum vehicle speed (M speed) that is half of the forward speed. 2 and further, when the sub-shift is at the low speed position L and the accelerator pedal 3 is depressed to the maximum position, the trunnion shaft 2 is driven and controlled so that the target maximum vehicle speed (M speed) that is half of the forward speed is output. It is set as the structure which carries out. Here, the target maximum vehicle speed H speed is set to 20 km / h, the M speed is set to 10 km / h, and the L speed is set to 5 km / h.

The block diagram of an HST control apparatus. The transmission mechanism diagram which shows the transmission system of a tractor. HST hydraulic circuit diagram. The pulse chart of the drive output of the trunnion motor. The control block diagram of the trunnion motor. The flowchart. The time chart at the time of increase and deceleration output of trunnion motor control showing some other examples. The flowchart. The output time chart of the trunnion motor control which shows a part another example. The flowchart. The flowchart of the trunnion motor control which shows the other example partially. The front view which shows the rotation angle area of a trunnion axis | shaft, and the block diagram of the non-volatile memory of a controller. The block diagram of this trunnion control. The control flowchart. The control flowchart. The front view which shows the rotation angle area of the trunnion axis | shaft which shows some other examples, and the block diagram of a non-volatile memory. The block diagram of the trunnion control. The control flowchart. The flowchart of the trunnion control which shows a part another example. The flowchart of the trunnion control which shows a part another example.

1 HST
2 trunnion shaft 3 accelerator pedal (pedal)
4 Trunnion motor (motor)
H High speed position L Low speed position M Medium speed position N Neutral position

Claims (2)

The forward / backward travel of the vehicle is operated by the linear lever (29), and the trunnion shaft (2) of the traveling HST (1) is driven by the motor (4) according to the operation amount or operation position of the pedal (3). In the tractor that dynamically adjusts, the rotation adjustment speed of the trunnion shaft (2) by the motor (4) at the high speed position (H) of the sub-shift is adjusted at the medium speed position (M) and low-speed position (L) of the sub-shift Set slower than the rotation adjustment speed ,
When the linear lever (29) is moved to the reverse position at the high speed position (H) of the sub-shift, a limit value is set for the maximum vehicle speed during forward movement even when the pedal (3) is depressed to the maximum position. And tractor. The current value of the motor (4) for adjusting the rotation of the trunnion shaft (2) is detected by the current sensor (51), and the rotational position of the trunnion shaft (2) is detected by the trunnion position sensor (34).
When the current value of the motor (4) is not more than a certain value and the value of the trunnion position sensor (34) is not more than a certain value, a warning is issued, and the pedal (3 ), The output to the motor (4) is stopped regardless of the operation, and in the case of deceleration, the output to the motor (4) is continued in response to the pedal (3) operation. The tractor according to claim 1.

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