JPH0765664B2 - Control device for work vehicle - Google Patents

Description

TECHNICAL FIELD The present invention relates to a traveling control device for a working vehicle such as a combine, and more specifically, to a continuously variable speed actuator corresponding to a neutral position of an operating lever. The present invention relates to a control device for a work vehicle which is operated to a position (maximum contraction position), sets the continuously variable transmission to the maximum deceleration position and disconnects the traveling clutch.

(B) Prior art Approximately, by the present applicant, one hydraulic actuator for continuously variable transmission, which is a double-acting cylinder, is configured to expand and contract according to the operation of the FR right / left variable transmission lever, and is operated from the most contracted position. A control device has been proposed in which the traveling clutch is connected and the continuously variable transmission is speeded up when the extension operation is performed, and the continuously variable transmission is decelerated when the contraction operation is performed and the traveling clutch is disengaged at the most contracted position. ing.

(C) Problem to be Solved by the Invention However, the control device proposed by the applicant of the present invention stores the detection value of the cylinder potentiometer at the time of maximum contraction of the continuously variable hydraulic actuator in a microcomputer in advance, At the time of control, since the detected value is used as it is as the value at the time of the most contraction of the continuously variable transmission actuator,
If, for example, the reference value of the continuously variable transmission potentiometer deviates in the extension direction of the actuator due to adjustment or the like, the traveling clutch is not disengaged because the actuator does not contract to the most contracted position. There is a risk that it will not stop properly. Further, when the reference value of the potentiometer is deviated in the contraction direction of the actuator, there occurs a problem that a signal for further contraction is continuously output even though the actuator is at the maximum contraction position.

(D) Means for Solving the Problems The present invention is intended to solve the above problems. For example, referring to FIG. 1, the neutral position (N) of the operating lever (27) is shown. ), The continuously variable transmission actuator (25) is operated to one end of the operating range (hereinafter referred to as the most contracted position), the continuously variable transmission (45) is set to the most decelerated position, and the traveling clutch is disengaged. In the work vehicle (1), the continuously variable actuator (25)
Position detecting means (26) for continuously detecting the operating position of the
A forced contraction actuating means (38) for forcibly operating the continuously variable transmission actuator (25) to the most contracted position during a predetermined operation such as power-on at engine startup, and the operating position detection means during the predetermined operation. The state where the detection value of (26) does not change is judged to be one end of the operating range of the continuously variable transmission actuator, and the operating position detecting means (2) at that position is set.
And a working position storage means (34) for storing the value of 6),
While the predetermined operation is performed next time, the continuously variable transmission actuator (25) is controlled based on the value of the operating position storage means (34).

(E) Operation Based on the above-mentioned configuration, when performing a predetermined operation such as power-on at engine startup, the continuously variable transmission actuator (25) is forcibly operated to the most contracted position without returning to the forced contraction operating means (38). . Then, the actuator (25) is contracted to the most contracted position, and the value detected by the operating position detecting means (26) is not changed, and the reference value is input to the operating position storing means (34) and updated. Until the next predetermined operation, the continuously variable hydraulic actuator (25) is controlled based on the value updated / input to the operating position storage means (34).

Note that the reference numerals in parentheses do not limit the configuration in any way.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

As shown in FIG. 10, the combine 1 has a traveling machine body 3 supported by crawlers 2, and a driver's seat 5 and a Glen tank 6 are arranged on one side of the traveling machine body 3. And an automatic threshing device is installed on the other side,
Further, a reaper 7 is arranged in front of the traveling machine body 3 so as to be movable up and down. Further, the driver's seat 5 has a driver's seat frame 10 fixed on the body frame, and a step surface 11 fixed on the front part on the frame 10, and further on the rear part of the driver's seat frame 10, A seat 13 is installed via a seat frame. Also, the driver's seat frame 10
An operating console 15 is erected above the front part of the operating console 15 and an upper surface of the operating console 15 is an operating panel 16 and a monolever 17 is erected on the operating panel 16.

Further, as shown in FIG. 1, a microcomputer (hereinafter referred to as a microcomputer) 22 mounted on the combine 1 is
As shown in the figure, the CPU 23 is connected to the regulator L terminal 14, the cylinder potentiometer 26 for detecting the operation amount of the hydraulic actuator 25 for continuously variable transmission, and the lever potentiometer 29 for detecting the operating angle of the FR continuously variable transmission lever 27. Has been done. A continuously variable deceleration-side solenoid 31, a continuously variable deceleration-side solenoid 32, a lamp 33, and a buzzer 35 are connected to the CPU 23 via an output interface 30. Further, the continuously variable transmission hydraulic actuator 25 comprises a double-acting cylinder, and the expansion / contraction operation thereof causes the drive side split pulley.
The width of 41 is changed to move the endless belt 43 wound around the driven side split pulley 42, and the transmission ratio of the continuously variable transmission 45 composed of the drive side pulley 41 and the driven side split pulley 42 is changed in a timely manner. At the same time, the traveling clutch is disengaged at its most contracted position via a link or the like.

On the other hand, the CPU 23 outputs a signal to the continuously variable deceleration side solenoid 31 to output a signal to the continuously variable deceleration side solenoid 31 when the power is turned on at the time of engine start or when the FR stepless variable speed lever 27 is operated to the neutral position N. Forced contraction actuating means 38 for forcibly contracting 25 to its maximum contracted position is provided, and operating position storage means for storing the value H at the maximum contracted position of the hydraulic actuator 25 for continuously variable transmission by the cylinder potentiometer 26. 34, hydraulic actuator 25 for continuously variable transmission
A proper maximum contraction value storage means 47 in which the proper maximum contraction value J is stored in advance and a comparison means 49 for comparing the optimum maximum contraction value J with the maximum contraction value H are provided. And
As a result of the comparison, when the maximum contraction value H is different from the proper maximum contraction value J, an alarm is issued from the lamp 33 or the buzzer 53.

The alternator with regulator 36 has a potential of 0 V at both ends of the field coil 37 when the engine is stopped and in the key state.
Therefore, the regulator L terminal 14 is in the 0V state, the charging lamp 39 is lit, and the armature 40 generates a voltage while the engine is being driven, and the voltage of the L terminal 14 becomes about 12V by the control of the IC regulator 46. It is configured so that it is held and therefore the charging lamp 39 is turned off. Then, when the start of the engine is detected, the timer is started in the microcomputer 22 and the hydraulic actuator 25 for continuously variable transmission is contracted by the forced contraction operating means 38 (the deceleration direction of the continuously variable transmission 45). The contraction operation is continued until the timing of the timer is finished, and at this time, even when the timing of the timer is finished, while the value of the cylinder potentiometer 26 is changing, that is, the hydraulic pressure for continuously variable transmission is changed. The contraction operation is continued while the actuator 25 is operating. The deceleration operation is stopped when the value of the cylinder potentiometer 26 no longer changes, that is, when the operation of the continuously variable transmission hydraulic actuator 25 stops.

Further, based on the forced contraction actuating means 38, the continuously variable hydraulic actuator 25 is contracted to its maximum contraction position when the power is turned on at the time of engine startup, and the detection value of the cylinder potentiometer 26 becomes a loss at the maximum contraction position. The value that does not change is used as a reference value, and the value Po ₃ (see FIG. 7) is updated / input to the operating position storage means 34, and the operating position storage means 34 is maintained while the engine is continuously driven. The hydraulic actuator 25 for continuously variable transmission is controlled based on the detected value Po ₃ of the most contracted position input to, but when the engine is stopped once and then restarted, the hydraulic pressure detected again at that time. The value of the most contracted position of the actuator 25 is input to the operating position storage means 34 and updated, and this time, control is performed based on the updated detected value.

Further, the horizontal axis of FIG. 6 shows the operating position of the F / R continuously variable transmission lever 27, and the vertical axis shows the lever detection value by the lever potentiometer 29.
The raw value Po ₁ due to is changed as shown in FIG.
As indicated by Po ₂ in the figure, o ₁ is converted so as to change between W at the lowest speed V ₁ and Z at the highest speed V ₁₂ , centered on the neutral position N. Further, as shown in FIG. 7, the cylinder potentiometer 26 has variations in its value, such as A, A, and C, depending on the adjustment method, but the value change of the cylinder potentiometer 26 in the present embodiment is indicated by A. The appropriate value is set so as to change every time, and in this case, the value of the cylinder stroke 0 when changing by the appropriate value, that is, the optimum maximum contraction value J when the continuously variable transmission hydraulic actuator 25 contracts most. Is
It is stored in advance in the proper maximum contraction value storage means 47. The raw value of the continuously variable transmission hydraulic actuator 25 at the most contracted position is represented by Po ₃ , and H is the most contracted value updated and input to the operating position storage means 34.

And in FIG. 8, the vertical axis indicates the cylinder potentiometer 26.
As the conversion value PO ₄ of, the correlation with the operating position (stroke) of the hydraulic actuator 25 for continuously variable transmission shown on the horizontal axis is shown, and the conversion value PO ₄ is a conversion of the detection value Po ₃ . The value varies from 0 (0V) to Z (12V), and W in the figure is a conversion value of the cylinder potentiometer 26 corresponding to the cylinder stroke when the traveling clutch is engaged. Further, FIG. 9 shows a cylinder potentiometer corresponding to the operating position of the FR stepless speed change lever 27.
The raw value of 26 is shown.

Next, the operation of this embodiment will be described with reference to the flowcharts shown in FIGS.

When the engine is started and the power is turned on (S1) prior to the start of work, the timer provided in the microcomputer 22 starts timing (S2), and at the same time, the forced contraction operation toward the continuously variable transmission 38
A deceleration command is output from the actuator, and the continuously variable hydraulic actuator 25 is forcibly contracted. Then, when the timer finishes measuring, it is determined whether or not the detection value of the Siflinder potentiometer 26 has changed (S3). As a result, when it is determined that the detection value has changed, the deceleration is performed. The command is continuously output. Furthermore, when the value of the potentiometer 26 stops changing, that is, when the hydraulic actuator 25 reaches its maximum contracted position, the detected value of the potentiometer 26 becomes the detected value H of the maximum contracted position of the actuator 25. (S4) and the flag indicating whether the forced deceleration has ended is set (S5), so that this action does not work again during continuous engine operation.

Then, in the alarm control subroutine, the optimum maximum contraction value J stored in advance in the optimum maximum contraction value storage means 47 and the maximum contraction value H are compared by the comparing means 49 (S6), and the maximum contraction value is calculated. If H is not equal to the proper maximum contraction value J, the maximum contraction value H is further compared with the preset lower limit value K of the abnormal tolerance limit value (S7). As a result, when the maximum contraction value H is smaller than the lower limit value K, that is, when the maximum contraction value H exceeds the abnormal allowable limit, a signal is output and the lamp 33 or the buzzer 35 changes the intermittent interval. Shorten the alarm and issue an alarm (S8), and also intermittently give a signal to the continuously variable deceleration side solenoid 31 to intermittently decelerate the continuously variable transmission 45, that is, intermittently operate toward the most contracted side. The hydraulic actuator 25 for continuously variable transmission is held at its maximum contracted position, thereby preventing the traveling clutch from being disengaged due to the hydraulic actuator 25 not contracting to the maximum contracted position. Therefore, since the abnormality is displayed via the lamp 33 and the buzzer 35 (S10), it becomes easy to find a deviation when adjusting the cylinder potentiometer 26. Also,
When the maximum contraction value H is greater than or equal to the lower limit value K, the maximum contraction value H is further compared with the upper limit value L (S11), and the maximum contraction value H is the upper limit value. If it is larger than L, the same control as S8, S9, S10 is performed. If the maximum contraction value H is greater than or equal to the lower limit value K or less than or equal to the upper limit value L, the alarm lamp 33 or the buzzer 35 shortens the intermittent interval and issues an alarm (S12). Therefore, the difference between the maximum contraction value H and the deviation is determined by the lamp 33 or the buzzer 35 depending on the amount of deviation.
Since it is configured such that there is a difference in the intermittent interval of the alarm, the user or a service person can easily discriminate the deviation amount when adjusting the cylinder potentiometer 26, and can also easily take a countermeasure.

If no abnormality is displayed in the warning control subroutine, the speed control subroutine is executed. In the speed control subroutine, a subroutine for converting the lever detection value by the lever potentiometer 29 is executed (S13), and the cylinder potentiometer 26
The subroutine for converting the detected value of is executed (S14),
Then, it is judged whether or not the F / R continuously variable transmission lever 27 is in the neutral position N (S15.) As a result, the lever 2
When 7 is in the neutral position N, the raw value Po ₃ of the cylinder potentiometer 26 is compared with the maximum contraction value H updated when the power is turned on (S16). As a result, the raw value Po ₃
Is less than or equal to the maximum contraction value H, then the raw value
Po ₃ and the maximum contraction value H are compared (S17). As a result, when the raw value Po ₃ is smaller than the maximum contraction value H, the raw value Po ₃ is updated and input as the maximum contraction value H at that time in the operating position storage means 34 (S18), and stepless. Both acceleration and deceleration of the transmission 45 are stopped (S19). Therefore, even if the reference value of the cylinder potentiometer 26 shifts during operation, if the shift value is smaller than the maximum contraction value H updated when the power is turned on, that value is set as the maximum contraction value at that time, and the operating position storage means is provided. Since it is possible to immediately update and input to 34, the continuously variable oil-operated actuator 25 can always be controlled based on an appropriate value to reliably operate to the most contracted position, and thus the runaway of the traveling machine body 3 Can be reliably prevented.

If the FR stepless speed change lever 27 is not in the neutral position N in S15, the lever potentiometer 29
Converted value Po ₂ of cylinder potentiometer 26 converted value Po ₄
Are compared (S20), and as a result, if the conversion Po ₂ of the lever potentiometer 29 is smaller than the conversion value Po ₄ of the cylinder potentiometer 26, the continuously variable transmission 45 is decelerated (S21), and the conversion value Po ₂ And the conversion value Po ₄ are equal, the continuously variable transmission 45 stops both its speed increasing and decelerating operations (S22), and the conversion value Po _{2 of the} lever potentiometer 29 is further increased.
Is greater than the conversion value Po ₄ of the cylinder potentiometer 26, the continuously variable transmission 45 is accelerated (S23), and therefore, while the FR continuously variable transmission lever 27 is operated at a position other than the neutral position N. , The conversion value P / ₂ and the conversion value Po ₄ are constantly compared, and these two values are controlled so as to always match. On the other hand, the subroutine of the detection value conversion by the cylinder potentiometer 26 in S14 is, as shown in FIG. 5, subtracted the contraction value H from the raw value Po _{3 of the} potentiometer 26 to obtain Po ₃ ′ (S24), and further. The constant A for the Po ₃ ′
Multiply by and set to the value corresponding to the lever potentiometer conversion value Po ₂ (S25).

Further, the continuously variable transmission hydraulic actuator 25 is fully contracted by the forced contraction actuating means 38 each time the engine is started or the neutral operation of the continuously variable transmission lever 27 is performed, so that the traveling clutch is reliably disengaged. Even if the R continuously variable transmission lever 27 is operated to the high speed side, for example, the continuously variable transmission hydraulic actuator 25 is contracted to the minimum and the continuously variable transmission 45 is always set to the lowest low speed. In addition to being able to reliably prevent the risk that the oil pressure will be reduced, the hydraulic actuator 25 for continuously variable transmission can always be fully contracted each time the engine is started, so that oil is always sent to the cylinder part including the piping prior to work. , The subsequent operation can be done smoothly.

(G) Effect of the Invention As described above, according to the present invention, the operating position at one end of the operating range of the actuator during a predetermined operation is performed while a predetermined operation such as power-on at engine startup is performed next. Since the continuously variable transmission actuator (25) is controlled based on the operating position means (34) storing the value of the detecting means (26), the reference value of the operating position detecting means (26) is, for example, the actuator. When the actuator (25) is deviated in the extension direction or the contraction direction, the actuator (25) is not contracted to the most contracted position and the traveling clutch is not disengaged, or the actuator (2
It is possible to reliably prevent a problem such as a signal being continuously output to further contract the actuator (25) even when 5) is at the most contracted position.

Further, since the reference value is a state in which the detection value of the operating position detecting means (26) does not change when the continuously variable transmission actuator (25) is moved by the forced operating means (38), the reference value is set to It is an absolute reference value that consists of one end of the operating range of the gear shift actuator (so-called donpeck), and does not deviate due to deviations in the mounting position, such as with reference switches, and always provides a reliable and accurate reference value. Can be held.

Further, since the reference value is a state in which the continuously variable transmission actuator (25) is located at one end of the operating range and the detected value of the operating position detecting means (26) does not change, a special member such as a reference switch is not required. The structure is simple and sufficient.

[Brief description of drawings]

FIG. 1 is an electric circuit diagram relating to the present invention, FIGS. 2 to 5 are flow charts showing the operation of this embodiment, and FIG.
FIG. 7 is a diagram showing the correlation between the position of the R continuously variable lever and the lever potentiometer value, FIG. 7 is a diagram showing the correlation between the cylinder stroke and the raw value of the cylinder potentiometer, and FIG. 8 is a diagram showing the cylinder stroke and the conversion value of the cylinder potentiometer. And FIG. 9 is a diagram showing the correlation between the position of the FR stepless speed change lever and the raw value of the cylinder potentiometer. FIG. 10 is a perspective view of a combine to which the present invention can be applied. 1 …… Work vehicle (combine), 25 …… Continuous speed change actuator (Continuous speed change hydraulic actuator), 26 ……
Working position detection means (cylinder potentiometer), 27 ...
... Operating lever (FR stepless speed change lever), 34 ... Operating position storage means, 38 ... Forced contraction operation means, 45 ... Stepless speed changer, N ... Neutral position.

Claims (1)

[Claims] 1. A work vehicle in which a continuously variable transmission actuator is actuated at one end of its operating range corresponding to a neutral position of an operation lever to set the continuously variable transmission to a maximum deceleration position and a traveling clutch is disengaged. An operating position detecting means for continuously detecting the operating position of the continuously variable transmission actuator, and the continuously variable transmission actuator positioned at one end of the operating range at a predetermined operation such as power-on at engine startup. Forced actuation means for forcibly actuating, and a state where the detection value of the actuation position detection means does not change at the time of the predetermined operation is determined to be one end of the operation range of the continuously variable transmission actuator, and the operation position detection at that position is performed. An operating position storing means for storing the value of the means, and while the predetermined operation is operated next, based on the value of the operating position storing means, A control device for a work vehicle, which is configured to control the continuously variable actuator.