JP2000262107A - Agricultural working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make an auto-up control work only in a necessary time of operation traveling and to improve handleability even without frequently carrying out on and off operation of a selector switch in an agricultural working machine equipped with an auto-up control means capable of automatically raising an operation apparatus when steering of steering wheels at a set angle or larger than it is detected. SOLUTION: This agricultural working machine is equipped with a selector switch 47 for making an auto-up control on and off, an operation state detecting means for detecting whether the machine is in an advance operation traveling state or not and an operation checking means for disabling an auto-up operation even if the selector switch 47 is selected in an auto-up control on state in a state in which the operation state detecting means detects that the operation state is not an advance operation traveling state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural contactor having automatic up control means for automatically raising a connected working device when it is detected that a steered wheel has been steered by a predetermined angle or more. Related to agricultural work machines.

[0002]

2. Description of the Related Art The above-described auto-up control can omit the operation of raising a working device when turning a body at a ridge, and has been put to practical use as a technique capable of simplifying the operation at a ridge. Have been. The auto-up control is configured so that the control operation can be arbitrarily turned on / off by switching means such as a changeover switch.

[0003]

In this auto-up control, the switching means is turned on during the standard work traveling in the field, and the auto-up control is operated to perform an efficient work, and In the case of traveling back and forth, traveling in the field without any work, or work traveling that does not require raising the working device when changing the body direction, the switching means is turned off to stop the auto-up control, and the traveling conditions It has been cumbersome to switch on and off the switching means according to the operating conditions.

The present invention has been made in view of such a point, and the auto-up control can be performed only when necessary during work traveling without frequently performing the troublesome on / off operation of the switching means. Therefore, it is intended to further improve the handleability.

[0005]

Means for Solving the Problems [Structure, operation and effect of the invention according to claim 1]

(Structure) The invention according to claim 1 is an agricultural work machine provided with an auto-up control means for automatically raising a work device when it is detected that a steered wheel is steered by a predetermined angle or more. In the above, the auto-up control is turned on.
A switching means for turning off, and a work state detecting means for detecting whether or not the vehicle is in the forward work traveling state. In a state where the work state detecting means detects that the vehicle is not in the forward working traveling state, the switching means is automatically turned on. An operation check means is provided for disabling the auto-up operation even if the control is turned on.

(Operation) According to the above configuration, when the forward running operation is performed in a state where the switching means is turned on, if the steered wheels are largely steered to change the direction of the body at the ridge or the like, the auto-up control is performed. Working, the working equipment rises automatically. In addition, even in a state where the switching means is turned on, in a state where the vehicle is not traveling forward, for example, in a non-working state in which power transmission to the working device is cut off, or in a reverse state, the auto-up control is performed even if the front wheels are steered largely. Not done. Needless to say, if the changeover switch is turned off, the auto-up control does not work.

(Effects) Therefore, according to the first aspect of the present invention, even when the switching means is turned on, the auto-up control is performed only when the aircraft body largely changes direction, such as turning on a ridge during work. However, the auto-up control can be performed only when necessary without frequently turning on and off the changeover switch according to the running state, and the system can be configured to be easily handled.

[Structure, operation and effect of the invention according to claim 2]

(Structure) According to a second aspect of the present invention, in the first aspect of the present invention, the work state detecting means includes a sensor for detecting intermittent power transmission to the work apparatus, and a traveling speed change state. And a sensor for detection.

(Operation) According to the above structure, when the power is transmitted to the working device and the traveling speed is in the forward direction, it is recognized as the forward traveling state, and the switching means is turned on. If operated, the auto-up control is executed based on the large steering of the steered wheels. Also,
If the power transmission to the working device is cut off, the auto-up control is prevented even if the traveling speed is in the forward direction, and if the traveling speed is neutral or reverse, the auto-up control will not be performed even if the power is transmitted to the working device. Up control is inhibited.

(Effects) Therefore, according to the second aspect of the present invention, it is possible to accurately recognize the state of the forward running operation and execute the auto-up control only when necessary, so that the first aspect of the present invention can be suitably implemented. Can be implemented.

[Structure, operation and effect of the invention according to claim 3]

(Structure) The invention according to claim 3 is the invention according to claim 1 or 2, further comprising a display lamp which is turned on when the switching means is turned on and is turned off only when the switching means is turned off. It is.

(Operation) According to the above configuration, the display lamp indicates the operation state of the switching means. When the switching means is turned on, the display lamp continues to be turned on unless the turning off operation is performed. The indicator lamp is lit even when the vehicle is not checked and the actual auto-up operation is not performed.

(Effects) Therefore, according to the third aspect of the present invention, the lighting state of the display lamp is a state where the auto-up operation may be performed, and the auto-up operation is not performed at all when the display lamp is turned off. It is possible to recognize that the vehicle is in a state, and it is easy for the driver to make a decision and the handling is excellent.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an agricultural tractor configured as a rotary tilling type as an example of an agricultural work machine. This agricultural tractor has a structure in which a rotary tilling device 2, which is an example of a working device, is connected to a rear portion of the tractor machine 1 via a three-point link mechanism 3 so as to be able to move up and down and roll. Here, the three-point link mechanism 3
As shown in FIG. 2, the left and right lift arms 5 and the left and right lower links 3b each include a top link 3a and a pair of left and right lower links 3b and are driven by a lift cylinder 4 formed of an external single-acting hydraulic cylinder. Are connected to the lift rod 6 and the rolling cylinder 7, respectively.

FIG. 6 is a block diagram showing a lifting control system for raising and lowering the rotary tilling device 2 by the lift cylinder 4 and a rolling control system for tilting the rotary tilling device 2 right and left by the rolling cylinder 7. The lifting control system includes a position control system that raises and lowers the rotary tilling device 2 to an arbitrary height set by the driver, and raises and lowers the rotary tilling device 2 based on the detection result of the cultivation depth to stabilize the cultivation depth at the set cultivation depth. A standard automatic cultivation depth control system to maintain and an engine load responsive automatic cultivation depth that stably maintains the cultivation depth at a set cultivation depth by raising and lowering the rotary cultivator 2 based on the rotation speed of an engine 8 mounted on the tractor main unit 1. A control system, an auto-up control system that automatically raises the rotary tilling device 2 to a set upper limit position when the front wheel 9 of the tractor main body 1 is steered to some extent, and a rotary tilling when the body is moved backward. The rotary tiller 2 is moved to the upper limit position in preference to the backup control system for automatically raising the device 2 to the set upper limit position, the position control system, and the first and second automatic tillage depth control systems. Contains a priority elevation control system capable of lowering the rotary tilling device 2 has risen an operation to increase arbitrarily. The rolling control system includes a standard rolling control system that maintains the rotary tillage device 2 at a set right and left inclination angle regardless of the left and right inclination of the tractor main unit 1 in a flatland field, and a rotary tillage device 2 in an inclined field. And a slope rolling control system for maintaining the set left-right inclination angle. The lifting electromagnetic control valve 11 for controlling the operation of the lift cylinder 4 and the rolling electromagnetic control valve 12 for controlling the operation of the rolling cylinder 7 are provided by a control device 1 using a microcomputer.
In the following, a brief description will be given of each of the control systems for operating the lifting and lowering electromagnetic control valve 11 and the rolling electromagnetic control valve 12.

[Position Control] As a position control system input device, a potentiometer type position setter 14 for setting a target height based on the operation of a lifting lever 13, and a rotary tilling device based on the swing angle of the lift arm 5. A potentiometer-type lift arm sensor 15 for detecting the height of the lift arm 2 is connected to the control device 10, and the set value from the position setting device 14 and the lift arm sensor 15
The rotary tilling device 2 is moved up and down to a position corresponding to the operating position of the lifting lever 13 by controlling the expansion and contraction of the lift cylinder 4 via the electromagnetic control valve 11 so that the detected value from Can be held.

[Standard Automatic Tillage Depth Control] As input devices of the standard automatic tillage depth control system, a potentiometer type tillage depth setting device 16 for setting a target tillage depth and a swing displacement of a rear cover 17 in the rotary tillage device 2 A potentiometer type cover sensor 18 for detecting the amount as the actual till depth is used as the control device 1
0, and controls the expansion and contraction of the lift cylinder 4 via the electromagnetic control valve 11 so that the tillage depth set value from the tillage depth setter 16 and the tillage depth detection signal from the cover sensor 18 are balanced. Thus, the rotary tilling can be performed at the set predetermined plowing depth irrespective of the front-rear inclination of the tractor main unit 1 and the degree of subsidence in the field.

[Automatic Tillage Depth Control Corresponding to Engine Load] As the input devices of the automatic tillage depth control system, the tillage depth setting device 16 for setting a target tillage depth, a rotation sensor 19 for detecting the engine speed, and a rotary The lift arm sensor 15 for detecting the height of the tillage device 2 is connected to the control device 10, and basically, the height of the rotary tillage device 2 (height of the lift arm 5) is set to a tillage depth setting device. By maintaining the target plowing depth set in step 16 and performing an ascending control assuming that the plowing depth has increased when the engine load increases, and performing a descending control so as to return to the original plowing depth when the engine load recovers, The actual tillage depth can be stabilized. Here, an engine load is detected based on a signal from the rotation sensor 19, and a control amount for the electromagnetic control valve 11 is determined based on, for example, fuzzy inference in accordance with the fluctuation of the engine load. Therefore, in the raising / lowering control using the automatic plowing depth control system corresponding to the engine load, the cover sensor 18 used in the standard automatic plowing depth control system is unnecessary, and the rough raising work in the wetland, the inner plowing work, the ridge work, etc. Rear cover 1 for standing work
It is used effectively in rotary tillage work, etc., which is carried out while lifting the hopper 7 greatly.

[Auto-up control] As an input device of the auto-up control system, a pitman arm (not shown) for steering a front wheel 9 which is a steered wheel in the tractor main body 1.
Sensor 22 for detecting the swing angle of the vehicle, and main transmission lever 2 for setting the traveling speed of the tractor 1
3, a traveling speed change sensor 25, 26 for detecting each operation position of the forward / reverse switching lever 24, and a PTO speed change for selecting a rotation speed and a rotation direction of a PTO shaft (work power take-off shaft) 27 in the tractor main body 1. The PTO shift sensor 29 for detecting the operation position of the lever 28 and the control device 10
It is connected to the.

In the auto-up control, a state in which the vehicle is traveling forward is detected by signals from the traveling speed change sensors 25 and 26, and power is transmitted to the PTO shaft 27 by a signal from the PTO speed change sensor 29. , That is, when the rotary tilling layer 2 is driven to perform forward work traveling, the steering sensor 22
When it is detected that the front wheel 9 has been steered to the left or right from the straight traveling state by more than the set angle (for example, 30 degrees or more), it is determined that the aircraft is turning around the ridge,
This automatically controls the rotary tilling apparatus 2 to the set upper limit.

[Backup Control] As the input device of the backup control system, the traveling speed change sensors 25 and 26 are connected to the control device 10, and if it is detected that the tractor main unit 1 has entered the reverse state. In addition, the rotary tilling device 2 is automatically controlled to rise to the set upper limit.

[Priority Up / Down Control] As an input device of the priority up / down control system, a priority up / down switch 33 operated by a priority up / down lever 32 provided on the right side of the steering handle 31 of the tractor main body 1 is connected to the control device 10. Have been. The priority raising / lowering lever 32 is configured as a vertically returnable lever urged to return to the neutral position, and the upper limit of the rotary tillage device 2 over the selected lifting control system by an upward one-shot rocking operation. The rotary tilling device 2 is controlled to descend to the target plowing depth set by the elevation control system in which the rotary tilling apparatus 2 is selected by a one-shot swing operation downward.

[Rolling Control] The input devices of the rolling control system include a tilt sensor 35 for detecting the left-right tilt angle of the tractor main unit 1 and a target tilt angle (for example, left-right horizontal) of the rotary tilling apparatus 2 in the left-right direction. A potentiometer type rolling setting device 36 to be set, a stroke sensor 37 for detecting the length of the rolling cylinder 7, and a manual rolling switch 38 are connected to the control device 10. According to this rolling control, the tractor 1
Is tilted to the left or right, a target cylinder length for correcting the tilt of the rotary tilling device 2 associated with the tilt of the machine is calculated based on the detection value of the tilt sensor 35, and rolling is performed so as to match the target length. The cylinder 7 is an electromagnetic control valve 12
, The absolute inclination angle of the rotary tilling device 2 is stably maintained at the target inclination angle.

The manual rolling switch 38 tilts the rotary tilling device 2 upward to the right only while the switch is being operated to the "up" position, and the rotary tilling device 2 is rotated to the right only while the switch is being operated to the "down" position. The rolling cylinder 7 is preferentially operated to incline in the downward direction, and when the hand is released from the manual operation switch 38, the original cylinder is returned to the original target inclination angle.

The hillside rolling control system is used when the tractor 1 travels along the contour line of the sloping field, and is basically the same as the standard rolling control described above. , The target inclination angle is automatically corrected in anticipation of the sinking of the valley wheel.

Next, means for selecting each control system and setting a target value will be described. On the right side of the driver's seat 40 of the tractor main body 1, an operation panel 41 is provided.
Here, from the front to the rear, a link specification selection switch 42 for correcting a control reference value corresponding to the specification of the rotary depth type setting device 16 and the three-point link mechanism 3 configured as a rotary dial, and a standard sensitivity. A standard depth control mode selection switch 43 for selecting one of a set standard automatic depth control system, a standard automatic depth control system with sensitive sensitivity, and an engine load responsive automatic depth control system, a standard Control switch 44 for selecting one of the rolling control system and the rolling control system for sloping ground, a rotary specification selection switch 45 for correcting a control reference value corresponding to the specification of the rotary tilling apparatus 2, a rotary dial type , A rotary dial-type upper limiter 46 for setting the upper limit of the lift arm 5, and an on / off control of an auto-up control system. Change-over switch 47 of the marks, change-over switch 48 for turning on and off of the backup control system,
A collective switch 49 and a manual rolling switch 38 for simultaneously turning on / off the standard automatic tillage depth control system with the standard sensitivity and the standard rolling control system are provided in this order. The switches 42, 43, 4 for selecting the specifications
Reference numerals 4 and 45 denote waterproof touch panel switches of which the specification to be selected is sequentially switched each time a push operation is performed, and the switches 47 and 4 for ON / OFF.
Reference numerals 8 and 49 denote panel switches that repeat on and off each time a push operation is performed. The manual rolling switch 38 is constituted by a neutral return type lever switch.

Here, the specification selected for each push operation is lit on the upper part of each of the link specification selection switch 42, the tillage depth control mode selection switch 43, the rolling control mode selection switch 44, and the rotary specification selection switch 45. Indicator lamps L1, L comprising LEDs indicated by
2, L3 and L4 are deployed.

A switch 47 for turning on / off the auto-up control system, a switch 48 for turning on / off the backup control system, and simultaneously turning on / off the standard automatic plowing control system and the standard rolling control system. Collective switch 49 is constituted by a panel touch type switch having a waterproof structure that can be turned on and off alternately each time the switch is pressed, and each side is turned on when turned on, and is turned off. And display lamps L5, L6, L7, each of which is turned off.

Further, a front panel 51 provided with the steering handle 31 has a display lamp ML1 which is turned on and off in response to the operation of the rolling control mode selection switch 44, and which corresponds to the on / off state of the standard automatic tillage control system. Display lamp ML2 for turning on / off, display lamp ML3 for turning on / off the automatic tillage control system corresponding to the engine load, display lamp ML4 for turning on when the ascending / descending lever 32 is operated to ascend, backup control system Display lamp ML5 which is turned on / off in accordance with the on / off of
In addition, a display lamp ML6 that is turned on / off in response to the on / off of the auto-up control system is provided, so that the user can easily check the current control specification selection condition and the like even during operation. ing.

Here, the display lamps L5 and ML6 of the auto-up control system indicate the selection operation state of the changeover switch 47, and do not indicate whether or not the actual auto-up control functions. Absent. That is, once the changeover switch 47 is turned on, the display lamps L5 and ML6 continue to light unless the next time the switch is turned off. Even if the auto-up control is prevented by the check function, the display lamps L5 and ML6 are released, and the check is released. For example, it is possible to recognize that the auto-up control is in operation (see the flowchart of FIG. 7).

The operation panel is provided with an openable / closable cover 52. When the cover 52 is closed,
A link specification selection switch 42, a tillage depth control mode selection switch 43, a rolling control mode selection switch 44, a rotary specification selection switch 45, a rolling setting device 36,
The upper limiter 46 is hidden.

That is, the switches and setting devices hidden by the cover 52 are often operated by a worker who is familiar with the function to perform fine-grained work. Unskilled workers who are not familiar with the functions do not operate much. Such an unskilled worker can perform sufficient work by switching the standard automatic plowing depth control system of standard sensitivity and the standard rolling control system on and off simultaneously using the collective switch 49. Rather, a device that is not operated is hidden by the cover 52 to prevent the occurrence of an erroneous operation.

[Brief description of the drawings]

FIG. 1 is an overall side view of a tractor.

FIG. 2 is a perspective view of a rear part of the fuselage.

FIG. 3 is a plan view of the rear part of the fuselage.

FIG. 4 is a front view of a front panel.

FIG. 5 is a plan view of an operation panel.

FIG. 6 is a control block diagram.

FIG. 7 is a flowchart of an auto-up control.

[Explanation of symbols]

 2 Working device 9 Steering wheel (front wheel) 25 sensor 26 sensor 29 sensor L5 display lamp ML6 display lamp

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Shohei Nakai 64 Ishizu-Kitacho, Sakai-shi, Osaka F-term in Kubota Sakai Works (reference) 2B304 KA08 LA02 LA05 LB05 MA02 MB02 MC13 PA11 QA02 QA05 RA27 RB01

Claims (3)

[Claims] 1. A farm work machine having an auto-up control means for automatically raising a working device when it is detected that a steered wheel is steered by a set angle or more, wherein the auto-up control is turned on and off. Switching means for turning off;
It is provided with work state detecting means for detecting whether or not the vehicle is in a forward work traveling state, and in a state in which the work state detecting means detects that the vehicle is not in the forward work traveling state, the switching means is selected to an auto-up control on state. An agricultural work machine characterized in that it is provided with an operation check means for disabling the auto-up operation even when the operation is performed. 2. The agricultural work machine according to claim 1, wherein said work state detecting means comprises a sensor for detecting intermittent power transmission to said work device, and a sensor for detecting a traveling shift state. 3. The agricultural work machine according to claim 1, further comprising a display lamp that is turned on when the switching means is turned on and is turned off only when the switching means is turned off.