JP2006280265A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working vehicle such as tractor simplified in operation concerning the on/off setting of automatic control function and prevented from missetting. <P>SOLUTION: The working vehicle has a control unit 26 equipped with an automatic on/off mode(leaving mode ON) functioning to automatically turn on/off a specific automatic control function(e.g. depth-of-plowing automatic control function) according to a present traveling mode and a manual on/off mode(leaving mode OFF) functioning to turn on/off the specific automatic control function according to the operation of an individual on/off setting instrument regardless of the present traveling mode. The control unit 26 functions to switch between the automatic on/off mode and the manual on/off mode according to the operation of an on/off mode setting instrument(leaving switch 15). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a work vehicle such as a tractor having a plurality of automatic control functions.

  Work vehicles having a plurality of automatic control functions are known. For example, the automatic control functions of tractors include automatic tilling depth control function (depth control function), automatic tilt control function (tilt control function), backup control function, turning / lifting control function, front wheel acceleration control function, auto There is a brake control function.

In such work vehicles, it is possible to improve work efficiency and work accuracy by setting various automatic control functions on and off according to work conditions. Since the setting becomes complicated and there is a possibility of causing an erroneous setting, a work vehicle capable of setting a plurality of automatic control functions on and off collectively has also been proposed (for example, see Patent Documents 1 and 2).
JP 2004-159620 A JP 2003-219707 A

  In the work vehicles described in Patent Documents 1 and 2, it is possible to prepare a plurality of on / off patterns for a plurality of automatic control functions, select a desired on / off pattern from them, and perform on / off setting all at once. However, since it is necessary to select an appropriate on / off pattern according to the traveling mode and to switch to the on / off pattern, the on / off setting operation is still complicated and there is a risk of erroneous setting.

The present invention was created for the purpose of solving these problems in view of the above circumstances, and in a work vehicle including a control device that realizes a plurality of automatic control functions, the control device includes: An automatic on / off mode that automatically turns a specific automatic control function on and off according to the current driving mode, and the specific automatic control function can be used to operate an individual on / off setting tool regardless of the current driving mode. A manual on / off mode for turning on / off in response, and an on / off mode switching means for switching between the automatic on / off mode and the manual on / off mode according to the operation of the on / off mode setting tool. By configuring in this way, by selecting the automatic on / off mode, a specific automatic control function can be automatically turned on / off according to the current travel mode. Selection of patterns and switching of on / off patterns become unnecessary, and as a result, not only operations related to on / off setting of the automatic control function are simplified, but also erroneous setting can be prevented. Further, if the manual on / off mode is selected, a specific automatic control function can be manually turned on / off, so that fine on / off setting suitable for various work conditions can be performed.
The specific automatic control function includes an automatic tilling depth control function for automatically controlling the working depth of the work implement, an automatic tilt control function for automatically controlling the tilt of the work implement, and the work implement automatically according to the reverse movement of the aircraft. It includes any one of a backup control function for raising control and a turning / lifting control function for automatically raising the work machine according to the turning of the machine body. If comprised in this way, this invention can be applied to the main automatic control function in a tractor.
Further, the traveling mode is determined based on a traveling shift state, a 2WD / 4WD switching state, and / or a left / right brake coupling state. If comprised in this way, a driving | running | working form can be judged correctly and a specific automatic control function can be turned on and off appropriately.
In addition, even in the manual on / off mode, there is provided a specific automatic control function that is automatically turned on / off according to the current traveling mode. If comprised in this way, the influence of on / off mode switching can be excluded about the automatic control function in which on / off according to a driving | running | working form is essential.
The specific automatic control function includes a front wheel acceleration control function for increasing the rotation of the front wheels according to the turning of the aircraft, and an automatic brake control function for automatically braking the rear wheels inside the turning according to the turning of the aircraft. It is characterized by including either. With this configuration, it is possible to regulate the operation of the front wheel acceleration control function and the auto brake function during traveling on the road.

  Next, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a traveling machine body of a tractor, and a work machine 3 is connected to a rear portion of the traveling machine body 1 via an elevating link mechanism 2. The elevating link mechanism 2 is suspended by a lift arm 5 via a pair of left and right lift rods 4, and raises and lowers the work implement 3 according to the hydraulic elevating operation of the lift arm 5. Also, a lift rod cylinder 6 is interposed in either the left or right lift rod 4, and the work implement 3 is tilted left and right in accordance with the hydraulic expansion / contraction operation of the lift rod cylinder 6.

  A working machine 3 shown in FIG. 1 is a rotary tilling work machine, and includes a tilling shaft 8 having a plurality of tilling claws 7, a main cover 9 covering the top of the tilling shaft 8, and a rear end portion of the main cover 9. A rear cover 10 provided so as to be pivotable up and down, and a tilling depth sensor 11 for detecting a rotation angle of the rear cover 10. Further, the main cover 9 of the present embodiment can be rotated back and forth with the tilling shaft 8 as a fulcrum, and the fulcrum position of the rear cover 10 can be changed according to the working conditions. For example, the main cover 9 is rotated forward during the deep plowing work, and the main cover 9 is rotated backward during the shallow plowing work (including the shaving work).

  The traveling machine body 1 displays various traveling modes by manually or automatically switching various mechanisms. The traveling mode is roughly divided into a working traveling mode and a non-working traveling mode (road traveling mode). Usually, in the working traveling mode, the traveling sub-transmission mechanism (not shown) is a low-speed side, two-wheel drive / four-wheel drive switching mechanism. (Not shown) is switched to the four-wheel drive side, and the left and right brake coupling mechanism (not shown) is switched to the non-coupled side. The mechanism is switched to the 4WD or 2WD side, and the left and right brake connection mechanism is switched to the connection side. Further, the traveling machine body 1 of the present embodiment includes a front wheel speed increasing mechanism (not shown) for increasing the rotation of the front wheels, and is capable of making a small turn by switching the front wheel speed increasing mechanism to the speed increasing side when the body turns. To.

  The operation unit 12 of the traveling machine body 1 is provided with a main panel 13 and a side panel 14. As shown in FIG. 2, the main panel 13 has an automatic switch (ON / OFF mode setting tool) 15 for turning ON / OFF the automatic mode (ON: automatic ON / OFF mode / OFF: manual ON / OFF mode), ON / OFF of the automatic mode. Auto mode lamp 15a for displaying the off setting status, backup switch (individual on / off setting tool) 16 for turning on / off the backup control function, backup lamp 16a for displaying the on / off setting status of the backup control function, and turning / lifting control function Turning / raising switch (individual on / off setting tool) 17 for turning on / off, turning / raising lamp 17a for displaying on / off setting status of turning / raising control function, front wheel for turning on / off front wheel acceleration control function and auto brake control function Acceleration / auto brake switch (individual on / off setting tool) 18, front wheel acceleration run to display on / off setting status of front wheel acceleration control function 18a, an auto brake lamp 18b indicating the on / off setting state of the auto brake control function, a tilling depth monitor lamp 19 for displaying the on / off state of the tilling automatic control function, and an inclination monitor lamp 20 for displaying the on / off state of the tilt automatic control. Etc. are included.

  As shown in FIG. 3, the side panel 14 includes a position lever 21 that is a height setting tool for the position control function, a tilling depth setting dial 22 that sets a target tilling depth of the tilling depth automatic control function, and an tilling depth automatic control function. Automatic turning depth switch (individual turning on / off setting tool) 23 which is also used as a switching setting tool for automatic turning depth control control mode (depth, S mode, etc.), turning on / off setting tool for automatic tilt control function In addition, an inclination setting dial 24 that is also used as a target inclination setting tool, a raising height setting dial 25 that sets the raising height of the work machine 3, and the like are included.

  The traveling machine body 1 is provided with a control device 26 that realizes various automatic control functions. As shown in FIG. 4, the control device 26 is configured using a microcomputer or the like, and a position sensor that detects the lever position of the position lever 21 in addition to the setting operation tool and sensor described above on the input side. 27, a lift arm sensor 28 for detecting the arm angle of the lift arm 5, a lift rod sensor 29 for detecting the rod length of the lift rod cylinder 6, and a shaving switch 30 for detecting the shaving work based on the rotational position of the main cover 9. An engine rotation sensor 31 that detects the engine speed, a tilt sensor 32 that detects the left / right tilt of the traveling machine body 1 (or work machine 3), a reverse switch 33 that detects a reverse operation of the machine body, and a turning switch that detects a turning operation of the machine body 34, sub-shift switch 35 for detecting the shift position of the sub-transmission mechanism, and four for detecting the switching state of the two-wheel drive / four-wheel drive switching mechanism. Switch 36, a brake connection switch 37 for detecting the coupling state of the left and right brake link mechanism is connected.

  On the other hand, on the output side of the control device 26, in addition to the monitor lamp described above, the lifting solenoid 38a, the lowering solenoid 38b of the lift arm solenoid valve 38, the extension solenoids 39a, 39b of the lift rod solenoid valve 39, the front wheels A front wheel acceleration solenoid 40a of the acceleration electromagnetic valve 40, a left brake solenoid 41a of the left and right side brake electromagnetic valve 41, a right brake solenoid 41b, and the like are connected.

  The automatic control functions realized by the control device 26 include an automatic tilling depth control function for automatically controlling the tilling depth of the work implement 3, an automatic tilt control function (tilt control function) for automatically controlling the left and right tilt of the work implement 3, and the reverse of the airframe. Backup control function that automatically raises the work implement 3 according to the operation, turning / lift control function that automatically raises the work implement 3 according to the aircraft turning operation, and front wheel rotation increased according to the aircraft turning operation This includes a front-wheel acceleration control function that speeds up, an auto-brake control function that automatically brakes the rear wheel inside the turn according to the turning operation of the vehicle. The plowing depth automatic control function of the present embodiment includes a depth control that automatically raises and lowers the work implement 3 according to the plowing depth detected by the plowing depth sensor 11, and the work implement 3 automatically according to the engine speed. S mode control for moving up and down automatically and scribing control for performing lifting control of the work machine 3 suitable for scribing work are included.

  As shown in FIG. 5, the control device 26 has an automatic on / off mode (automatic mode ON) in which a specific automatic control function is automatically turned on / off according to the current driving mode, and a specific automatic control function. Regardless of the current driving mode, it has a manual on / off mode (automatic mode OFF) that turns on and off according to the operation of the individual on / off setting tool, and according to the operation of the on / off mode setting tool (automatic switch 15). Switches between automatic on / off mode and manual on / off mode. In this way, by selecting the automatic on / off mode, a specific automatic control function can be automatically turned on / off according to the current travel mode, so that the operator can change the on / off pattern according to the travel mode. Selection and switching of on / off patterns become unnecessary, and as a result, not only the operation related to on / off setting of the automatic control function is simplified, but also erroneous setting can be prevented. Further, if the manual on / off mode is selected, a specific automatic control function can be manually turned on / off, and fine on / off setting suitable for various work conditions can be performed. In FIG. 5, “◯” indicates an ON state regardless of the manual ON / OFF setting, “X” indicates a OFF state regardless of the manual ON / OFF setting, and “△” indicates a manual ON / OFF setting. Indicates the case of turning on / off according to the setting.

  In the present embodiment, the specific automatic control function described above is applied to the tilling depth automatic control function, but can also be applied to an inclination automatic control function, a backup control function, a turning / lifting control function, and the like. If it does in this way, the present invention can be applied to the main automatic control function in a tractor. In the present embodiment, the traveling mode is determined based on the sub-shift state, the two-wheel drive / four-wheel drive switching state, and the left / right brake connection state, but other determination conditions may be added.

  Next, a specific example of the automatic control on / off process in the first embodiment will be described with reference to FIG. However, in FIG. 6, ON / OFF of automatic control is described as ON / OFF. As shown in this figure, the control device 26 determines ON / OFF of the automatic mode, and when the determination is YES, the depth control is turned ON. However, if the sub-transmission mechanism is on the high speed side, the 2WD / 4WD switching mechanism is on the 2WD side, and the left and right brake coupling mechanism is on the coupling side, all the tilling depth automatic control functions (depth control, S-mode control, Control) is turned OFF. On the other hand, when the automatic mode is OFF, it is determined that the depth control switch (plowing depth automatic switch 23) is ON. If this is YES, the depth control is ON, and if NO, the depth control is OFF. . Further, it is determined whether the S mode switch (plowing depth automatic switch 23) is ON. If this is YES, the S mode control is turned ON, and if it is NO, the S mode control is turned OFF. Further, it is determined whether the substitute writing switch 30 is ON. If this is YES, the substitute writing control is turned ON, and if it is NO, the substitute writing control is turned OFF. By such processing, the automatic control function is turned on and off as shown in FIG.

  According to the present embodiment configured as described, the control device 26 automatically switches the plowing depth automatic control function according to the current traveling mode (automatic mode ON) and plowing. The automatic depth control function includes a manual on / off mode (automatic mode OFF) for turning on / off in accordance with the operation of the individual on / off setting tool regardless of the current driving mode, and an on / off mode setting tool (auto switch 15). ) The automatic on / off mode and the manual on / off mode are switched according to the operation of), so that the automatic tilling depth control function can be automatically turned on / off according to the current travel mode by selecting the automatic on / off mode. it can. This eliminates the need for the operator to select an on / off pattern according to the driving mode and to switch the on / off pattern, and as a result, not only simplifies operations related to the on / off setting of the automatic control function, Incorrect settings can also be prevented. Further, if the manual on / off mode is selected, a specific automatic control function can be manually turned on / off, so that fine on / off setting suitable for various work conditions can be performed.

  Next, 2nd embodiment of this invention is described along FIGS. As shown in FIG. 7, the present embodiment shows an example in which the automatic control on / off processing of the above-described embodiment is applied to an automatic tilt control function (tilt control function), a backup control function, and a turn / lift control function. Specifically, in the second embodiment, ON / OFF of the automatic mode is determined. If the determination is YES, it is determined that the tilt control switch (tilt setting dial 24) is ON, and the determination is YES. In this case, the tilt control is turned on. However, when the auxiliary transmission mechanism is on the high speed side, the 2WD / 4WD switching mechanism is on the 2WD side, and the left and right brake coupling mechanism is on the coupling side, the backup control, turning / lifting control, and tilt control are turned OFF.

  In addition, when the sub-transmission mechanism is on the high speed side, the 2WD / 4WD switching mechanism is on the 2WD side, and the left and right brake connection mechanism is on the non-connected side, the tilt control is turned ON / OFF according to the ON / OFF of the tilt control switch. However, backup control and turning / lifting control are turned off. In other travel modes, the backup control is turned ON / OFF according to the ON / OFF of the backup switch 16, and the turning / lifting control function is turned ON / OFF according to the turning / lifting switch ON / OFF. However, if the sub-transmission mechanism is on the high speed side, if the 2WD / 4-WD switching mechanism is on the 2WD side, or if the left and right brake coupling mechanism is on the coupling side, the turning / lifting control function is forcibly turned off. To do.

  On the other hand, when the automatic mode is OFF, the tilt control is turned ON / OFF according to the ON / OFF of the tilt control switch, the backup control is turned ON / OFF according to the ON / OFF of the backup switch 16, and further turning・ Turn / lift control function is turned ON / OFF according to ON / OFF of the lift switch.

  Next, a third embodiment of the present invention will be described with reference to FIG. As shown in this figure, the third embodiment has a specific automatic control function that is automatically turned on and off according to the current traveling mode even in the manual on / off mode (automatic mode OFF). This is different from the above embodiment. In this way, it is possible to eliminate the influence of switching on / off mode for an automatic control function that requires on / off according to the running mode. Specifically, the front wheel acceleration control function (double speed control function) that accelerates the rotation of the front wheels according to the turning of the aircraft, and the automatic brake control that automatically brakes the rear wheels inside the turning according to the turning of the aircraft The function can be restricted from operating when traveling on the road.

It is a side view of a tractor. It is a front view of a main panel. It is a top view of a side panel. It is a block diagram which shows the control structure of a tractor. It is operation | movement explanatory drawing of 1st embodiment. It is a flowchart which shows the automatic control on / off process of 1st embodiment. It is operation | movement explanatory drawing of 2nd embodiment. It is a flowchart which shows the automatic control on / off process (1) of 2nd embodiment. It is a flowchart which shows the automatic control on / off process (2) of 2nd embodiment. It is a flowchart which shows the automatic control on / off process (3) of 2nd embodiment. It is effect | action explanatory drawing of 3rd embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling machine body 3 Working machine 13 Main panel 14 Side panel 15 Random switch 16 Backup switch 17a Turning / raising lamp 23 Plowing depth automatic switch 24 Tilt setting dial 26 Control device 35 Sub shift switch 36 4WD switch 37 Brake connection switch

Claims (5)

  In a work vehicle provided with a control device that realizes a plurality of automatic control functions, the control device automatically turns on and off a specific automatic control function according to a current traveling mode, and the specific The automatic control function of the automatic on / off mode according to the operation of the on / off mode setting tool and the automatic on / off mode according to the operation of the on / off mode setting tool A work vehicle comprising: an on / off mode switching means for switching a manual on / off mode.   The specific automatic control function includes an automatic tilling depth control function for automatically controlling the working machine plowing depth, an automatic tilt control function for automatically controlling the tilting of the work implement, and an automatic lifting control of the work implement according to the backward movement of the machine body. 2. The work vehicle according to claim 1, further comprising: a backup control function that performs a turn-up / lift-up control function that automatically raises and lowers the work implement according to the turn of the machine body.   The work vehicle according to claim 1 or 2, wherein the traveling mode is determined based on a traveling speed change state, a 2WD / 4WD switching state, and / or a left / right brake coupling state.   The work vehicle according to any one of claims 1 to 3, further comprising a specific automatic control function that is automatically turned on and off according to a current travel mode even in the manual on / off mode.   The specific automatic control function includes any of a front wheel acceleration control function for increasing the rotation of the front wheels in accordance with the turning of the aircraft, and an auto brake control function for automatically braking the rear wheels inside the turning in response to the turning of the aircraft. The work vehicle according to claim 4, further comprising:

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