JP2639690B2 - Operating devices for agricultural tractors - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device capable of changing a mobile machine such as a riding type agricultural tractor from manned operation to unmanned operation by unmanned operation or remote operation. is there.

2. Description of the Related Art Conventionally, various types of riding-type agricultural tractors, in which an operator rides to perform traveling control and operation of a working machine, are known, and are widely used for various types of agricultural work.

Problems to be Solved by the Invention By the way, the riding type agricultural tractor is also used for work in a house. However, in the house, exhaust gas and dust are filled, noise is increased, and the working environment is significantly deteriorated.

For this reason, manned work by the agricultural tractor in the house is not preferable from the viewpoint of the working environment, and it is desirable to employ automatic operation by unmanned people. In addition, even in the case of work on a slope on which there is a danger due to a fall of the airframe or the like, it is desirable to use unmanned control or remote control in order to ensure safety.

In view of the above, the present invention satisfies such a demand, and it is possible to change the operation from manned operation to unmanned operation that performs unmanned operation or remote operation by simply additionally mounting the operation operation unit of the riding type tractor. Accordingly, it is an object of the present invention to provide a steering device such as an agricultural tractor that can safely perform work in a house with a bad working environment, work on a slope with danger, and the like.

Means for Solving the Problems In order to achieve the object, a steering device such as an agricultural tractor according to the present invention includes a receiving unit that receives an external steering signal, a traveling unit operating mechanism and a work implement operating mechanism, An automatic operation unit operated by an actuator and an operation unit that controls the operation of the automatic operation unit according to the signal received by the reception unit are integrated to constitute a steering device, and at least the operation unit of the operation device is a seat, a fender, It is detachably attached to a driving control section surrounded by a steering wheel and a step, and when the control device is mounted on the driving control section, each actuator of the automatic operation section operates a traveling section control mechanism and a work implement control mechanism. In the same manner as when the handle, pedal and lever are engaged or abutted with each other, as in the case where the handle, the pedal and the lever are artificially operated.

When an unmanned or remote-controlled riding agricultural tractor, etc., is operated, an operating unit, a receiving unit, and an automatic operating unit are integrated into a steering device, a seat, a fender, a steering wheel, and a driving control unit. It is additionally mounted in the space surrounded by the steps. Then, if a control signal is transmitted from an external control signal transmitting means, the control signal is received by the reception unit, and the handle, pedal, lever, etc. of the traveling unit control mechanism and the work machine control mechanism are engaged, or As in the case where the actuators of the contacting automatic operation unit are artificially operated by the control function of the operation unit, the actuators are directly operated to automatically drive and operate the work implement. .

Embodiment An embodiment of the present invention will be described with reference to the drawings.

 The drawing illustrates a riding type agricultural tractor.

Reference numeral 1 denotes a riding type agricultural tractor, in which an engine room 2 is provided at a front portion and a driving control portion 3 is provided at a rear portion thereof.
A rotary tilling work machine 4 is mounted on the rear part of the machine body as a work machine. The driving control section 3 is provided with a steering wheel 5 at a front portion thereof and a seat 6 at a rear portion thereof, and fenders 7 and 7 are provided on left and right sides of the seat 6. Reference numeral 8 denotes a step, on which a clutch pedal 9 and left and right brake pedals 10 and 10 constituting a traveling unit operation mechanism are located. The hydraulic lift lever 11 is located. 12 is the rear wheel of the running section, and 13 is the front wheel. 14 is a hydraulic lift arm.

Reference numeral 15 denotes a control device. The control device 15 includes an operating unit 16 which is accommodated in a space surrounded by the seat 6, the fenders 7, 7, the steering wheel 5, and the step 8 of the driving control unit 3, and receiving a control signal from the outside. Part 17 and an automatic operation unit of a traveling unit operation mechanism and a work machine operation mechanism. The automatic operation unit engages the handle 5 directly from above to operate the actuator. 18, an actuator 19 which contacts and operates the clutch pedal 9 while pressing it.
The left and right brake pedals 10 are operated by pressing them similarly, and the actuator 21 is engaged with the hydraulic lift server 11 from the side to operate it.

The receiving unit 17 is provided so as to protrude above the operating unit 16 and receives a traveling unit operation signal and a work implement operation signal transmitted from an external transmission unit (not shown) wirelessly or by wire. It is. The operating unit 16 includes a receiving unit 17
And a self-control device that detects the running state and the state of the work implement and maintains the state instructed by detecting the running state and the state of the work implement. 22,22
Denotes a mounting stay of the control device 15, and 23 denotes a plurality of mounting bolts of the control device 15. The control device 15 is detachable from the driving control unit 3.

In the configuration described above, when the riding type agricultural tractor 1 is to be unmannedly operated or remotely operated, the operating device 15, the operating unit 16, the receiving unit 17, and the automatic operating unit are integrally configured. , The seat 6 of the driving control unit 3, the fender
It is additionally mounted in the space surrounded by 7, 7, handle 5 and step 8. Then, if the control signal is transmitted from the external control signal transmitting means, the control signal is transmitted to the receiving unit.
Received at 17, the control unit of the operating unit 16 causes the automatic operation units of the traveling unit operation mechanism and the work implement operation mechanism to perform required operations, and the traveling operation and operation of the work implement are automatically performed.

In the case where an operator rides on the ride-type tractor 1 and performs manned steering, it is only necessary to remove the steering device 15 from the driving control section 3.

Effects of the Invention Since the present invention is configured as described above, the operation control unit 3 of the mobile machine such as a riding tractor is provided with a control device.
15 can be changed from unmanned operation to unmanned operation by remote control or unmanned operation by simply adding an additional 15 in a house that is exposed to exhaust gas and dust and has a poor working environment. It is possible to safely perform work, work on a slope with danger, and the like.

The control device 15 includes a receiving unit 17, an automatic operation unit, and an operation unit 16.
And can be changed to unmanned operation only by mounting the control device 15 on the driving control unit 3 as described above. Therefore, the unmanned operation is performed on the mobile machine side such as a riding type tractor. It is not necessary to make any special changes, such as the addition of accompanying parts, and it does not lead to an increase in its own cost or weight, and the control device 15 is attached to and detached from the driving control unit 3 according to the work content, The work can be efficiently performed without any trouble by using each work for manned driving or unmanned driving.

In addition, each of the actuators 18, 19, 20, and 21 constituting the automatic operation unit of the control device 15 is provided with a handle 5, a pedal 9, 10 and a lever 11 of the traveling unit control mechanism and the work implement control mechanism.
As in the case of manipulating this, it is directly operable as in the case of manipulating it. If it is, it can be attached to any mobile machine,
There is an advantage that the versatility of the control device 15 can be increased.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS The drawings show an embodiment of the present invention. FIG. 1 is an overall side view of a riding tractor showing a mode in which a control device is mounted, FIG. 2 is a front view of a part of the riding tractor, FIG. FIG. 2 is a plan view of a handle portion of the same. In the figure, 1 is a riding tractor, 3 is a driving control unit, 5 is a steering wheel, 6 is a seat, 7, 7 is a fender, 8 is a step, 9 is a clutch pedal, 10, 10 are left and right brake pedals, and 11 is a hydraulic pressure. Lift lever, 12 is rear wheel, 13 is front wheel, 14 is hydraulic lift arm, 15 is steering device, 16 is operating part, 17 is receiving part, 1
8,19,20,21 are actuators.

Claims (1)

(57) [Claims] A receiving section (1) for receiving an external control signal.
7) and the traveling unit operating mechanisms (5), (9), (10) and the work implement operating mechanism (11) are connected to the actuators (18), (1).
9), (20), an automatic operation unit operated by (21),
An operating unit (16) for controlling the operation of the automatic operating unit according to the signal received by the receiving unit (17) is integrated to constitute a control device (15), and at least the operating unit (16) of the control device (15) is provided. ) Is detachably attached to the driving control unit (3) surrounded by the seat, the fender, the steering wheel and the step, and when the driving device (15) is mounted on the driving control unit (3), the automatic control unit is turned on. Actuators (18), (19),
(20) and (21) engage with or come into contact with each handle (5), pedals (9), (10), and lever (11) of the traveling unit control mechanism and the work implement control mechanism, A maneuvering device such as an agricultural tractor, which can be operated directly as in the case of manipulating it artificially.