JP2005333853A - Device for controlling operation posture of tractor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To streamline the operation by enabling the operation to be carried out faultlessly in the operation for reversing a plow at the end of a field. <P>SOLUTION: The device for controlling the operation posture of a tractor has an inclination sensor 2 for detecting the right and left inclination of a tractor body 1, and a reverse sensor 4 for detecting upper and lower reversing position of an implement 3 linked to the body 1. The device is constituted so that when each of the positions detected by the sensors 2 and 4 does not agree with a previously set relative position, an alarm may be emitted, traveling may be restrained, or lowering of the implement 3 may be restrained. An offset sensor 5 for detecting right and left offset positions of the implement 3 based on the body 1 is also installed. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention is such that the tractor vehicle body is tilted to the left or right and the ground device is tilted to the left or right to perform the ground work while pulling the work device, and the work device is turned upside down. The present invention relates to a tractor work posture control device that maintains a position at a set relational position, performs accurate work, and improves work efficiency.

There is known a technique (see, for example, Patent Document 1) of connecting a plow in a vertically symmetric reversal form on the rear side of a tractor body so that the plow can be turned upside down and switched to a left / right offset position.
JP-A-11-89302 (page 3, FIGS. 4 and 5).

  In a working device such as a vertically symmetric inverted plow, it is necessary to operate the tractor vehicle body tilting posture and the upside down position of the working device to a predetermined relationship posture for each tilling operation stroke. At this time, if this reversal operation is forgotten or mistaken, the work device, the lifting device, etc. are likely to be damaged, and the vehicle body is retracted to perform the operation again, but this operation is difficult to perform. However, it is difficult to correct and requires a lot of work.

  The invention described in claim 1 has a tilt sensor 2 for detecting the left-right tilt of the tractor vehicle body 1 and a reversal sensor 4 for detecting a vertical reversal position of the work device 3 connected to the vehicle body 1. A tractor working posture control device characterized by warning when the detection positions by 2 and 4 do not coincide with a preset relational position, checking the running, or checking the lowering of the working device 3 The configuration is as follows. The work device 3 is selected to be reversed up and down, and the ground work such as soil tillage is performed by pulling the work device 3 while traveling forward in a posture in which the vehicle body 1 is inclined to the left and right. At this time, a relational position between the inclination posture of the vehicle body 1 to the left or right side and the reversal position on the upper side or the lower side of the work device 3 is set in advance, and the tilt sensor 2 and the reversal sensor at the start of the work are set. When the position coincides with the detection position of 4, the ground work is performed as it is, but when it does not coincide, this fact is warned, the traveling is stopped, or the work device 3 is maintained at the raised position, and immediately It is controlled so that work cannot be performed. As a result, the driver resumes the work after the left and right inclinations of the vehicle body 1 and the upside down position of the work device 3 coincide with the set relationship positions.

  The invention according to claim 2 is characterized in that an offset sensor 5 for detecting a left-right offset position of the work device 3 with respect to the vehicle body 1 is provided for the determination of the preset relational position. At the start of work of the work device 3, the inclination of the vehicle body 1 by the tilt sensor 2 and the upside down position of the work device 3 by the reverse sensor 4 are detected, and the left and right offset positions of the work device 3 with respect to the vehicle body 1 are detected by the offset sensor 5. When these detected positions match the preset setting relation positions, the ground work is performed as it is, but if they do not match, whether this is warned or whether traveling is stopped Alternatively, control is performed so that the work device 3 is maintained in the raised position and the work is not immediately performed. As a result, the driver resumes the work after matching the left and right inclination of the vehicle body 1, the upside down position of the work device 3, the left and right offset position, and the like with the set relational positions.

  According to the first aspect of the present invention, whether the vehicle body 1 is tilted to the left and right by the tilt sensor 2 and the inverted position of the work device 3 is detected by the reversing sensor 4 is coincident with these preset positions. Because it automatically determines whether or not the alarm is issued, these related positions can be quickly determined and controlled before the work starts to prevent erroneous work and improve work efficiency. Can be achieved.

  According to the second aspect of the present invention, the left and right inclination of the vehicle body 1 by the inclination sensor 2, the upside down position of the work device 3 by the reversal sensor 4, and the left and right offset position of the work device 3 with respect to the vehicle body 1 by the offset sensor 5 It is determined whether or not these relational positions are set in advance by detection, etc., and an alarm or the like is automatically issued. By performing discrimination control, erroneous work can be prevented in advance, and work efficiency can be improved.

  Based on the illustrated example, a case where a vertically symmetric inverted plow is attached to the rear side portion of the tractor vehicle body 1 as the work device 3 and the soil is cultivated will be described. The tractor vehicle body 1 is a four-wheel drive traveling mode in which front and rear wheels 10 and 11 are axially mounted and can be driven to rotate by driving of an engine mounted under a front bonnet. 10 can be steered. A lift link 15 in the form of a three-point link mechanism comprising a top link 13 and a pair of left and right lower links 14 is provided at the rear part of the vehicle body 1, and the working device 3 is mounted on the hitch link 16 at the rear end. The working device 3 can be raised to the non-working position or lowered to the ground work position by raising and lowering the link 14 by the expansion and contraction of the lift cylinder 17.

  Such a working device 3 is attached to the hitch link 16 so as to be rotatable around the reversing shaft 18 in the front-rear direction by approximately 180 degrees, and can be reversed up and down by expansion and contraction of the reversing cylinder 19. The vertically symmetric reversing plow constituting the work device 3 has a reversing shaft 18 at the front end portion of the plow frame 20, and the reversing cylinder 19 is connected between the one side portion and the hitch link 16 portion. Then, a plurality of soil repellent plate-shaped plows 21 are disposed so as to be offset (offset) from the reverse axis L1 extending rearward of the reverse shaft 18 to the left and right sides. A mounting frame portion 22 is formed at the rear portion of the plow frame 20 so as to be inclined L2 to the left and right sides with respect to the reversal axis L1, and the plows 21 are mounted at regular intervals along the mounting frame portion 20F. The plow 21 includes a ground plate 22, a blade plate 23, a soil repellent plate 24, and the like. A mounting arm 25 provided upward from the ground plate 22 is connected to the mounting frame portion 20 </ b> F of the plow frame 20. It attaches to the mounting bracket 26. The plow 21 of each group is configured to be vertically symmetrical with respect to the mounting frame portion 20F by the left soil-repellent plow 21A and the right soil-repellent plow 21B. Then, the plow frame 20 is turned upside down A and B by the expansion and contraction of the reversing cylinder 13, whereby the plow 21 of each base is turned upside down. In the illustrated example, the soil repellent direction of the cultivated soil by the plow 21 is set so as to be directed toward the reversal axis L1 that is the reference position for the offset.

  In front of the plow frame 20, a disk coulter 27 that can be turned upside down is arranged opposite to the arrangement width of each plow 21, and cut into the soil surface cultivated by the plow 21 before plowing. The soil surface and straw scraps are cut in advance. The coulter frame 28 on which the disc coulter 27 is disposed has a support boss 20 that is supported at a central portion so as to be rotatable around a rocking shaft 29 in the front-rear direction (see FIG. 7). Is inserted into the shaft hole 32 of the bracket 31 fixed to the offset side of the plow frame 20 through the swing shaft 29 and supported swingably. The disc coulter 27 is turned up and down around the rocking shaft 29 by the upside down A and B of the plow 21, but is in front of the width of the plow 21 in any upside down. The disco coulter 28 maintains the cutting posture on the soil surface.

  The vehicle body 1 is provided with a tilt sensor 2 for detecting left and right tilts, and the hitch link 16 is provided with a reversing sensor 4 for detecting the upside down position of the plow frame 20. An offset sensor 5 is provided between the hitch link 16 and the plow frame 20 to detect that the plow frame 20 is offset to the left and right. In this example, the plow frame 20 and the plow 21 are provided at offset positions with respect to the reversing shaft 18, and the plow 21 is simultaneously offset to the left and right sides by this upside down. The sensor 5 is also used as a sensor. For this reason, the offset sensor 5 is provided separately from the reversing sensor 4 in the form of the working posture in which the vertical reversal of the plow 21 is selected and performed independently from the offset direction of the plow 21. On the input side of the controller 35 for controlling the work posture, the inclination sensor 2, the reversing sensor 4, the offset sensor 5, and a work mode setting unit 36 for setting the work mode of the plow work are provided (see FIG. 4). ). An alarm device 6 such as a buzzer or a lamp is also provided on the output side. A travel clutch 7 for stopping the travel of the tractor vehicle body 1 can be provided together with or in place of the alarm device 6. Similarly, a lift control valve 8 for the hydraulic circuit of the lift cylinder 17 can be provided for stopping the lowering of the work device 3 to the work position. Furthermore, a lift lever 37 that lifts and lowers the plow 21 by expanding and contracting the lift cylinder 17 and a reversing lever 38 that reverses the plow 21 up and down by extending and retracting the reversing cylinder 19 (in the tractor, a sub-control for operating an external accessory device). A lever can be used) on the input side. Further, in the embodiment in which the plow 21 is offset to the left and right separately from the upside down, the offset cylinder 41 connected between the hitch link 16 and the plow frame 20 is provided on the output side, and the offset cylinder 41 is expanded and contracted. Thus, an offset lever 42 or a switch or the like for designating whether the plow 21 is positioned at the center in the left or right direction or displaced to the left and right outside is provided on the input side. Instead of the work mode setting device 36, a work mode changeover switch for selecting a specific work form from a plurality of preset work forms and providing work can be provided.

  When the soil surface is cultivated while traveling in the forward path G and the backward stroke C by the tractor plow configured as described above, the work mode setting unit 36 may, for example, select one direction on the left side or the right side. If flat plowing that plows the soil with the soil repellent surface is specified, plowing work by the plow 21 can be performed in the forward stroke G and the reverse stroke C. In this simple plane plowing mode, for example, the plowing direction plowed in each of the strokes G and C is set to be the right side in the reverse stroke C if the plowing direction is set to the left in the traveling direction. . Here, when the vehicle body 1 travels in the forward stroke G, the left and right front and rear wheels 10 and 11 are dropped into the groove portion E of the tillage track in the previous stroke in a state where the plow 21 is raised by the operation of the lift lever 37. Then, the vehicle body 1 is inclined downward on the left side (see FIG. 1).

  The left inclination of the vehicle body 1 is detected by the inclination sensor 2. At this time, the plow 21 is turned upside down by operating the reverse lever 38 so that the plowing soil repellent direction of the plow 21 is directed to the left, and the left soil repellent plow 21A is directed downward. At this time, the plow frame 20 and the plow 21 are reversed up and down by the expansion and contraction of the reversing cylinder 19, and the front disk coulter 27 is also rotated around the swing shaft 29 by its own weight to maintain the suspended position. In addition, the reversal sensor 4 detects that the left soil repellent plow 21A is positioned on the lower side. At this time, the setting condition set by the work mode setting unit 36 is compared with the detection position detected by the inclination sensor 2 and the reverse sensor 4. When the inclination direction of the vehicle body 1 set by the setting device 36 does not coincide with the inclination direction detected by the inclination sensor 2 or when the inversion positions of the plows 21 do not coincide, the alarm device 6 is output. A warning is given that the inclination of the vehicle body 1 or the work posture of the plow 21 does not match the set work mode. The driver uses the warning to position the plow 21A accurately downward before work, and switches the vehicle body 1 to the left-running running posture so as to match the work mode.

  At this time, even if the upside down position of the plow 21 is in the adapted state, the vehicle body 1 is not tilted to the left side and is in a horizontal horizontal posture, or conversely, when it is tilted downward on the right side, Re-operate the vehicle body 1 to the left-side down inclination posture. Thus, when it matches the set work mode, the driver operates the lift lever 37 to lower the plow 21 to the work posture (FIG. 1), and the vehicle body 1 is moved forward G so that the plow 21 performs the plowing action. Let it be done. At the end of the forward stroke G, the plow 21 is also raised to the non-working position by operating the lift lever 37, and the vehicle body 1 is turned and turned. By this turning, the front and rear wheels 10 and 11 on the right side of the vehicle body 1 are dropped into the tilling groove E in the forward travel G, and the plow 21 at the rising position is turned upside down by the operation of the reversing lever 38 so that the right soil repellent The plow 21B is set to the lower position. As a result, the right downward inclination of the vehicle body 1 in the backward stroke C and the tilling action posture by the right soil repellent plow 21B are aligned, and these position and posture are compared with the detection values by the inclination sensor 2 and the reverse sensor 4. If they do not match, a warning 6 is used to alert, so that the driver adapts to the set work mode by redoing the operation based on this warning.

  In this way, when it is confirmed that the vehicle body 1 is inclined to the right and the right soil-repellent plow 21B is switched to the working position (and the plow 21 is offset on the left side), The operator lowers the plow 21 to the working position by operating the lift lever 37, and the right soil-repellent plow 21B plows in the reverse stroke C. By plowing with the left soil repellent plow 21A in the forward stroke G and plowing with the right soil repellent plow 21B in the reverse stroke C, the plowing action on the field D is right from the left cultivated area M to the right. It is repeatedly transferred to the uncultivated area N.

  In the embodiment in which the offset sensor 5 different from the reversing sensor 4 is provided, with reference to FIGS. 6 and 7, the reversing shaft 18 is provided at the center in the horizontal width direction of the plow frame 20, and the reversing shaft 18 and the plow are arranged. The frame 20 is configured to move to the left side or the right side with respect to the hitch link 16 by the offset cylinder 41, and the plow frame 20, the plow 21, and the reversing shaft 18 are positioned at the center portion on the rear side of the vehicle body 1, Alternatively, it can be shifted to the left side, the right side, or the like. At such positions, the plow frame 20 and the plow 21 can be turned upside down around the reversing shaft 18 by the reversing cylinder 19.

  In the control of the work posture, when the plow 21 is lowered to the work position and the plow 21 is forgotten to be turned upside down, the driver turns off the travel clutch 7 and runs. Can be stopped. Thereby, in the backward stroke C, the distance that is accidentally plowed by the left soil-repellent plow 21A can be shortened.

  Next, the configuration will be mainly described with reference to FIG. 8. In this figure, the up-and-down reversing cylinder 19 extends and retracts in synchronization with each other when the plow 21 is lifted by the lift lever 37. Is. As a result, the turning operation of the vehicle body 1 can be reduced, the operation can be facilitated, and the forgetting to turn the plow 21 upside down can be eliminated. The operation of the lift lever 37 is detected by the operation sensor 43, and the reverse control valve 44 of the hydraulic circuit of the reverse cylinder 19 is controlled to be switched by the output from the controller 35. The reversal control valve 44 is controlled by an adjustment dial 45 for adjusting the output time so that the switching position of the reversal control valve 44 is maintained for a time necessary to accurately reverse the plow 21 and the like. Is. If the vehicle body 1 is turned in an idling state, the hydraulic pressure and the flow rate are likely to be insufficient, and the reversing cylinder 19 may not easily reach the stroke end. The plow 21 can be accurately turned upside down by adjusting it so as to increase the output time by operating. Further, when this is not necessary, the adjustment dial 45 shortens the output time and allows quick switching interlock.

The back view which shows a plow work state and a vehicle body attitude | position. The back view which shows a plow work state and a vehicle body attitude | position. The top view which shows the working state of a tractor plow. The block diagram of working posture control. The side view of the plow connection part. The top view which shows the action state of the plow. FIG. The control block diagram of the inversion cylinder part which shows the example according to the part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car body 2 Inclination sensor 3 Work apparatus (plow)
4 Reverse sensor 5 Offset sensor 6 Warning device 7 Traveling clutch 8 Lift control valve

Claims (2)

  It has a tilt sensor 2 for detecting the left / right tilt of the tractor vehicle body 1 and a reversal sensor 4 for detecting a vertical reversal position of the work device 3 connected to the vehicle body 1. The detection positions of these sensors 2, 4 are set in advance. A tractor work attitude control device that warns of this, checks driving, or checks lowering of the work device 3 when it does not match the related position.   The tractor work posture control device according to claim 1, wherein an offset sensor (5) for detecting a left-right offset position of the work device (3) with respect to the vehicle body (1) is provided for the determination of the preset relational position.

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