JP2008289422A - Agricultural implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an agricultural implement attached to the rear of a tractor and having an operation part which is appropriately controllable, based on the basic information of the tractor. <P>SOLUTION: The agricultural implement has a control part 3; an actuator part 7; an operation part 9 operated by operation of the actuator part 7; a detection part 8 for detecting operation of the actuator part 7 or operation of the operation part 9; and a tractor identification part 2, having basic information of the tractor required for operating at least operation part 9, and the control part 3 controls operation of the actuator part 7, in order to carry out objective operation in the operation part 9, based on basic information of the tractor from the tractor identification part 2 and information from the detection part 8. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an agricultural machine, and more particularly, to an agricultural machine having an operation unit that is attached to a rear part of a tractor and can be appropriately controlled based on basic information of the tractor.

  Tractors have different vehicle grades, turning characteristics, travel speed switching speeds, and gear ratios for each manufacturer and model, and for offset work machines, the offset position during work is set manually, hydraulically, and electrically operated. It is necessary for the operator to set it by operating, and in the fertilizer working machine and the sowing work machine, the spraying amount and the sowing amount have to be set by the operator in the PTO drive type.

Japanese Patent Application Laid-Open No. 2004-228561 describes an agricultural machine capable of reading an IC tag of a work machine and automatically setting an automatic control function on the tractor side according to the work machine.
JP 2006-296261 A

  However, it is cumbersome and difficult for the operator to adjust the setting of the work implement according to the vehicle speed or the like for each tractor.

  Moreover, the agricultural machine described in Patent Document 1 relates to control on the tractor side.

  In view of the above problems, an object of the present invention is to provide an agricultural machine having an operation unit that is attached to the rear portion of a tractor and can be appropriately controlled based on basic information of the tractor.

  In order to achieve the above object, a farm machine according to the present invention includes a control unit, an actuator unit, an operation unit that operates by operating the actuator unit, and the actuator unit. A detecting unit for detecting the operation of the operating unit or the operation of the operating unit, and a tractor identifying unit having at least basic information of a tractor necessary for operating the operating unit, the control unit from the tractor identifying unit Based on the basic information of the tractor and the information from the detection unit, the operation of the actuator unit is controlled in order to cause the operation unit to perform a target operation.

  Further, the agricultural machine according to the present invention is a rice grinder in which the agricultural machine is connected at each fulcrum of an intermediate frame having a fulcrum that can be horizontally rotated at both ends with a mounting part to be attached to the tractor and a working part for performing the glazing work. The basic information of the tractor is the total length, the turning radius, and the traveling speed of the tractor, and the actuator unit has a first cylinder that rotates the intermediate frame with respect to the mounting unit and the working unit as the intermediate unit. A second cylinder that rotates with respect to a frame; the operating unit is the intermediate frame that rotates with the first cylinder; and the working unit that rotates with the second cylinder; A first sensor for detecting an angle between the mounting portion and the intermediate frame, and a second sensor for detecting an angle between the intermediate frame and the working portion. The control by the control unit is based on the basic information data of the tractor from the data of the tractor basic information so that the spreader advances along the old kite regardless of the turning of the tractor. An angle between the mounting portion and the intermediate frame and an angle between the intermediate frame and the working portion are calculated, and the first cylinder and the second cylinder are controlled to be at the respective angles.

  Furthermore, the agricultural machine according to the present invention is characterized in that the basic information of the tractor in the tractor identification unit can be changed by changing a storage medium storing the basic information of the tractor. Furthermore, the agricultural machine of the present invention includes an operation unit, and the actuator unit can be forcibly operated by operation of the operation unit.

  ADVANTAGE OF THE INVENTION According to this invention, in the agricultural machine with which the rear part of a tractor is mounted | worn, an operation | movement part can be appropriately controlled based on the basic information of a tractor.

  The best mode for carrying out the present invention will be described.

  FIG. 1 is a system configuration diagram showing an embodiment of an agricultural machine according to the present invention. The control unit 1 includes a tractor identification unit 2 and a control unit 3. The work machine 6 includes an actuator unit 7, a detection unit 8, and an operation unit 9.

  The tractor identification unit 2 outputs necessary basic information for each tractor (vehicle grade, turning performance, travel speed switching step number, gear ratio, etc.) to the control unit 3. The basic information can be changed by replacing the storage medium 4. Examples of the storage medium 4 include cards such as magnetic cards, bar codes, cards with IC chips, punch cards, and storage media such as CF, SD cards, and memory sticks. In addition, this invention is realizable also in the structure which memorize | stores this basic information in the tractor identification part 2 itself.

  In order to cause the operation unit 9 to perform a desired operation, the control unit 3 responds to an input from the detection unit 8 based on the basic information from the tractor identification unit 2 and causes the actuator unit 7 to operate the actuator. The necessary instruction calculated by is output. If necessary, information from the tractor 15 can be reflected in the control.

  By operating the operation unit 5, the actuator unit 7 can be forcibly moved regardless of the control of the control unit 3. This corresponds to a case where the operator wants to move the actuator unit 7 other than the control of the control unit 3. In addition, the operation unit 5 can inform the operator of the operation status (for example, using an LED, a liquid crystal display, or a sound) by a signal from the control unit 3.

  The actuator unit 7 operates under the control of the control unit 3 and can move the operation unit 9. Here, examples of the actuator include a motor, a power cylinder, an electric hydraulic cylinder, a hydraulic valve and a cylinder. The detection unit 8 includes a sensor or the like, can detect the direct operation state of the actuator unit 7 and the operation state of the operation unit 9, and can output the detected contents to the control unit 3.

  Thus, according to the present invention, the control unit 3 can perform different control for each manufacturer and for each model based on the basic information for each tractor. As a result, the working machine 6 can be set to an optimum working state only by preparing the storage medium 4 having the basic information of each tractor, so that the operator can set it manually or by operating the hydraulic and electric devices. Time and labor can be reduced, and troubles caused by poor operation can be prevented. Furthermore, since the optimum adjustment function can be provided for the basic characteristics that are different for each tractor, the versatility of the work implement is improved. Furthermore, when changing the tractor, various settings can be changed simply by changing the storage medium, thereby reducing the burden on the operator.

  FIG. 2 is a plan view showing the glazing machine according to the first embodiment of the present invention. This wrinkle coater is mounted on the rear portion of the tractor 15 by the mounting portion 20. The power from the tractor 15 is transmitted to the working unit 27 of the tilling unit 25 and the disk unit 26 through a joint 21 by a shaft, a gear, a chain, a gear, and the like. Then, the tiller 25 rakes up the soil of the old hoe and the disk 26 forms a hoe.

  A space between the mounting portion 20 and the working portion 27 is constituted by a parallel link formed by a first arm 16 and a second arm 17 supported by fulcrums pivotable at both ends in the horizontal direction. Can be moved laterally with respect to the tractor 15 (in a direction toward and away from the rod 13). In addition, a rotation angle sensor 19 capable of measuring an angle of the first arm 16 with respect to the mounting portion 20 is provided at a fulcrum on the mounting portion 20 side of the first arm 16. D is an offset amount, and indicates the distance from the center of the tractor 15 to the heel lower end line 12.

  FIG. 3 is a plan view showing a state where the first tractor of the plastering machine according to the first embodiment of the present invention is mounted. Normally, when the tractor 15 travels along the old culvert, traveling is stable and a straight culling operation can be performed. In FIG. 3, the width | variety of the 1st tractor 15a is A1 = 1350mm, and the half is B1 = 675mm. Considering the ease of work, it is assumed that the work is performed at a distance of C = 100 mm from the heel lower end line 12 of the heel 13. At this time, the offset amount (distance from the center of the first tractor 15a to the heel lower end line 12) is B1 + C = 775 mm. Note that 11 is a shoulder line.

  FIG. 4 is a plan view showing a state where the second tractor of the plastering machine according to the first embodiment of the present invention is mounted. In FIG. 4, the width of the second tractor 15b is A2 = 1560 mm, and half of that is B2 = 780 mm. The distance C = 100 mm from the lower end line 12 is the same. At this time, the offset amount is B2 + C = 880 mm.

  In this way, the offset amount D suitable for the filling operation differs depending on the tractor. Therefore, if the offset amount for the filling operation can be determined in advance based on the vehicle width data of the tractor, it is not necessary to adjust each time. Work can be started smoothly.

  In the case of the first embodiment, the basic information of the tractor is “vehicle width”, the actuator unit 7 corresponds to the cylinder 18, the detection unit 8 corresponds to the rotation angle sensor 19, and the work machine 6 is a wrinkle coater. Yes, the operating unit 9 becomes a working unit 27 that operates by a parallel link.

  Thereby, in Example 1, the control part 3 calculates offset amount from the "vehicle width" data of a tractor, calculates the angle of the rotation angle sensor 19 applicable to this, and cylinder 18 so that it may become that angle. By operating the, it is possible to secure an offset amount suitable for the lacquer work for each tractor. The detection unit 8 is not limited to the rotation angle sensor 19 but may be any sensor that can know the state of the working unit 27 operated by the cylinder 18. That is, a sensor that can directly understand the state of the cylinder 18 may be used.

  FIG. 5 is a side view showing a spreader according to a second embodiment of the present invention. FIG. 6: is the rear view seen from the tractor side which shows the spreader of Example 2 of this invention. In the present spreader, lime, fertilizer, soil improver and the like are put into the hopper 30, and the agitator 35 having the feeding spring 36 is rotated to spread the contents of the hopper 30 from the shutter 31. The shutter 31 can change the size of the opening and adjust the amount of spraying by sliding a slide plate attached to the opening. Further, by operating the motor 33, the flap 32 having the rotation fulcrum 34 is rotated, and it can be operated whether or not the opening of the shutter 31 is covered, and it is possible to select whether or not to spray. It has become. The rotation of the agitator 35 can be configured by a tractor PTO or by a motor (separate from the motor 33).

  And dispersal of disinfectants such as slaked lime needs to be reported to public institutions, and the amount of dispersal needs to be strictly performed.

  As one specific example of the second embodiment, the work machine 6 is a spreader in which the agitator 35 is rotated by a motor (apart from the motor 33), the basic information of the tractor is “traveling speed”, and the actuator unit 7 Is a motor that rotates the agitator 35, the detection unit 8 is a sensor that informs the number of rotations of the agitator 35, and the operation unit 9 may be an agitator 35 that is rotated by the motor.

  As a result, the control unit 3 calculates the rotation speed of the motor that rotates the agitator 35 so as to obtain a necessary spray amount from the data of the “traveling speed” of the tractor, and rotates the motor so that the rotation speed is reached. This makes it possible to secure a certain amount of spray for each tractor.

  Another specific example of the second embodiment will be described. FIG. 7 is a side view showing another specific example of the spreader according to the second embodiment of the present invention. FIG. 8: is the rear view seen from the tractor side which shows another specific example of the spreader of Example 2 of this invention. The work machine 6 is a spreader in which the agitator 35 is rotated by the PTO of the tractor. The basic information of the tractor is “the number of rotations of the PTO at a constant speed (for example, 2 km / h)”. The actuator 38 moves the slide plate that changes the size of the opening, the detection unit 8 is a sensor that informs the position of the slide plate of the shutter 31, and the operation unit 9 can be the slide plate.

  As a result, the control unit 3 calculates the position of the slide plate of the shutter 31 from the data of the “rotation speed of the PTO at a constant speed” of the tractor so as to obtain a necessary spray amount, and becomes the position. By operating the actuator 38 so as to move the slide plate, it is possible to ensure a constant spraying amount for each tractor.

  FIG. 9 is a plan view showing a wrinkle coater according to a third embodiment of the present invention. This wrinkle coater is mounted on the rear part of the tractor 15 by a mounting frame 40. The power from the tractor 15 is transmitted through the intermediate frame 41 to the working unit 27 of the tilling unit 25 and the disk unit 26 by shafts, gears, chains, gears, and the like. Then, the tiller 25 rakes up the soil of the old hoe and the disk 26 forms a hoe.

  A space between the mounting frame 40 and the working unit 27 is constituted by an intermediate frame 41 connected by a first fulcrum 42 on the mounting frame 40 side that can be rotated in the horizontal direction and a second fulcrum 43 on the working unit 27 side. The first cylinder 44 is mounted on a first fulcrum 45 on the mounting frame 40 side and a second fulcrum 46 on the intermediate frame 41 side so as to be horizontally rotatable, and the intermediate frame 41 is mounted by operating the first cylinder 44. The frame 40 can be rotated around the first fulcrum 42. The second cylinder 47 is mounted on the third fulcrum 48 on the intermediate frame 41 side and the fourth fulcrum 49 on the work part 27 side so as to be horizontally rotatable. The operation of the second cylinder 47 causes the work part 27 to move. The intermediate frame 41 can be rotated around the second fulcrum 43.

  The first fulcrum 42 has a first rotation angle sensor 53 and can measure how much the intermediate frame 41 is rotated about the first fulcrum 42 with respect to the mounting frame 40. . Further, the second fulcrum 43 has a second rotation angle sensor 54 and measures how much the working unit 27 is rotating with respect to the intermediate frame 41 around the second fulcrum 43. Can do.

  FIG. 10 and FIG. 11 are diagrams showing the locus of the work of the glazing machine according to the third embodiment of the present invention. When the padding machine mounted on the tractor 15 comes to the corner of the field, the tip of the tractor 15 comes to the field, and the padding work cannot be performed by the length of the tractor. For this reason, as shown in FIG. 10, if the tractor 15 is swung to R1 to R2 and the paddle coater is controlled so as to form a straight tack 13 along the old tack by turning the tractor 15, It is possible to paint the corn to the corner of the field. Reference numeral 60 denotes a circle of the front wheel outer end locus during turning of the tractor, and 61 denotes a tractor traveling locus (rear axle center position).

  In FIG. 11, P1 to P12 indicate the trajectory of the first fulcrum 42 from the start of turning of the tractor 15 to the end of the padding work up to the corner of the field. On the other hand, Q1 to Q12 show the locus of the second fulcrum 43 in the same manner. From Q1 to Q10, the first cylinder 44 and the second cylinder 47 are controlled while turning the tractor 15 to form the straight rod 13 along the old rod. And Q10-Q12 controls the 1st cylinder 44 and the 2nd cylinder 47 in the state where the tractor 15 stopped, and performs a glazing operation. As a result, it is possible to paint the corn to the corner of the field. The position at which the tractor 15 starts to turn can be determined by, for example, sensing and informing another sensor provided at the tip of the tractor 15 when approaching a certain distance from the field.

  In the present embodiment, in order to control the first cylinder 44 and the second cylinder 47 and perform the straight glazing work in the glazing work from Q1 to Q12, at least the total length of the tractor 15 and the rotation during turning It is necessary to know the radius and traveling speed. Based on this data, the first cylinder 44 and the second cylinder 47 are controlled.

  In the case of the third embodiment, specifically, the work machine 6 is the wrinkle coater shown in FIG. 9, the basic information of the tractor is “full length, turning radius, travel speed”, and the actuator unit 7 The first cylinder 44 and the second cylinder 47, the detection unit 8 is the first rotation angle sensor 53 and the second rotation angle sensor 54, and the operation unit 9 is rotated in the middle of the first cylinder 44 and the second cylinder 47. The frame 41 and the working unit 27 are provided.

  Thus, in the third embodiment, the control unit 3 starts to turn the tractor 15 from the position R1 in FIG. 10 based on the data of the “total length, turning radius, travel speed” of the tractor, and then straightens along the old fence. In order to apply a wrinkle, the angle of the first rotation angle sensor 53 and the second rotation angle sensor 54 for each hour is calculated, and the first cylinder 44 and the second cylinder 47 are controlled so as to be the straight angle. It becomes possible to paint a candy. And the stop position R2 of the tractor 15 can notify the timing which stops with the sound of the operation part 5, or the sign of light by the command from the control part 3 as a result of calculating speed and time, for example. At the stop position of the tractor, the first cylinder 44 and the second cylinder 47 are controlled as in Q10 to Q12 to perform the smearing operation. The detecting unit 8 is not limited to the rotation angle sensor, but may be any sensor that can directly or indirectly know the angle between the mounting frame 40 and the intermediate frame 41 and the angle between the intermediate frame 41 and the working unit 27. That is, a sensor that directly understands the state of the first cylinder 44 and the second cylinder 47 may be used.

It is a system configuration figure showing one embodiment of control by a control part of the present invention. It is a top view which shows the glazing machine of Example 1 of this invention. It is a top view which shows the state with which the 1st tractor of the coating machine of Example 1 of this invention was mounted | worn. It is a top view which shows the state with which the 2nd tractor of the coating machine of Example 1 of this invention was mounted | worn. It is a side view which shows the spreader of Example 2 of this invention. It is the rear view seen from the tractor side which shows the spreading machine of Example 2 of this invention. It is a side view which shows another specific example of the spreading machine of Example 2 of this invention. It is the rear view seen from the tractor side which shows another specific example of the spreading machine of Example 2 of this invention. It is a top view which shows the surface coating machine of Example 3 of this invention. It is a 1st figure which shows the locus | trajectory of the operation | work of the glazing machine of Example 3 of this invention. It is a 2nd figure which shows the locus | trajectory of the operation | work of the coating machine of Example 3 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2 Tractor identification part 3 Control part 4 Storage medium 5 Operation part 6 Working machine 7 Actuator part 8 Detection part 9 Operation part 18 Cylinder 19 Rotation angle sensor 20 Mounting part 27 Working part 31 Shutter 32 Flap 35 Agitator 40 Mounting frame 41 Intermediate frame 44 First cylinder 47 Second cylinder 53 First rotation angle sensor 54 Second rotation angle sensor

Claims (4)

In agricultural machines that are attached to the rear of the tractor and perform work,
A control unit, an actuator unit, an operation unit that operates by operating the actuator unit, a detection unit that detects the operation of the actuator unit or the operation of the operation unit, and at least a tractor required to operate the operation unit A tractor identification unit having basic information
The control unit controls the operation of the actuator unit to cause the operation unit to perform a target operation based on basic information on the tractor from the tractor identification unit and information from the detection unit. Agricultural machine. The agricultural machine according to claim 1,
The farming machine is a paddy machine in which a mounting part to be attached to the tractor and a working part to perform the padding work are connected at each fulcrum of an intermediate frame having fulcrums that can be horizontally rotated at both ends, and the basic information of the tractor Is the total length, turning radius, and traveling speed of the tractor, and the actuator part is a first cylinder that rotates the intermediate frame relative to the mounting part and a first cylinder that rotates the working part relative to the intermediate frame. The operation unit is the intermediate frame that is rotated by the first cylinder and the working unit that is rotated by the second cylinder, and the detection unit is provided between the mounting unit and the intermediate frame. A first sensor for detecting an angle and a second sensor for detecting an angle between the intermediate frame and the working unit;
The control by the control unit is based on the basic information data of the tractor from the data of the tractor basic information so that the spreader advances along the old kite regardless of the turning of the tractor. An agricultural working machine characterized in that an angle between a mounting portion and the intermediate frame and an angle between the intermediate frame and the working portion are calculated, and the first cylinder and the second cylinder are controlled to be at the respective angles. . The agricultural machine according to claim 1,
The agricultural machine according to claim 1, wherein the basic information of the tractor in the tractor identification unit can be changed by changing a storage medium storing the basic information of the tractor. The agricultural machine according to claim 1,
An agricultural machine having an operation unit and capable of forcibly operating the actuator unit by operating the operation unit.

Images