JP2010076639A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working vehicle performing a smooth work by jointly using a switching of an elevating and lowering interlocking mode for elevating and lowering a working machine and driving a PTO shaft and an elevating and lowering non-interlocking mode and a switching of an interlocking mode for traveling a traveling machine body and driving the PTO shaft and an independent mode. <P>SOLUTION: A control part is constituted to execute the elevating and lowering interlocking mode together with a control based on an interlocking mode or an independent mode in the elevating and lowering interlocking mode, to intermediately execute the switching from the elevating and lowering interlocking mode to the elevating and lowering non-interlocking mode and execute a control based on the interlocking mode or the independent mode when the PTO shaft is driven when switching from the elevating and lowering interlocking mode to the elevating and lowering non-interlocking mode, and to execute the switching from the elevating and lowering interlocking mode to the elevating and lowering non-interlocking mode and execute a control based on the interlocking mode or the independent mode after waiting for detection of a PTO switching operation or traveling start of the traveling machine body when the PTO shaft is driven and stopped. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a work vehicle including a PTO shaft that outputs power to a work machine connected to a traveling machine body.

  Elevating / lowering detecting means for detecting raising / lowering or raising / lowering operation of a working machine connected to the traveling machine body, a PTO shaft for outputting power from the traveling machine body side to the working machine side, and a PTO operation tool for performing on / off operation of driving of the PTO shaft And a lift interlocking switch operating tool that switches between the lift interlocking mode that interlocks the turning on and off of the PTO axis drive with the lifting or lifting operation of the work implement and the lift interlocking mode that is not interlocked, and the drive of the PTO axis. 2. Description of the Related Art A work vehicle shown in Patent Document 1 including a control unit for controlling is known (particularly, see FIG. 3).

Also, travel detection means for detecting travel / travel stop or travel / travel stop operation of the traveling machine body, a PTO shaft for outputting power from the travel machine body side to the work machine side, and a PTO for turning on / off the drive of the PTO shaft An operation tool, a switching operation tool for performing a switching operation between an interlocking mode for interlocking the turning on / off of driving of the PTO axis with a traveling / running stop or traveling / running stop operation of the traveling machine body and an independent mode not interlocked, and driving of the PTO axis 2. Description of the Related Art A work vehicle including a control unit that controls turning on / off is known (particularly, see FIG. 2).
JP 59-18024 A JP 2007-161025 A

In order to stop driving the PTO shaft when the PTO shaft is driven in the lift interlocking mode, the work vehicle of Patent Document 1 is not lifted or lowered by a lift interlock switching operation tool (SW _{1 in} FIG. 3 of the same document). It is necessary to perform the switching operation to the interlocking mode and to check the switching operation state of the PTO operation tool (SW _{6 in} FIG. 3 of the same document). Since the operation tool is operated, a problem remains in performing a smooth operation.

Further, Patent Document 1 describes an ascending / descending interlock mode and an ascending / descending mode, and Patent Document 2 describes an interlocking mode and an independent mode. And switching between the interlocking mode and the independent mode are described only, and there is a problem in using these two switchings together.
The present invention solves the above-mentioned problems, and does not interlock with an ascending / descending interlocking mode that interlocks turning on / off of the driving of the PTO shaft with the ascending / descending operation of the work machine, and the traveling / running stop or traveling / running of the traveling machine body. In work vehicles that have an interlock mode that interlocks the turning on and off of the PTO axis with the stop operation and an independent mode that is not interlocked, switching between the ascending / descending interlock mode and switching between the interlocking mode and the independent mode are possible. Then, it aims at providing the work vehicle which can perform a smooth operation | work.

  In order to solve the above-described problems, the work vehicle according to the present invention firstly includes a lift detection means 96 for detecting the lift or lift operation of the work machine 6 connected to the traveling machine body 3 and the traveling / running stop of the traveling machine body 3. A travel detection means 99 for detecting a travel / travel stop operation, a PTO shaft S3 for outputting power from the traveling machine body 3 side to the work machine 6 side, a PTO operation tool 69 for performing on / off operation of driving of the PTO shaft S3, A switching operation tool 67 for performing a switching operation between an interlocking mode in which driving / running stop of the traveling machine body 3 or a driving / running stop operation of the PTO shaft S3 is interlocked with an on / off operation of the PTO shaft S3 and an independent mode not interlocked. Alternatively, the ascending / descending interlocking switching operation tool 68 for performing the switching operation between the ascending / descending interlocking mode for interlocking the turning on / off of the driving of the PTO shaft S3 with the ascending / descending operation and the ascending / descending interlocking mode not interlocked, And a control unit 47 for controlling on / off of the drive of the PTO shaft S3 based on the operation state of the exit and the PTO operation tool 69, etc. In the case of switching, the control based on the ascending / descending interlocking mode is executed together with the control based on the interlocking mode selected by the switching operating tool 68 or the independent mode, and the ascending / descending interlocking switching operation is performed while the PTO operating tool 69 is turned on. When the tool 68 is switched from the ascending / descending interlock mode to the ascending / descending interlock mode, when the PTO shaft S3 is driven, the switching from the ascending / descending interlock mode to the ascending / descending interlock mode is immediately executed and the switching operation is performed. While the control based on the interlock mode or the independent mode selected by the tool 67 is executed, the driving of the PTO axis S3 is stopped. At that time, after waiting for the re-entry operation after the turning operation of the PTO operation tool 69, the lifting or lowering operation of the work machine 6, the switching operation by the switching operation tool 68 or the start of traveling of the traveling machine body 3 to be detected, The control unit 47 is configured such that switching from the ascending / descending interlock mode to the ascending / descending interlocking mode is executed, and control based on the interlocking mode or the independent mode selected by the switching operation tool 67 is executed. Yes.

  Secondly, when the PTO operation tool 69 is turned on and the elevator interlock switching operation tool 68 is switched from the ascending / descending interlocking mode to the ascending / descending interlocking mode, the drive permission of the PTO shaft S3 in the interlocking mode is permitted in the interlocking mode. The control unit 47 is configured to start the control based on the ascending / descending interlocking mode on condition that the state is a condition and the drive permission state of the PTO shaft S3 in the independent mode is a condition in the independent mode.

  Third, when an input operation is performed by the PTO operation tool 69 and the elevator interlocking switching operation tool 68 is switched to the ascending / descending interlock mode or the ascending / descending interlocking mode, the switching operation tool 67 switches from the independent mode to the interlocking mode. When the operation or the switching operation from the interlock mode to the independent mode is performed, the control unit 47 is configured to immediately shift from the independent mode to the interlock mode or from the interlock mode to the independent mode.

  According to the work vehicle of the present invention configured as described above, the PTO shaft is driven when using the switching between the ascending / descending interlocking mode and the ascending / descending interlocking mode and the switching between the interlocking mode and the independent mode. Since the mode switching is performed while maintaining the driving state according to the predetermined condition, it is possible to perform a smooth operation, and when the driving of the PTO shaft is stopped, the mode switching is performed after detection of the predetermined state. Therefore, there is an effect that the PTO shaft in the drive stop state is prevented from being unexpectedly driven by the mode switching.

  In addition, when the PTO operation tool is turned on and the elevator interlock switching operation tool is used to switch from the elevator non-interlocking mode to the elevator interlocking mode, in the interlock mode, the PTO shaft drive permission state in the interlock mode is a condition. In the independent mode, the control unit is configured to start the control based on the ascending / descending interlock mode on the condition that the drive permission state of the PTO axis in the independent mode is a condition, and if the PTO axis is stopped, the work is started. Since control based on the ascending / descending interlocking mode is started with a predetermined action, there is an effect that smooth work can be performed.

  Further, when an input operation is performed by the PTO operation tool and the operation mode is switched to the ascending / descending interlock mode or the ascending / descending interlock mode by the ascending / descending interlock switching operation tool, the switching operation from the independent mode to the interlocking mode or the interlocking mode is performed. When the switching operation to the independent mode is performed, the control unit is configured to immediately shift from the independent mode to the interlock mode or from the interlock mode to the independent mode. When the control based on the lift interlocking mode is started on the condition that the shaft is permitted to drive, the situation where the drive permission state is not satisfied and the work cannot be performed is avoided because the mode is not switched to the interlocking mode or the independent mode. effective.

Hereinafter, embodiments of the present invention will be described based on illustrated examples.
FIG. 1 is an overall side view of a tractor to which the present invention is applied. This tractor includes a traveling machine body 3 having a pair of left and right front wheels 1 and a rear wheel 2, and a work machine 6 such as a rotary tiller that is connected to a rear portion of the traveling machine body 3 via a lifting link (link mechanism) 4. And. The traveling machine body 3 is installed in a cabin 8 that covers the control unit 7 in the latter half of the traveling body 3, and an engine 10 (see FIG. 3) is housed and fixed in the hood 9 in the front half.

  FIG. 2 is a side sectional view of the transmission case showing the configuration of the transmission of the tractor. The power of the engine 10 is transmitted to the front and rear wheels 1 and 2 and the work machine 6 by a transmission 12 in the transmission case 11.

  Specifically, the engine power is transmitted to the main clutch 14 in the clutch housing 13 connected and fixed in front of the transmission case. The main clutch 14 is turned on and off to interrupt power transmission from the engine to the input shaft S1. The power of the input shaft S1 is transmitted to a main transmission mechanism 16 that constitutes a part of the traveling transmission mechanism and a PTO clutch (work machine drive on / off means) 17 that is a hydraulic clutch.

  The PTO clutch 17 is intermittently operated to intermittently transmit power transmission from the input shaft S1 to the work machine transmission shaft S2. The power of the work machine transmission shaft S2 is transmitted through a PTO transmission mechanism (transmission mechanism) 18 to a PTO shaft (output shaft) S3 that outputs the power on the traveling machine body 3 side to the work machine 6 side. Incidentally, the PTO transmission mechanism 18 performs forward / reverse switching of the PTO shaft S3 and also performs three-stage transmission switching during forward rotation. That is, the PTO clutch 17 is configured to intermittently transmit power to the PTO shaft S3 (work machine 6).

  On the other hand, the main transmission mechanism 16 performs four-stage shift switching by turning on and off one of the four hydraulic clutches 21, 21, 21, and 21 to change the power after the shift forward and backward. It is configured to be transmitted to the advance switching mechanism 22.

  The forward / reverse switching mechanism 22 transmits the power on the main transmission mechanism 16 side to the transmission shaft S4 by forward / reverse rotation. Specifically, the forward / reverse switching mechanism 22 includes two hydraulic clutches 23 and 23, and when one of the hydraulic clutches 23 is turned on, the power on the main transmission mechanism 16 side is forwardly rotated on the transmission shaft S4 (the traveling machine body 3 is rotated). When the other hydraulic clutch 23 is turned on, the power on the main transmission mechanism 16 side is transmitted to the transmission shaft S4 in the reverse direction (rotation in the direction in which the traveling machine body 3 is moved backward). . That is, the forward / reverse switching of the tractor is performed by the forward / reverse switching mechanism 22.

  The power from the transmission shaft S4 is transmitted to the reverse transmission shaft S5 by the auxiliary transmission mechanism 24 that constitutes a part of the traveling transmission mechanism. The subtransmission mechanism 24 performs two-stage shift switching by turning on and off one of the two hydraulic clutches 26, 26 so that the power after the shift is transmitted to the reverse transmission shaft S5. It is configured.

  The power from the reverse transmission shaft S5 is transmitted to the rear wheel 2 and also to the front wheel drive switching mechanism 27. The front wheel drive switching mechanism 27 operates the reverse transmission shaft S5 so as to drive at a normal speed (same speed as the rear wheel 2) by turning on and off the four-wheel drive clutch 28 and the speed increasing clutch 29 that are hydraulic clutches. Reverse transmission to drive the front wheel 1 at a high speed (approximately twice the speed of the rear wheel 2) and a four-wheel drive mode (a state in which the front and rear wheels 1 and 2 are driven) transmitting power to the front wheel transmission shaft S6. A rapid turning mode in which the power of the shaft S5 is transmitted to the front wheel drive shaft S6 (a state in which the combine is rapidly turned left and right), and a two-wheel drive mode in which the forward drive 1 is not transmitted to the power (a state in which only the rear wheel 2 is driven). Is switched.

  Further, as shown in FIG. 1, the lifting link 4 described above includes a pair of left and right lower links 31, 31 and a top link 32 above the lower links 31, 31. The front end portion is suspended and connected to the rear end portions of left and right lift arms (not shown) in the front-rear direction supported on the rear end portion of the traveling machine body 3 so as to be swingable up and down via wrist rods 33 and 33, respectively. ing. The wrist arm is swung up and down by an expansion and contraction operation of a lift cylinder 34 (see FIG. 3) that is a hydraulic cylinder.

  In addition, one of the left and right lift rods 33, 33 is constituted by a lift rod cylinder 36, which is a hydraulic cylinder, and due to the expansion / contraction of the wrist rod cylinder 36, the distance between one lower link 31 and the lift arm is reduced. Thus, the distance between the other lower link 31 and the lift arm can be changed, and the left / right inclination of the work machine 6 with respect to the traveling machine body 3 can be adjusted. By this left / right tilt adjustment, it is possible to perform rolling control (horizontal control) for keeping the left / right tilt of the work implement 6 constant regardless of the tilt of the field.

  FIG. 3 is a hydraulic circuit diagram of a hydraulic device mounted on the tractor. This tractor is equipped with a hydraulic device 37 for supplying and discharging pressure oil to and from the various hydraulic cylinders and hydraulic clutches described above. The hydraulic device 37 includes a first hydraulic pump 38 and a second hydraulic pump 39 that are driven by the power of the engine 10. The pressure oil pumped from the hydraulic tank 41 by the first hydraulic pump 38 is diverted by the diversion valve 42, one pressure oil is supplied to the PTO clutch 17 side, and the other pressure oil is supplied to the steering handle 43 (see FIG. 1). Is supplied to a steering unit 44, which is a hydraulic drive unit.

  A PTO valve 46, which is a proportional control electromagnetic valve, is provided in the pressure oil flow path between the diversion valve 42 and the PTO clutch 17. The PTO valve 46 activates the PTO clutch 17 by forming an oil passage for supplying pressure oil to the PTO clutch 17 based on a control signal output from a control device 47 (see FIG. 9) described later. Switching between a state in which power is transmitted to the PTO shaft S3 and a state in which the PTO clutch 17 is turned off and the power to the PTO shaft S3 is cut off by forming an oil passage for discharging the pressure oil from the PTO clutch 17. I do. That is, the control device 47 is configured to be able to perform control of turning on / off the drive (drive / drive control) of the PTO shaft S3.

  The pressure oil pumped from the hydraulic tank 41 by the second hydraulic pump 39 is first supplied to the diverter valve 48 and the four-wheel drive valve 49 that controls the supply of pressure oil to the four-wheel drive clutch 28 and the speed increasing clutch 29 side. Supplied. The four-wheel drive valve 49 is based on a control signal output from the control device 47, and forms a state in which an oil passage for supplying pressure oil to the four-wheel drive clutch 28 and the speed increasing clutch 29 is formed, and the four-wheel drive clutch 28. And the state which forms the oil path which discharges pressure oil from the speed-up clutch 29 side is switched. The pressure oil supplied to the four-wheel drive clutch 28 and the speed increasing clutch 29 side is supplied to the four-wheel drive clutch 28 to turn on and operate the four-wheel drive clutch 28 and to the speed increasing valve 51 which is an electromagnetic valve. . The speed increasing valve 51 forms an oil path for supplying pressure oil to the speed increasing clutch 29 and activates the speed increasing clutch 29, and an oil path for discharging pressure oil from the speed increasing clutch 29 is increased. Switching to the state in which the speed clutch 29 is disengaged is performed.

  The pressure oil supplied to the diversion valve 48 is divided into pressure oil to the lift cylinder 34 side and pressure oil to the lift rod cylinder 36 side.

  The pressure oil on the lift cylinder 34 side is supplied to a lift valve 52 that is a hydraulic valve whose opening degree is adjusted by the pilot pressure. The pilot pressure of the lift valve 52 is adjusted by a lift solenoid valve 53 that is a proportional control solenoid valve. The ascending side solenoid valve 53 opens at an opening degree corresponding to the duty ratio of the control signal output from the control device 47, and supplies pilot oil pressure oil corresponding to the opening degree to the ascending valve 52. The lift valve 52 is opened at an opening degree corresponding to the pilot pressure, supplies an amount of pressure oil corresponding to the opening degree to the shift cylinder 34, and raises the work implement 6 at a speed corresponding to the pressure oil supply amount. Drive. That is, the control device 47 is configured to be able to perform the lifting control of the work machine 6.

  The pressure oil in the shift cylinder 34 is discharged to the hydraulic tank 41 by a lowering valve 54 that is a hydraulic valve whose opening degree is adjusted by the pilot pressure. The pilot pressure of the descending valve 54 is adjusted by a descending solenoid valve 56 that is a proportional control solenoid valve. The descending solenoid valve 56 opens at an opening corresponding to the duty ratio of the control signal output from the control device 47, and supplies pilot oil pressure oil corresponding to the opening to the descending valve 54. The lowering valve 54 is opened at an opening degree corresponding to the pilot pressure, discharges an amount of pressure oil corresponding to the opening degree from the shift cylinder 34 to the hydraulic tank 41 side, and works at a speed corresponding to the discharging amount. 6 is lowered.

  On the other hand, the pressure oil on the lift rod valve 36 side is supplied to a lift rod valve 57 that is an electromagnetic valve. In accordance with a control signal from the control device 47, the lift rod valve 57 forms an oil passage for supplying the pressure oil from the diversion valve 57 to the shift rod cylinder 36, and extends the shift rod cylinder 36. A state in which an oil passage for discharging the pressure oil in 36 to the hydraulic tank 41 is formed and the lift rod cylinder 36 is contracted, a pressure oil supply passage to the lift cylinder 36 and a pressure oil discharge passage from the lift cylinder 36 Is switched to a state in which the extension of the shift cylinder 36 is stopped.

  4 and 5 are a front view and a plan view of the periphery of the seat of the control unit. Side panels 59 extending in the vertical direction and the front-rear direction are arranged on the side of the seat 58 on which the operator of the control unit 7 is seated (right side in the illustrated example). An operation panel 61 on which an operation tool for control is arranged is installed. In addition, a front operation unit 62 (see FIG. 1) provided with the steering handle 43 described above is disposed in front of the seat 58.

  FIG. 6 is a plan view of the side panel. A position control lever (elevating operation tool, elevating lever) 63 for adjusting the elevating height of the work implement 6 is supported on the upper front side of the side panel 59 so as to be rotatable up and down. A push-button type rolling control on / off switch (rolling control on / off operation tool) 64 for performing the rolling control on / off operation is arranged, and the maximum rising height of the work machine 6 is located behind the rolling control on / off switch 64. A dial-operated raising height volume (raising height setting means, raising height setting operation tool) 66 is provided.

  When the position control lever 63 is rotated up and down, the control device 47 drives the work machine 6 up and down to a height corresponding to the vertical rotation angle of the position control lever 63. The maximum lift height of the work implement 6 is set according to the dial operation amount of the lift height volume 66, and the control device 47 prevents the work implement 6 from being driven to rise above the set maximum lift height. The raising / lowering of the working machine 6 is controlled.

  FIG. 7 is a plan view of the operation panel. On the front part of the operation panel 61, switching is performed to switch between a linked mode in which driving / running stop of the traveling machine body 3 or driving / running stop operation of the PTO shaft S3 is linked and an independent mode not linked. A switch (switching operation tool) 67 is arranged, and at the rear part of the operation panel 61, an ascending / descending interlock mode in which the on / off operation of the PTO shaft S3 is interlocked with the ascending / descending operation of the work machine 6 and the ascending / descending interlock mode not interlocking. Ascending / descending interlock changeover switch (elevation interlocking changeover operation tool, ascending PTO stop switch) 68 is installed. In addition, a PTO switch (operation tool, PTO operation tool) 69 for turning on and off the PTO clutch 17 is provided between the changeover switch 67 and the lift interlocking changeover switch 68 on the operation panel 61.

  The changeover switch 67 performs a switching operation between the independent mode and the interlocking mode by a left / right turning operation.

  The ascending / descending interlocking switch 68 is a push button type operation tool, and switches between the ascending / descending interlocking mode and the ascending / descending interlocking mode for each pressing operation. In the ascending / descending interlock mode, the control lamp 71 disposed near the ascending / descending interlock switch 68 is turned on, while in the ascending / descending interlocking mode, the control lamp 71 is turned off. Incidentally, the control device 47 is configured so that the mode switching to the lift interlocking mode is not executed even if the mode switching operation by the lift interlocking switch 68 is performed in the travel mode described later.

  In the ascending / descending operation mode, the control device 47 causes the work machine 6 to be higher than a predetermined height (PTO shaft drive stop height, on / off height) with respect to the traveling machine body 3 in the process in which the work machine 6 is lifted. Is raised, the PTO clutch 17 is disengaged to stop driving the PTO shaft S3, while the work equipment 6 is lowered with respect to the traveling machine body 3 in the process of lowering the work equipment 6 (PTO shaft). When the height falls below (drive height, on / off height), the PTO clutch 17 is engaged and controlled to drive the PTO shaft S3. The PTO drive stop height and the PTO drive height may coincide with each other or may be set to different values for each, but in the present embodiment, they coincide. However, a predetermined hysteresis is provided to prevent the work machine 6 from being unnecessarily driven and stopped when the work machine 6 is positioned near the on / off height.

  The PTO switch 68 is configured so that it can be pushed and rotated left and right, and is urged toward the start end of the rotation range by an elastic member, so that it is turned off (PTO shaft drive stop operation, PTO clutch release operation). Is held by. If the PTO switch 68 is rotated to the end side while pressing the PTO switch 68 from this state, the PTO switch 68 is locked at the end side of the rotation range, and is held in the input operation (PTO shaft drive operation, PTO clutch engagement operation) state. . In this state, when the PTO switch 68 is pressed once, the locking of the PTO switch 68 to the end side is released, and the elastic member causes the PTO switch 68 to be turned to the start end side to enter the cutting operation state. .

  FIG. 8A is a rear view of the main part of the front operation unit, and FIG. 8B is an enlarged view of the display unit. In addition to the steering handle 43, a meter panel 74 in which a meter 72 and a display unit (liquid crystal panel) 73 are arranged is arranged in the front operation unit 62 in front of the steering handle 43. A forward / reverse switching lever (forward / reverse switching operation tool) 76 (refer to FIG. 1) that performs forward / backward switching is supported so as to be able to swing back and forth, and a simple elevating lever (quick up lever) 77 is vertically moved to the right side of the steering handle 43. It is supported so that it can be swung.

  The simple elevating lever 77 is held in a neutral position by an elastic member or the like, and when the operator swings upward once, the work unit 6 is driven to rise to the maximum rising height, while when the operator swings downward once, the work is performed. The control device 47 is configured so that the machine 6 is driven down to the working height.

  In addition, a control operation panel 78 for turning on / off various controls is provided below the left part of the meter panel 74, and various operation tools for operating the screen of the display unit 73 are installed below the right part of the meter panel 74. A display unit operation panel 79 is installed.

  In the control operation panel 78, when the work machine 6 is below a predetermined lift height during reverse or reverse operation of the traveling machine body 3, the work machine 6 is automatically set to a predetermined lift height (maximum lift height). A backup switch 81 for performing on / off operation of backup control for driving the vehicle up (backward drive control at the time of reverse travel) 81, and the work machine 6 is set to a predetermined state when the traveling machine body 3 is turned or turned. A turn-up switch for turning on / off a turn-up control (a turn-up drive control during turning) that automatically drives the work machine 6 up to a predetermined raising / lowering height (maximum rising height) when the height is below the raising / lowering height. (Turn-up ascending drive control on / off operation tool) 82 and the like are provided so that they can be pushed.

  The display unit operation panel 79 includes an upper button 83, a lower button 84, a left button 86, a right button 87, a setting button (decision) for selecting a selection item displayed on the display unit 73, changing a value, and the like. Button) 88 is provided. By pressing these buttons 83, 84, 86, 87, 88, the screen is switched to perform various settings. The on / off height is also determined by operating the buttons 83, 84, 86, 87, 88 on the operation panel 79 while viewing the display unit 73.

  Although details will be described later, specifically, after switching the screen of the display unit 73 to the on / off height setting screen (PTO stop height setting screen), any one of the integer values from 0 to 100 is set. The selection height is set by selecting. That is, the display unit 73 and the display unit operation panel 79 constitute on / off height setting means that can appropriately set the on / off height on the spot in accordance with the convenience of the operator and the field conditions.

  It should be noted that the screen of the display unit 73 is switched to the ascending / descending-linked mode / ascending / descending-mode switching screen, and the buttons 83, 84, 86, 87, 88 are appropriately pressed, so that the ascending / descending interlock mode and the ascending / descending mode are switched. It is also possible to perform a switching operation. That is, the display unit 73 and the display unit operation panel 79 also constitute an ascending / descending interlocking switching unit that performs a switching operation between the ascending / descending interlocking mode and the ascending / descending interlocking mode.

  Further, the display unit operation panel 79 is a push-button type that performs mode switching between a traveling mode for running on the road that does not execute various automatic controls and a working mode (automatic mode) for running on the farm field that performs various automatic controls. The travel / work changeover switch 85 is also provided.

  FIG. 9 is a block diagram of the control device. In this tractor, various controls are executed by the control device (control unit) 47 described above. The control device 47 is composed of a microcomputer, a main control unit 89 that performs on / off control of the drive of the PTO axis S3 and the lifting / lowering control of the work machine 6, and the like, a display control unit 91 that is composed of a microcomputer and performs display control of the display unit 73, A display unit operation panel side control unit 92 that is configured by a microcomputer and that is connected to various input tools of the display unit operation panel 79 is connected to the input side, and these are connected by a CAN (Control Area Network).

  On the input side of the main control unit 89, in addition to the raising height volume 66, the changeover switch 67, the raising / lowering interlocking changeover switch 68, and the PTO switch 69, the simple raising / lowering lever 77 is swung upward and downward. A quick-up switch (simple elevating operation detecting means) 93 that can be detected, a position sensor (elevating operation detecting means) 94 that can detect the vertical rotation angle of the position control lever 63, and an elevating or elevating operation of the work implement 6. Lift detecting means 96 for detecting, reverse detecting means 97 capable of detecting reverse or reverse operation, turning detecting means 98 capable of detecting turning or turning operation of the traveling machine body 3, and running / running stop or running of the traveling machine body 3 A travel detection means 99 capable of detecting a travel stop operation is connected.

  In the illustrated example, the lift detection means 96 is configured by a lift height detection sensor (lift arm sensor, lift arm angle sensor) that is a potentiometer that detects the lift height of the work implement 6. The position sensor 94 and the quick up switch 93 may be configured so as to detect. In the illustrated example, the reverse detection means 97 is provided at the base end portion of the forward / reverse switching lever 76 and is configured by a back switch that detects reverse operation, but is provided on the rear wheel transmission shaft S5. The reverse operation may be directly detected by a rotation sensor or the like. Further, in the illustrated example, the turning detection unit 98 is configured by a sensor that detects a turning angle that is a left-right turning angle from when the front wheel 1 travels straight, and directly detects turning, but the steering handle 43 It may be configured by a sensor that detects the steering angle of the vehicle, and the turning operation may be detected.

  Further, in the illustrated example, the travel detection means 99 is configured by a clutch pedal switch that detects the depression operation of the clutch pedal 101 (see FIG. 1) that performs the on / off operation of the main clutch 14, and detects the travel / travel stop operation. However, the running / running stop of the traveling machine body 3 may be directly detected by a rotation sensor or the like provided on the rear wheel transmission shaft S5. By the way, when the clutch pedal 101 is depressed, the clutch pedal switch 99 is turned on, the main clutch 14 is disengaged, the power transmission to the front and rear wheels 1 and 2 is cut off, and the depression of the clutch pedal 101 is released. Then, the clutch pedal 101 turns on and operates the main clutch 14 by the urging force of an elastic member or the like, and the clutch pedal switch 99 is turned off.

On the output side of the main controller 89, the PTO valve 46 and the upward solenoid valve 53 described above are provided.
The descending solenoid valve 56 and the control lamp 71 are connected, and an electrical control signal is output from the main controller 89 side.

  The tractor is configured such that the engine 10 is started by turning on a key switch (not shown) after turning off the PTO switch 69 to turn off the PTO clutch 17.

Next, on / off control of driving of the PTO shaft S3 by the control device 47 will be described with reference to FIGS.
FIG. 10 is a characteristic graph showing the configuration of the on / off height setting means. This characteristic graph shows the correlation between the detected value of the lift arm sensor 96 and the angle of the lift arm (lifting height of the work implement 6), and the operator sets the predetermined lift height of the work implement 6 to the lower limit. With the dial operation of the raising height volume 66 within the maximum rising height range R ₁ with the upper limit value that is the lifting height at which the work equipment 6 can physically rise, The maximum height of the work machine 6 can be set freely.

The on / off height is set to a lower limit value (on / off height lower limit value) that is a predetermined lifting height of the work implement 6 smaller than a value within the maximum rising height range R ₁ . becomes the maximum rise height set to a value of the upper limit value (Nyusetsu height upper limit) and the Nyusetsu the height range R _2. Specifically, from among the plurality of selection values to be prorated calculated from Nyusetsu height range R _2, one value selected by the operator is Nyusetsu height.

Incidentally, the value of 0 to 100 displayed on the display unit 73 described above represents a ratio of apportioning the Nyusetsu height range R ₂ in 0 to 100%, for example, by means of the foregoing, the "0" If selected, the ratio to be proportionally distributed by the Nyusetsu height range R ₂ is = 0% Nyusetsu height matches the upper fill Setsudaka of the lower limit, when the user selects the "100" , the ratio is proportionally distributed by the Nyusetsu height range R ₂ becomes 100% Nyusetsu height match the maximum rise height set by raising the height volume 66, when selecting "50" , the ratio is proportionally distributed by the Nyusetsu height range R ₂ is 50%, the upper fill Setsudaka of the lower limit, Nyusetsu height intermediate value between the maximum rise height set by raising the height volume 66 Becomes the on / off height. By displaying a value of 0 to 100 in this way, the operator can set the on / off height sensuously.

  When the PTO drive height and the PTO drive stop height, which are on / off heights, are set separately, the same setting operation as described above is performed for each of the PTO drive height and the PTO drive stop height. Just do it.

  11 and 12 are state diagrams at the time of the predetermined mode or the transition to the predetermined mode, respectively. When the PTO switch 69 is turned off, the driving of the PTO shaft is stopped and held in that state regardless of the operation state of the up / down interlocking switch 68 and the PTO switch 69. On the other hand, when the input operation state of the PTO switch 69 is detected on the input side, the control device 47 simultaneously performs the interlock mode and the lift interlock mode based on the operation signals input from the changeover switch 67 and the lift interlock switch 68. Switch between the mode to be executed, the mode to execute the interlock mode and the lift-unlinked mode simultaneously, the mode to execute the independent mode and the lift-linked mode simultaneously, and the mode to execute the independent mode and the lift-unlinked mode simultaneously. It is configured as follows. Hereinafter, each state will be described on the assumption that the PTO switch 69 is turned on.

  When the mode is switched to the independent mode by the changeover switch 67 and the mode is not changed to the up / down interlocking mode by the up / down interlocking switch 68 (hereinafter referred to as “state A”), the control device 47 is switched from the independent mode to the up / down non-interaction mode. The interlocking mode is executed at the same time, and the PTO clutch 17 is engaged and the driving state of the PTO shaft S3 is maintained.

  When the mode is switched to the interlocking mode by the changeover switch 67 and is also switched to the ascending / descending interlocking mode by the ascending / descending interlocking switch 68 (hereinafter referred to as “state B”), the control device 47 operates in the interlocking mode and the ascending / descending interlocking mode. Are simultaneously executed, and on / off of the driving of the PTO shaft S3 is linked to the running / running stop or running / running stop operation of the traveling machine body 3 detected by the running detection means 99. Specifically, the PTO axis S3 is driven when the traveling machine body 3 is traveling or traveling, and the PTO axis S3 is stopped when traveling is stopped or the traveling stop operation is performed.

  When the mode is switched to the independent mode by the changeover switch 67 and is also switched to the mode for moving up and down interlocking by the lift interlocking switch 68 (hereinafter referred to as “state C”), the control device 47 switches between the independent mode and the motion interlocking mode. On / off operation is linked to the driving of the PTO shaft S3 by the lifting / lowering operation of the work implement 6 executed simultaneously and detected by the lifting / lowering detection means 96.

  By the way, in the lift interlocking mode, the PTO shaft S3 is stopped when the work implement ascent condition is satisfied, and the PTO shaft S3 is driven when the work implement descending condition is satisfied.

  The work machine ascent condition is that when the ascending operation (quick up operation) of the work machine 6 by the simple elevating lever 77 is detected by the quick up switch 93, the back of the traveling machine body 3 during the backup control (when the backup control is on). When the reverse or reverse operation is detected by the reverse detection means 97, when the turning or turning operation of the traveling body 3 is detected by the turning detection means 98 at the time of turning up control (in the on state at the turning up control), or This means any one of cases where the lift arm sensor 96 detects that the work implement 6 has been driven to rise above the PTO drive stop height by the position control lever 63.

  On the other hand, the work implement lowering condition refers to the case where the descent operation (quick up operation) of the work implement 6 by the simple elevating lever 77 is detected by the quick up switch 93 or the position control lever 63 causes the work implement 6 to move to the PTO drive height. This means any one of cases where the lift arm sensor 96 detects that the vehicle has been driven downward.

  The lifting operation of the work machine 6 by the position control lever 63 is prioritized over the lifting operation of the working machine 6 by the backup control and the turning-up control and the lifting operation of the work machine 6 by the simple lifting lever 77. By raising / lowering the work implement 6, it is possible to cancel the raising operation of the work implement 6 by the backup control and the turning-up control and the raising / lowering operation of the work implement 6 by the simple elevating lever 77.

  When the mode is switched to the interlocking mode by the changeover switch 67 and is also switched to the ascending / descending interlocking mode by the ascending / descending interlocking switch 68 (hereinafter referred to as “state D”), the control device 47 switches between the interlocking mode and the ascending / descending interlocking mode. Run at the same time. When the interlock mode and the lift interlock mode are executed at the same time, when it is detected that the work implement lowering condition is satisfied and the traveling or traveling operation of the traveling machine body 3 is detected by the traveling detection means 99, When the PTO clutch 17 is turned on to drive the PTO shaft S3, it is detected that the work machine lowering condition is satisfied, and the travel detection means 99 detects a travel stop or travel stop operation of the travel machine body 3. Cuts the PTO clutch 17 to stop driving the PTO shaft S3, detects that the working machine ascent condition is satisfied, and the traveling detection means 99 detects the traveling or traveling operation of the traveling machine body 3. In this case, the PTO clutch 17 is turned off to stop the driving of the PTO shaft S3, and the lift detection means 96 detects that the work equipment ascent condition is satisfied. And when the running stop or travel stop operation of the traveling machine body 3 by the travel detecting means 99 is detected, stops the drive of the PTO shaft S3 by switching operating the PTO clutch 17

  When switching from the interlock mode to the independent mode is performed by the changeover switch 67 when the ascending / descending interlocking mode is executed by switching to the ascending / descending interlocking switch 68 by the ascending / descending interlocking switch 68 (hereinafter referred to as “mode transition”). In A ”), the shift to the independent mode is immediately performed by the control device 47, and the state in which the ascending / descending mode and the independent mode are executed simultaneously is entered. Then, the on / off control of the drive of the PTO shaft S3 by the control device 47 in this state is performed as described above.

  When switching from the interlock mode to the independent mode is performed by the selector switch 67 when the elevator interlock mode is executed by the elevator interlock switch 68 being switched to the elevator interlock mode (hereinafter referred to as “mode transition B”). ), The shift to the independent mode is immediately performed by the control device 47, and the lift interlocking mode and the independent mode are executed simultaneously. Then, the on / off control of the drive of the PTO shaft S3 by the control device 47 in this state is performed as described above.

  When switching from the independent mode to the interlocking mode is performed by the changeover switch 67 when the ascending / descending interlocking mode is executed by switching to the ascending / descending interlocking switch 68 (hereinafter referred to as “mode transition”). C ”), the shift to the interlocking mode is immediately performed by the control device 47, and the lift non-interlocking mode and the interlocking mode are executed simultaneously. Then, the on / off control of the drive of the PTO shaft S3 by the control device 47 in this state is performed as described above.

  When switching from the independent mode to the interlocking mode is performed by the selector switch 67 when the elevator interlocking mode is executed by switching to the ascending / descending interlocking mode by the ascending / descending interlocking switch 68 (hereinafter referred to as “mode transition D”). ), The shift to the interlocking mode is immediately performed by the control device 47, and the lift interlocking mode and the interlocking mode are executed simultaneously. Then, the on / off control of the drive of the PTO shaft S3 by the control device 47 in this state is performed as described above.

  That is, when a switching operation from the interlock mode to the independent mode or the independent mode to the interlock mode is performed by the changeover switch 67, the control device 47 is configured to immediately execute the mode switching.

  When switching from the lift interlocking mode to the lift non-interlocking mode is performed by the ascending / descending interlocking switch 68 when the switching mode is switched to the independent mode by the changeover switch 67 (hereinafter referred to as “mode transition E”). ]) If the PTO shaft S3 is in a driven state, the controller 47 immediately shifts to the ascending / descending mode, and the independent mode and the ascending / descending mode are executed simultaneously. On the other hand, if the drive of the PTO shaft S3 is stopped, the process shifts to a state of waiting for the work implement lowering condition to be satisfied, and if the work implement lowering condition is satisfied, the control device 47 enters the ascending / descending operation mode. The PTO shaft S3 is driven while moving.

  When the switching mode is switched to the interlocking mode by the changeover switch 67 and the interlocking mode is executed, the switching operation from the ascending / descending interlocking mode to the ascending / descending interlocking mode is performed by the ascending / descending interlocking switch 68 (hereinafter referred to as “mode transition F”). ]) If the PTO shaft S3 is in a driven state, the controller 47 immediately shifts to the ascending / descending mode, and the interlocking mode and the ascending / descending mode are executed simultaneously. On the other hand, if the driving of the PTO shaft S3 is in a stopped state, the traveling or moving operation of the traveling machine body 3 in the traveling stop or traveling stop operation state is detected by the traveling detection means 99 when the work implement lowering condition is satisfied. When the working machine lowering condition is satisfied, or when the traveling or traveling operation of the traveling machine body 3 in the traveling stop or traveling stop operation state is detected by the traveling detection means 99, the control device 47 moves up and down. While shifting to the non-interlocking mode, the PTO shaft S3 is driven.

  When switching to the independent mode is performed by the changeover switch 67 and when the independent mode is executed, the switching operation from the ascending / descending interlocking mode to the ascending / descending interlocking mode is performed by the ascending / descending interlocking switch 68 (hereinafter referred to as “mode transition G”). )) Waiting for the work implement lowering condition, which is the drive permission condition for the PTO shaft S3 when the independent mode and the lift interlocking mode are simultaneously executed, to be satisfied, and when this state is satisfied, the control device 47 operates in the lift interlocking mode. The independent mode and the lift interlocking mode are executed simultaneously.

  When the switching mode is switched to the interlocking mode by the changeover switch 67 and the interlocking mode is executed, the switching operation from the ascending / descending interlocking mode to the ascending / descending interlocking mode is performed by the ascending / descending interlocking switch 68 (hereinafter referred to as “mode transition H”). )) Waiting for the state where the work implement lowering condition, which is the drive permission condition of the PTO shaft S3 when the interlock mode and the lift interlock mode are executed simultaneously, is satisfied and the travel detection means 99 detects the travel or the travel operation. When this state is satisfied, the control device 47 shifts to the ascending / descending interlock mode, and the interlocking mode and the ascending / descending interlock mode are executed simultaneously.

  In the above, each state on the assumption that the PTO switch 69 is in the on operation state has been described. However, when the PTO switch 69 in the off operation state is operated (hereinafter referred to as “state transition A”), the changeover switch. When 67 is switched to the independent mode and the ascending / descending interlock switch 68 is switched to the ascending / descending mode, the mode immediately shifts to the independent mode and the ascending / descending mode and executes them simultaneously. When the changeover switch 67 is switched to the independent mode and the lift interlock switch 68 is switched to the lift interlock mode, the mode immediately shifts to the independent mode and the lift interlock mode and executes them simultaneously. When the changeover switch 67 is switched to the interlocking mode, the ascending / descending interlocking switch 68 is switched to the ascending / descending interlocking mode. In this state, the mode immediately shifts to the interlocking mode and the non-elevating / interlocking mode and executes them simultaneously, and the ascending / descending interlocking switch 68 is switched to the ascending / descending interlocking mode with the changeover switch 67 being switched to the interlocking mode. The control device 47 is configured to immediately shift to the interlocking mode and the lift interlocking mode and execute them simultaneously when being performed.

  On the other hand, when the PTO switch 69 in the on operation state is turned off (hereinafter referred to as “state transition B”), each of the executed modes (independent mode, interlock mode, lift interlock mode, lift non interlock mode) is selected. The control device 47 is configured so that it is immediately stopped and the waiting state at the time of the mode switching described above is also immediately released and the driving of the PTO shaft S3 is stopped.

  The tractor is fixed in the independent mode or the interlocking mode without performing the mode switching operation by the changeover switch 67, and the PTO shaft S3 is fixed by the switching operation of the ascending / descending interlocking switch 68 and the on / off operation of the PTO switch 69. Driving on / off control may be performed.

  When fixed in the independent mode, the control device 47 is configured to switch between the state A and the state C described above by the mode transitions E and G described above and to switch the state by the state transitions A and B described above. On the other hand, when fixed in the interlocking mode, the control device 47 is configured to switch between the state B and the state D described above by the mode transitions F and H described above and to switch the state by the state transitions A and B described above. .

1 is an overall side view of a tractor to which the present invention is applied. It is a sectional side view of a mission case showing the composition of the transmission of this tractor. FIG. 2 is a hydraulic circuit diagram of a hydraulic device mounted on the tractor. It is a front view around the seat of a control part. It is a top view around the seat of a control part. It is a top view of a side panel. It is a top view of an operation panel. (A) is a principal part rear view of a front operation part, (B) is an enlarged view of a display part. It is a block diagram of a control apparatus. It is a characteristic graph which shows the structure of the setting means of on / off height. It is a state diagram at the time of transition to the predetermined mode or the predetermined mode. It is a state diagram at the time of transition to the predetermined mode or the predetermined mode.

Explanation of symbols

3 traveling machine body 6 working machine (rotary tillage device)
17 PTO clutch (work machine drive on / off means)
47 Control device (control unit)
66 Raised height volume (raised height setting means, raised height setting operation tool)
67 changeover switch (switching operation tool)
68 Elevation interlock changeover switch (Elevation interlock changeover operation tool, ascent PTO stop switch)
69 PTO switch (operating tool, PTO operating tool)
96 Lift detection means (lift height detection sensor, lift arm sensor, lift arm angle sensor)
99 Travel detection means (clutch pedal switch, rotation sensor)
S3 PTO shaft (output shaft)

Claims (3)

  Elevation detection means (96) for detecting elevating or elevating operation of the work machine (6) connected to the traveling machine body (3), and traveling for detecting traveling / running stop or traveling / running stop operation of the traveling machine body (3). Detection means (99), PTO shaft (S3) for outputting power from the traveling machine body (3) side to the work machine (6) side, and a PTO operation tool (69 for performing on / off operation of driving of the PTO shaft (S3) ) And a switching operation tool for switching between an interlock mode in which the driving of the PTO shaft (S3) is switched on and off and an independent mode in which the PTO shaft (S3) is linked to the driving / running stop operation of the traveling body (3). 67) and an ascending / descending interlocking switching operation tool for performing a switching operation between an ascending / descending interlocking mode in which the on / off operation of the PTO shaft (S3) is interlocked with the ascending / descending operation of the work machine (6) and the ascending / descending interlocking mode not interlocking. 68), lift detection means (96) and A control unit (47) for controlling on / off of the drive of the PTO shaft (S3) based on the detection of the row detection means (99) and the operation state of the PTO operation tool (69), and the PTO operation tool (69). In the case where the switching operation tool (68) is switched to the ascending / descending interlocking mode, the control based on the ascending / descending interlocking mode is selected together with the control based on the interlocking mode or the independent mode selected by the switching operating tool (68). Is executed, and the PTO shaft (S3) is driven when the PTO operation tool (69) is turned on and the lift interlocking switching operation tool (68) is switched from the ascending / descending interlocking mode to the ascending / descending interlocking mode. In this case, switching from the ascending / descending interlock mode to the ascending / descending interlock mode is immediately executed, and the interlocking mode selected by the switching operation tool (67) or the independent mode is selected. On the other hand, when the PTO shaft (S3) is stopped driving, the re-entry operation after the PTO operation tool (69) is turned off, the working machine (6) is lifted or lowered. After the operation, the switching operation by the switching operation tool (68) or the start of traveling of the traveling machine body (3) is detected, switching from the ascending / descending interlocking mode to the ascending / descending interlocking mode is executed. 67) A work vehicle in which the control unit (47) is configured such that control based on the interlocking mode or the independent mode selected by 67) is executed.   When the PTO operating tool (69) is turned on and the elevator interlock switching operation tool (68) is used to switch from the elevator non-interlocking mode to the elevator interlocking mode, the PTO shaft (S3) in the interlocking mode is in the interlocking mode. The control unit (47) according to claim 1, wherein the control unit (47) is configured to start control based on the ascending / descending interlocking mode on the condition of the driving permission state and on the condition of the driving permission state of the PTO shaft (S3) in the independent mode in the independent mode. Work vehicle.   When an input operation is performed by the PTO operation tool (69) and the elevator interlocking switching operation tool (68) is switched to the ascending / descending interlock mode or the ascending / descending interlock mode, the independent mode is switched from the independent mode by the switching operator (67) to the interlocking mode. When the switching operation or the switching operation from the interlock mode to the independent mode is performed, the control unit (47) is configured to immediately shift from the independent mode to the interlock mode or from the interlock mode to the independent mode. 2 work vehicles.

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