JP2014236707A - Working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve an operation mode in which a working machine is lifted to a position where a collision of the working machine with a vehicle machine is reliably prevented in lifting operation of an automatic lifting and lowering operation member in addition to an operation mode of lifting the working machine to a position arbitrarily set by the lifting operation of the automatic lifting and lowering operation member.SOLUTION: A main control device has a basic lifting control mode for using an arbitrary lifting position set by a lifting position setting member as a target value and an individual lifting control mode for using an individual lifting position of a connected working machine as a target value in automatic lifting control for controlling the operation of a lifting and lowering actuator by using a prescribed lifting position as a target value in lifting operation of an automatic lifting and lowering operation member. The basic lifting control mode and the individual lifting control mode can be selectively activated.

Description

  The present invention relates to a work vehicle that includes a vehicle main body in which a plurality of different types of work machines can be selectively connected via an elevating link mechanism, and that can raise and lower a connected work machine according to a human operation.

  The vehicle main unit, an elevating link mechanism provided in the vehicle main unit, and an elevating actuator for elevating a working machine connected through the elevating link mechanism, and according to the operation of the human operation member, 2. Description of the Related Art Conventionally, work vehicles whose actuators are controlled to operate have been widely used as tractors or the like (see, for example, Patent Document 1 below).

  Specifically, the work vehicle includes a manual elevating operation member and an automatic elevating operation member as the human operation member, and further includes a main control device that controls operation of the elevating actuator.

  In the working vehicle, the main control device performs operation control of the lifting actuator so that the work implement is lifted and lowered according to an operation amount of the manual lifting operation member when the manual lifting operation member is operated, When the automatic elevating operation member is operated, the operation of the elevating actuator is controlled so that the working machine is located at a preset retracted position (raised position) or working position (lowered position).

The retracted position and the work position are arbitrarily set by a work machine position setting member that is manually operated.
The retracted position is set by a raising position setting member provided in the vehicle main unit, and the working position is set by the manual lifting operation member. That is, the main control device recognizes the operation position of the manual elevating operation member at the time when the automatic elevating operation member is operated to be lowered as the work position.

  By the way, different types of working machines such as a tiller and a broadcaster (fertilizing / seeding device) can be selectively connected to the vehicle main unit via the lifting link mechanism.

  Therefore, for example, when performing a tilling work, the tiller is connected to the vehicle main unit via the lifting link mechanism, and when spreading fertilizer, the tiller is detached from the lifting link mechanism and the broadening is performed. Connect casters.

  Here, the cultivator and the broadcaster have different shapes and sizes. Therefore, when the cultivator is replaced with the broadcaster, if the evacuation position remains set for the cultivator, the broadcaster is used when the automatic lifting operation member is raised. In some cases, the vehicle body and / or the broadcaster may be damaged.

JP 2010-133201 A

  The present invention has been made in view of such a conventional technique, and raises and lowers a working machine connected to a vehicle main unit via an elevating link mechanism according to an operation amount of a manual elevating operation member and an automatic elevating operation member. A working vehicle that positions the working machine in a raised position in response to a lifting operation of the automatic lifting / lowering operation member in addition to an operation mode in which the working machine is raised to an arbitrary position by a lifting operation of the automatic lifting / lowering operation member It is an object of the present invention to provide a work vehicle that enables an operation mode that reliably prevents the work machine from colliding with the vehicle main body during a lifting operation.

  In order to achieve the above object, the present invention provides a vehicle main unit, an elevating link mechanism provided in the vehicle main unit and capable of detachably connecting different types of work machines, and the elevating link mechanism. A lifting / lowering actuator that lifts and lowers the connected working machines, a manual lifting / lowering operation member that can be manually operated, an automatic lifting / lowering operation member, and a main control device that controls the operation of the lifting / lowering actuator, When the manual elevating operation member is operated, the operation of the elevating actuator is controlled using the operation position of the manual elevating operation member as a target value, and when the automatic elevating operation member is operated, the predetermined elevating position is set as the target value. The automatic ascent control for performing the operation control is executed, and a predetermined lowered position is set as a target value when the automatic elevating operation member is lowered. A work vehicle configured to execute automatic lowering control for performing operation control of the lifting actuator, wherein the main control device targets an arbitrary lift position set by a lift position setting member as the automatic lift control. A basic ascent control mode and a separate ascent control mode with the individual lift positions of the connected work machines as target values, and the basic ascent control mode and the individual ascent control mode can be selectively activated A working vehicle is provided.

Preferably, the main control device can store a plurality of individually raised positions for one work machine.
In this case, one individual raising position selected in accordance with an artificial operation among the plurality of individual raising positions is set as the target value in the individual ascent control mode.

Preferably, the main control device stores in advance information associating the type of the work implement with the individually raised position.
In this case, the individual raising position is determined based on the type of the work implement recognized by the electrical connection between the main control device and the work implement connected to the vehicle main unit and the information. Is set.

  In the various configurations, the control mode may be switched from the individual ascent control mode to the basic ascent control mode when the raising position setting member is manually operated when the individual ascent control mode is activated.

  In the various configurations, preferably, the main control device, as the automatic lowering control, includes a basic lowering control mode in which an arbitrary lowering position set by a lowering position setting member is set as a target value, and a connected working machine. It has an individual lowering control mode in which the individual lowering position is a target value, and the basic lowering control mode and the individual lowering control mode can be selectively activated.

Preferably, information relating the type of the work implement and the individual lowered position is stored in the main control device in advance.
In this case, the individual lowering position is set based on the type of work implement recognized by the electrical connection between the main control device and the work implement coupled to the vehicle main unit and the information. Is done.

  According to the working vehicle of the present invention, the main control device is set by the raising position setting member as the automatic raising control for performing the operation control of the raising / lowering actuator with the predetermined raising position as a target value during the raising operation of the automatic raising / lowering operation member. A basic ascending control mode in which the arbitrarily raised position is a target value, and an individual ascending control mode in which the individually raised positions of the connected work machines are set as target values. Since the control mode can be selectively activated, when the basic ascending control mode is activated, the work implement can be raised to a position where it can be arbitrarily set by raising the automatic raising / lowering operation member, When the individual ascending control mode is activated, the work machine is reliably prevented from colliding with the vehicle main unit during the raising operation of the automatic raising / lowering operation member. To a position where it is possible to raise the working machine.

FIG. 1 is a schematic side view of a working vehicle according to an embodiment of the present invention. FIG. 2 is a control block diagram of the working vehicle shown in FIG. FIG. 3 is a schematic side view of a broadcaster connected to the vehicle main body in the working vehicle shown in FIG.

Hereinafter, preferred embodiments of a working vehicle according to the present invention will be described with reference to the accompanying drawings.
FIGS. 1 and 2 show a schematic side view and a control block diagram of the working vehicle 1 according to the present embodiment, respectively.

  As shown in FIGS. 1 and 2, the working vehicle 1 includes a vehicle main unit 10 that can travel, and a lift link that is provided on the vehicle main unit 10 so that different types of work units can be detachably connected. A mechanism 60, a lifting actuator 50 that lifts and lowers working machines connected via the lifting link mechanism 60, a manually-operable manual lifting / lowering operation member 30 and an automatic lifting / lowering operation member 32, and operation control of the lifting / lowering actuator 50. And a main control device 90 that manages the above.

  As shown in FIG. 1, the vehicle main unit 10 includes a vehicle body frame 11, a drive source 12 supported by the vehicle body frame 11, and a front wheel 13 supported by the vehicle body frame 11 and at least one of which is a drive wheel. And a rear wheel 14, a transmission 15 that receives rotational power from the driving source 12 and outputs rotational power shifted toward the driving wheel, and a driver seat 16 supported by the vehicle body frame 11. Yes.

A steering operation member 17 for steering a steered wheel (usually the front wheel 13) is provided in front of the driver seat 16.
The manual elevating operation member 30 and the automatic elevating operation member 32 are arranged in the vicinity of the driver's seat 16 so that the operator seated in the driver's seat 16 can perform an artificial operation.

  In the present embodiment, the vehicle main unit 10 includes a cabin 20, and the driver seat 16, the steering operation member 17, the manual lifting operation member 30, and the automatic lifting operation member 32 are included in the cabin 20. Is placed inside.

The elevating link mechanism 60 has various types of working machines as long as different types of working machines can be selectively connected to the vehicle main unit 10 and the connected working machines can be raised and lowered with respect to the vehicle main body 10. Can take form.
In the present embodiment, as shown in FIG. 1, the lifting link mechanism 60 is a three-point link mechanism including a top link 61 and a pair of left and right lower links 62.

Although not shown in the drawings, the elevating actuator 50 switches between supply and discharge of, for example, a hydraulic cylinder device including a hydraulic cylinder and a piston that is housed in the hydraulic cylinder so as to freely advance and retract, and pressure oil to an oil chamber of the hydraulic cylinder. And a solenoid valve.
In this case, the operation of the solenoid valve is controlled by the main controller 90.

The manual lifting operation member 30 is a member that is manually operated when the working machine is positioned at an arbitrary height.
Specifically, the work vehicle 1 is provided with a manual lift position sensor 31 that detects an operation position of the manual lift operation member 30, and the main control device 90 is based on a signal from the manual lift position sensor 31. The operation position of the manual elevating operation member 30 can be recognized.

  Furthermore, the work vehicle 1 is provided with a work machine position sensor 51 that directly or indirectly detects the position of the work machine, and the main control device 90 is configured so that the work machine is connected to the manual lift position sensor 31. The elevating actuator 50 is operated so as to be positioned at a height corresponding to the signal.

The work implement position sensor 51 may be, for example, a sensor that detects an operating state of the lift actuator 50.
That is, when the lift actuator 50 includes the hydraulic cylinder device and the solenoid valve, a lift arm whose one end is operatively connected to the hydraulic cylinder device and the other end is operatively connected to the lift link mechanism 60 is provided. The hydraulic cylinder device moves the working machine up and down.
In this case, the work machine position sensor 51 is a sensor that detects a lift angle of the lift arm.

  The automatic raising / lowering operation member 32 is a member that is manually operated when the working machine is positioned at a preset retracted position (raised position) or working position (lowered position).

  That is, the main control device 90 executes automatic ascent control for controlling the operation of the elevating actuator 50 with a preset elevating position as a target value during the elevating operation of the automatic elevating operation member 32 and the automatic elevating operation. During the lowering operation of the member 32, automatic lowering control for performing operation control of the lifting actuator 50 is executed with a preset lowering position as a target value.

In the present embodiment, as shown in FIG. 1, the working vehicle 1 has a broadcaster 100 as the working machine.
FIG. 3 shows a schematic side view of the broadcaster.

  As shown in FIG. 3, the broadcaster 100 controls the operation of the hopper 101, the shutter 102 that opens and closes the spray port of the hopper 101, the shutter actuator 110 that opens and closes the shutter 102, and the shutter actuator 110. The sub-control device 190 (see FIG. 2).

  As shown in FIG. 3, the broadcaster 100 further includes a frame 104 that supports the hopper 101 and is connected to the lift link mechanism 60, and a PTO shaft in the vehicle main unit 115 via a transmission shaft 115. It has a spraying blade 105 which is operatively connected and scatters the sprayed material falling through the shutter 102.

  The shutter actuator 110 is operatively connected to the shutter 102 via a link mechanism 111.

  As shown in FIGS. 2 and 3, the vehicle main unit 10 and the broadcaster 100 include a main unit side spraying switch 36 for switching ON / OFF of a spraying operation by the broadcaster 100 and a work unit side. A spray switch 136, a main unit side shutter opening degree adjusting member 38 for adjusting the opening degree of the shutter 102, and a work unit side shutter opening degree adjusting member 138 are provided.

Further, as shown in FIGS. 2 and 3, the broadcaster 100 is provided with a shutter opening sensor 103 that detects the opening of the shutter 102.
In the present embodiment, the shutter opening sensor 103 detects the posture (angle around the rotation axis) of one constituent member in the link mechanism 111.

  In the work vehicle 1 according to the present embodiment, the main control device 90 has a basic ascent control mode and an individual ascent control mode that can be selectively activated as the automatic ascent control.

  The basic ascending control mode is configured to perform operation control of the ascending / descending actuator 50 with an arbitrary raising position set by the raising position setting member 34 as a target value when the automatic raising / lowering operation member 32 is operated to be raised. ing.

Specifically, the working vehicle 1 is provided with the raised position setting member 34 for setting an arbitrarily raised position.
When the automatic ascending / descending operation member 32 is raised at the time of starting the basic ascending control mode, the main controller 90 uses the raised position set by the raised position setting member 34 at the time of the operation as a target value. Operation control of the lift actuator 50 is performed.

  The raised position setting member 34 may take various forms, for example, a position setting dial.

  On the other hand, in the individual ascent control mode, when the automatic ascending / descending operation member 32 is operated to be raised, the operation control of the ascending / descending actuator 50 is performed with the individual raising position of the working machine connected at that time as a target value. Configured to do.

  Specifically, the main control device 90 has an individual raising position of a work machine connected to the vehicle main unit 10 via the lifting link mechanism 60, and the automatic control unit 90 is activated when the individual raising control mode is activated. When the raising / lowering operation member 32 is raised, the main controller 90 controls the raising / lowering actuator 50 using the individual raising position as a target value.

  For example, it is possible to cause the main controller 90 to recognize information input by the operator via the individual raising position input means 42 (see FIG. 2) provided in the work vehicle 1 as the individual raising position.

  Instead, individually raised position information that associates the type of the working machine with the individually raised position is stored in the main controller 90 in advance, and the type of the connected working machine is stored in the main controller 90. It is also possible to configure the main control device 90 to set the individual raising position by recognizing it.

  In this case, the recognition of the type of the work implement by the main control device 90 is input by a pilot via a work implement input means (not shown), or the sub control device in the main control device 90 and the work implement. 190 (see FIG. 2).

  In the working vehicle 1 having such a configuration, by activating the basic ascending control mode, the working machine is raised to the raising position arbitrarily set by the operator according to the raising operation of the automatic raising / lowering operation member 32. By enabling the individual ascent control mode, the work equipment connected at that time is raised to a position suitable for the work equipment by activating the automatic raising / lowering operation member 32. Can do. Therefore, it is possible to reliably prevent a situation in which the working machine collides with the vehicle main unit 10 by the raising operation of the automatic lifting operation member 32.

  That is, different types of working machines such as a rotary tiller and a broadcaster (see FIG. 1) can be selectively connected to the vehicle main unit 10 via the lifting link mechanism 60. Yes.

  Different types of work machines have unique shapes and sizes, and each has an optimum raising position.

In other words, the raised position where the rotary tiller does not collide with the vehicle main unit 10 is different from the raised position where the broadcaster does not collide with the vehicle main unit 10, and therefore the rotary tiller should be positioned during the raising operation of the automatic elevating operation member 32. The raised position is unique to each work machine.
For example, when the working machine is a broadcaster, a rotary cultivator, and a rotary cultivator with a fertilizer applicator, the raised positions can be set to a lift angle of 10 degrees, a lift angle of 0 degrees, and a lift angle of 5 degrees, respectively. .

  On the other hand, there is a case where it is desired to raise the connected working machine to an arbitrary height when the automatic raising / lowering operation member 32 is raised.

  In this regard, in the work vehicle 1 according to the present embodiment, when the basic ascending control mode is activated, the work machine connected to the vehicle main machine 10 is moved to the automatic elevating operation member 32. When the individual ascending control mode is activated while the operator is raised to the raising position arbitrarily set during the raising operation of the vehicle, the work machine connected to the vehicle main unit 10 moves up and down automatically. The operating member 32 is raised to the raising position set for the work machine during the raising operation.

  Therefore, in addition to an operation mode in which the working machine is raised to an arbitrary position by raising the automatic raising / lowering operation member 32, the working machine is moved to the vehicle main unit of the working machine by raising the automatic raising / lowering operation member 32. An operation mode is provided in which the vehicle is raised to a position where a collision with the vehicle is reliably prevented.

  Here, whether to activate the basic ascending control mode or the individual ascending control mode may be determined by manual operation by an operator, or provided in the main control device 90 and the work implement. It may be determined by automatic communication with the sub-control device 190 (see FIG. 2).

  The former mode is realized by the ascending control mode changeover switch 25 (see FIG. 2) provided in the vehicle main unit 10.

  In the latter mode, information related to which lift control mode is to be activated is stored in advance in the main control device 90 or the sub control device 190 for each work machine, and the main control device 90 and the sub control device 190 are stored. This is realized by the main control device 90 determining based on the type of the work machine recognized by the electrical connection between them and the information.

  In the latter mode, the initial setting may be changed by the ascent control mode switch 25 while the ascent control mode determined by the main controller 90 is set as the initial setting.

  In any aspect, preferably, the monitor 22 (see FIGS. 1 and 2) provided in the vehicle main unit 1 indicates whether or not the work implement is connected, and if it is connected, the work is performed. It is possible to display the type of machine and the type of the rising control mode that is being activated.

  Preferably, the main control device 90 is capable of storing a plurality of individually raised positions for each work implement, and one individual raised position selected according to an artificial operation among the plurality of individually raised positions is the individual ascending control. The target value in the mode can be set.

  According to such a configuration, it is possible to respond more flexibly to various requests regarding the raising operation of the automatic raising / lowering operation member 32.

  Preferably, a fine adjustment member 44 (see FIG. 2) that can be manually operated is provided, and the individual raising position set by the main control device 90 can be changed by the fine adjustment member 44.

  Further, preferably, when the raising position setting member 34 is operated while the individual ascending control mode is activated, the main control device 90 changes from the individual ascending control mode to the basic ascending control mode. It can be configured to switch control modes.

  That is, when the automatic elevating operation member 32 is raised when the individual ascending control mode is activated, the main controller 90 controls the operation of the elevating actuator 50 with the individual raising position as a target value.

  Here, the operation position of the raising position setting member 34 becomes a target value when the automatic raising / lowering operation member 32 is raised when the basic ascending control mode is activated, and the individual ascending control mode is activated. Sometimes, the operating position of the raising position setting member 34 is not involved in the operation control of the elevating actuator 50.

Therefore, normally, the raising position setting member 34 is not operated when the individual ascending control mode is activated.
On the other hand, the fact that the raising position setting member 34 is intentionally operated when the individual ascending control mode is activated means that the operator who wants to change the raising position of the work implement when the automatic raising / lowering operation member 32 is raised. It is thought that this is an expression of intention.

  Considering this point, when the raising position setting member 34 is operated at the time of starting the individual ascending control mode, the control mode is switched from the individual ascending control mode to the basic ascending control mode. Can do.

  In the present embodiment, the main control device 90 has a basic lowering control mode and an individual lowering control mode that can be selectively activated as the automatic lowering control.

  In the basic lowering control mode, when the automatic elevating operation member 32 is operated to be lowered, operation control of the elevating actuator 50 is performed with an arbitrary lowered position set by the lowered position setting member as a target value. Yes.

Specifically, the working vehicle 1 is provided with a lowered position setting member for setting the arbitrary lowered position in advance.
When the automatic raising / lowering operation member 32 is lowered at the start of the basic lowering control mode, the main control device 90 sets the lowering position set by the lowering position setting member at the time of the operation to the work implement. Operation control of the lifting actuator 50 is performed as a target value to be positioned.

The lowered position setting member can take various forms. For example, the manual elevating operation member 30 is also used as the lowered position setting member.
That is, the operation position of the manual elevating operation member 30 at the time when the automatic elevating operation member 32 is lowered in the activated state of the basic lowering control mode is recognized as the arbitrary lowered position.

  On the other hand, in the individual lowering control mode, when the automatic elevating operation member 32 is operated to be lowered, the operation control of the elevating actuator 50 is performed with the individual lowering position of the working machine connected at that time as a target value. Configured to do.

  For example, information input by the operator via the individual lowered position input means 46 (see FIG. 2) provided in the work vehicle 1 can be recognized by the main controller 90 as the individual lowered position.

  Instead, individual lowering position information that associates the type of the work implement with the individual lowering position is stored in the main control device 90 in advance, and the type of connected work implement is stored in the main control device 90. It is possible to configure the main control device 90 to set the individual lowered position by recognizing it.

  In this case, the type recognition of the work implement by the main control device 90 is performed by an operator input via the work implement input means or by an electrical connection between the main control device 90 and the sub control device 190. It can be carried out.

  Whether to activate the basic lowering control mode or the individual lowering control mode may be determined by manual operation by an operator, or between the main control device 90 and the sub control device 190. It may be determined by automatic communication.

  The former mode is realized by a descent control mode changeover switch 26 (see FIG. 2) provided in the vehicle main unit 10.

  In the latter mode, information regarding which descending control mode is to be activated is stored in advance in the main control device 90 or the sub control device 190 for each work machine, and the main control device 90 and the sub control device 190 are stored. This is realized by the main control device 90 determining based on the type of the work machine recognized by the electrical connection between them and the information.

  In the latter mode, the lowering control mode determined by the main control device can be switched by the lowering control mode changeover switch 26.

DESCRIPTION OF SYMBOLS 1 Working vehicle 10 Vehicle main body 30 Manual raising / lowering operation member 32 Automatic raising / lowering operation member 34 Lifting position setting member 50 Lifting / lowering actuator 60 Lifting / lowering link mechanism 90 Main control apparatus

Claims (6)

A vehicle main unit, a lift link mechanism provided on the vehicle main unit and capable of detachably connecting different types of work machines, and a lift actuator for moving up and down the work machines connected via the lift link mechanism A manual elevating operation member and an automatic elevating operation member that can be manually operated, and a main control device that controls the operation of the elevating actuator, and the main control device performs the manual elevating operation when operating the manual elevating operation member The operation control of the elevating actuator is performed using the operation position of the member as a target value, and the automatic elevating control is performed to control the operation of the elevating actuator using the predetermined raising position as the target value when the automatic elevating operation member is operated. During the lowering operation of the automatic elevating operation member, operation control of the elevating actuator is performed with a predetermined lowered position as a target value. A configured working vehicle to perform automatic descent control,
The main control device includes, as the automatic ascent control, a basic ascent control mode in which an arbitrarily raised position set by a raising position setting member is set as a target value, and an individual position where the individually raised positions of connected work machines are set as target values. A working vehicle, wherein the basic ascending control mode and the individual ascending control mode can be selectively activated.   The main control device is capable of storing a plurality of individually raised positions for one work machine, and selects the individual individually raised position selected according to human operation from the plurality of individually raised positions. The working vehicle according to claim 1, wherein the target value is set in the control mode.   The main control device stores information associating the type of the work implement with the individually raised position, and the main control device and the work implement connected to the vehicle main unit are electrically connected. The work vehicle according to claim 1, wherein the individual raising position is set based on the type of work machine recognized by the information and the information.   The control mode is switched from the individual ascending control mode to the basic ascending control mode when the raising position setting member is manually operated when the individual ascending control mode is activated. The listed working vehicle.   The main control device includes, as the automatic lowering control, a basic lowering control mode in which an arbitrary lowering position set by a lowering position setting member is a target value, and an individual lowering position of a connected working machine as a target value. 5. The work vehicle according to claim 1, further comprising a lowering control mode, wherein the basic lowering control mode and the individual lowering control mode can be selectively activated.   The main control device stores information associating the type of the work implement with the individual lowered position, and the main control device and the work implement coupled to the vehicle main unit are electrically connected. The work vehicle according to claim 5, wherein the individual lowered position is set based on the type of the work machine recognized by the information and the information.

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