JP2016136878A - Working machine lifting/lowering control of ground work vehicle - Google Patents

Working machine lifting/lowering control of ground work vehicle Download PDF

Info

Publication number
JP2016136878A
JP2016136878A JP2015013450A JP2015013450A JP2016136878A JP 2016136878 A JP2016136878 A JP 2016136878A JP 2015013450 A JP2015013450 A JP 2015013450A JP 2015013450 A JP2015013450 A JP 2015013450A JP 2016136878 A JP2016136878 A JP 2016136878A
Authority
JP
Japan
Prior art keywords
gear
work
speed
machine
traveling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2015013450A
Other languages
Japanese (ja)
Other versions
JP6550762B2 (en
Inventor
高橋 恒
Hisashi Takahashi
恒 高橋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
Original Assignee
Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iseki and Co Ltd, Iseki Agricultural Machinery Mfg Co Ltd filed Critical Iseki and Co Ltd
Priority to JP2015013450A priority Critical patent/JP6550762B2/en
Publication of JP2016136878A publication Critical patent/JP2016136878A/en
Application granted granted Critical
Publication of JP6550762B2 publication Critical patent/JP6550762B2/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Abstract

PROBLEM TO BE SOLVED: To prevent a working machine from being broken or handling of a ground work vehicle from becoming unstable because an operation to lift the working machine is neglected to drag it while being grounded on the ground, when traveling on a street and a parking lot by the ground work vehicle.SOLUTION: Working machine lifting/lowering control of a ground work vehicle is characterized in that an agricultural machine liftably mounting a working machine 17 is provided with location recognition means 160 for identifying whether the present location of a machine body is a work place or the place other than that and lowering detection means 161 for detecting the lowering lower than a grounding or a predetermined height of the working machine 17, and controls not to travel even if the traveling start operation is performed when being in a non-working state where the location recognition means 160 recognizes any place other than the work place and the grounding detection means 161 detects the lowering in the start of traveling.SELECTED DRAWING: Figure 5

Description

本発明は、ロータリ作業機や除草作業機等の作業機を昇降可能に機体へ装着した対地作業車において、作業機の昇降を自動制御する対地作業車の作業機昇降制御に関する。   The present invention relates to a work implement lifting control for a ground work vehicle that automatically controls the lift of the work implement in a ground work vehicle in which work implements such as a rotary work implement and a weeding work implement are mounted on a machine body so as to be able to move up and down.

トラクターの圃場における耕耘作業は、ロータリ作業機を圃場に降下し耕耘爪を回転駆動して圃場に食い込ませて耕耘作業を行い、トラクターの旋回時にはロータリ作業機を上昇させて耕耘爪を圃場から浮上させるが、特開2002−354905号公報に記載の如く、車体の方位を検出する方位センサと、車体の走行位置を認識するGPS受信装置とを備え、これら方位センサとGPS受信装置とに基づいて機体を自律走行させるようにした農業用作業車(トラクター)において、車体に装備させるロータリ作業機の下げ動作を記憶する作業機昇降位置センサを設け、作業機の目標耕耘開始位置と下げ動作の終了位置を一致させるように、ロータリ作業機の下げ時間と作業中の現在車速とで算出されるロータリ下げ動作移動距離だけ耕耘開始位置より手前でロータリ作業機の下降を開始させて、残耕のない良好な耕耘作業を行わせる技術がある。   Tillage work on the tractor field is carried out by lowering the rotary work machine to the field and rotating the tillage claw to drive it into the field to raise the rotary work machine and raising the rotary claw from the field when the tractor turns. However, as described in Japanese Patent Application Laid-Open No. 2002-354905, an azimuth sensor for detecting the azimuth of the vehicle body and a GPS receiver for recognizing the traveling position of the vehicle body are provided, and based on these azimuth sensors and the GPS receiver. Agricultural work vehicles (tractors) that allow the machine to travel autonomously are provided with a work machine lifting position sensor that stores the lowering action of the rotary work machine to be mounted on the car body, and the target tillage start position and end of the lowering action of the work machine are provided. To match the position, plowing is opened for the rotary lowering movement travel distance calculated by the rotary work machine lowering time and the current vehicle speed during work. To initiate the lowering of the rotary working machine in front of the position, there is a technique to perform no Zanko good tilling.

特開2002−354905号公報JP 2002-354905 A

前記トラクターのロータリ作業機昇降技術は、圃場内の耕耘作業におけるロータリ作業機の昇降操作を自動化させるもので、圃場外でのロータリ作業機の昇降動作は手動操作で行わなければならない。   The rotary working machine lifting technique of the tractor automates the lifting / lowering operation of the rotary working machine in the plowing work in the field, and the lifting / lowering operation of the rotary working machine outside the field must be performed manually.

作業機を昇降可能に装着したトラクター等の対地作業車は、路上や駐車場で作業機を地面に降下して停止していて、移動を開始する前に作業機を上昇させて引き摺らないようにしなければならないが、うっかりして作業機を上昇させずに対地作業車を走行することがある。   Ground work vehicles such as tractors equipped with work implements that can be raised and lowered are stopped by dropping the work implement to the ground on the road or in a parking lot, so that the work implement is not lifted and dragged before starting to move. Although it must be done, there are times when the ground work vehicle is run without inadvertently raising the work machine.

本発明は、対地作業車で路上や駐車場を走行する際に、作業機を上昇させる操作を怠って地面に接地させたままで引き摺って作業機を破損したり対地作業車の操縦が不安定になったりすることを防止することを課題とする。   When traveling on a road or a parking lot with a ground work vehicle, the present invention neglects the operation of raising the work machine and drags it while being grounded to the work machine, or the operation of the ground work vehicle becomes unstable. It is an object to prevent such a situation.

上記本発明の課題は、次の技術手段により解決される。   The problems of the present invention are solved by the following technical means.

請求項1に記載の発明は、作業機17を昇降可能に装着した農作業機において、機体の現在地が作業地かそれ以外かを識別する所在地認識手段160と作業機17の接地或いは所定高さ以下の降下を検出する降下検出手段161を設け、走行開始時に所在地認識手段160が作業地以外を認識し接地検出手段161が降下を検出する非作業状態であると、走行開始操作を行っても走行しないように制御したことを特徴とする対地作業車の作業機昇降制御とする。   According to the first aspect of the present invention, in the agricultural work machine in which the work machine 17 is mounted so as to be able to move up and down, the location recognition means 160 for identifying whether the current location of the machine body is the work place or the other and the grounding of the work machine 17 or a predetermined height or less. If the vehicle is in a non-working state where the location recognition unit 160 recognizes other than the work place and the ground contact detection unit 161 detects the descent when the traveling is started, the vehicle travels even if the traveling start operation is performed. It is set as the working machine raising / lowering control of the ground work vehicle characterized by controlling so that it may not.

請求項2に記載の発明は、対地作業車17が非作業状態であると、走行開始操作を行うと作業者に作業機17の上昇を促す警告を報知する警告報知手段165を設けたことを特徴とする請求項1に記載の対地作業車の作業機昇降制御とする。   According to the second aspect of the present invention, when the ground work vehicle 17 is in a non-working state, a warning notification unit 165 is provided for notifying the worker of a warning that prompts the worker 17 to move up when the traveling start operation is performed. It is set as the working machine raising / lowering control of the ground work vehicle of Claim 1 characterized by the above-mentioned.

請求項3に記載の発明は、作業機17を昇降可能に装着した農作業機において、機体の現在地が作業地かそれ以外かを識別する所在地認識手段160と作業機17の接地或いは所定高さ以下の降下を検出する降下検出手段161を設け、走行開始時に所在地認識手段160が作業地以外を認識し接地検出手段161が接地を検出する非作業状態であると、走行開始操作を行うと走行開始前に作業機17を自動で上昇するように制御したことを特徴とする請求項1に記載の対地作業車の作業機昇降制御とする。   According to a third aspect of the present invention, in the agricultural work machine in which the work machine 17 is mounted so as to be movable up and down, the location recognition means 160 for identifying whether the current position of the machine body is the work place or the other and the grounding of the work machine 17 or a predetermined height or less. If the vehicle is in a non-working state in which the location recognition unit 160 recognizes other than the work place and the ground contact detection unit 161 detects the ground contact when the travel starts, the travel start operation is started. The work implement raising / lowering control of the ground work vehicle according to claim 1, wherein the work implement 17 is controlled to be automatically raised before.

請求項4に記載の発明は、所在地認識手段160がGPS受信装置163と地図データ164で所在地を認識することを特徴とする請求項1から請求項3のいずれか1項に記載の対地作業車の作業機昇降制御とする。   The ground work vehicle according to any one of claims 1 to 3, wherein the location recognition means 160 recognizes the location using the GPS receiver 163 and the map data 164. It is assumed that the working machine lift control.

請求項1に記載の発明で、対地作業車が作業地以外に居て作業機17を地面に設置していると、機体の走行開始操作を行っても走行しないので、作業機17を引き摺って破損したり対地作業車の操縦が不安定になったりすることが無く、安全である。   In the invention according to claim 1, if the ground work vehicle is located outside the work place and the work machine 17 is installed on the ground, the work machine 17 does not travel even if the start operation of the machine is performed. It is safe because it does not break or the handling of the ground work vehicle becomes unstable.

請求項2に記載の発明で、請求項1の効果に加えて、操縦者は、走行開始操作を行っても動かない理由を警告報知手段165で知って、作業機17を上昇させる対処を直ちに行える。   In the invention according to claim 2, in addition to the effect of claim 1, the operator knows the reason why the driver does not move even when the traveling start operation is performed by the warning notification means 165, and immediately takes a countermeasure for raising the work machine 17. Yes.

請求項3に記載の発明で、操縦者は、機体の走行開始操作を行うだけで作業機17が上昇して安全な状態で発進することが出来る。   According to the third aspect of the present invention, the operator can start in a safe state with the work machine 17 ascending simply by performing a travel start operation of the aircraft.

請求項4に記載の発明で、操縦者は、機体の所在地を入力する手間を省いて安全な操縦を行える。   According to the fourth aspect of the present invention, the pilot can perform safe maneuvering without the trouble of inputting the location of the aircraft.

本発明の対地作業車として示すトラクターの全体側面図である。It is the whole tractor side view shown as a ground work vehicle of the present invention. エンジンから前後輪及びPTO軸への動力伝動線図である。It is a power transmission diagram from the engine to the front and rear wheels and the PTO shaft. ミッションケースの一部拡大断面展開図である。It is a partially expanded sectional development view of a mission case. 自動制御ブロック図である。It is an automatic control block diagram. 走行開始時の自動制御フローチャート図である。It is an automatic control flowchart figure at the time of a travel start.

作業車両の一例としてトラクターにおける実施例を以下に説明する。   An example of a tractor will be described below as an example of a work vehicle.

なお、本明細書において対地作業車の前進方向に向かって左右方向をそれぞれ左、右といい、前進方向を前、後進方向を後という。   In this specification, the left and right directions in the forward direction of the ground work vehicle are referred to as left and right, respectively, the forward direction is referred to as forward, and the reverse direction is referred to as rear.

対地作業車の例として示すトラクター1は、図1に示す如く、機体の前後部に前輪2,2と後輪3,3を備え、機体の前部に搭載したエンジン5のエンジン出力軸20の回転をミッションケース8内の変速装置によって適宜減速して、これら前輪2,2と後輪3,3に伝えるように構成している。   As shown in FIG. 1, a tractor 1 shown as an example of a ground work vehicle includes front wheels 2 and 2 and rear wheels 3 and 3 at the front and rear portions of the airframe, and the engine output shaft 20 of the engine 5 mounted on the front portion of the airframe. The rotation is appropriately decelerated by a transmission in the mission case 8 and transmitted to the front wheels 2 and 2 and the rear wheels 3 and 3.

機体中央でのハンドルポスト6にはステアリングハンドル7が設けられ、その後方にはシート9が設けられている。ステアリングハンドル7の下方には、機体の進行方向を前後方向に切り換える前後進レバー10が設けられている。この前後進レバー10を前側にシフトすると機体は前進し、後側へシフトすると後進する構成である。   A steering handle 7 is provided on the handle post 6 at the center of the machine body, and a seat 9 is provided behind the steering handle 7. Below the steering handle 7 is provided a forward / reverse lever 10 for switching the advancing direction of the airframe to the front / rear direction. When the forward / reverse lever 10 is shifted to the front side, the airframe moves forward, and when it is shifted to the rear side, it moves backward.

また、ハンドルポスト6を挟んで前後進レバー10の反対側にはエンジン回転数を調節するアクセルレバー11が設けられ、またステップフロア13の右コーナー部には、同様にエンジン回転数を調節するアクセルペダル18と、左右の後輪3,3にブレーキを作動させる左右のブレーキペダル19R,19Lが設けられている。   An accelerator lever 11 for adjusting the engine speed is provided on the opposite side of the forward / reverse lever 10 with the handle post 6 in between, and an accelerator for similarly adjusting the engine speed is provided at the right corner of the step floor 13. The pedal 18 and left and right brake pedals 19R and 19L for operating the left and right rear wheels 3 and 3 are provided.

ハンドルポスト6上部のステアリングハンドル7前側のフロントケース159にメータパネル16が設けられて走行速度等の機体状況が表示され、さらに、フロントケース159上にGPS受信装置163が設けられる。GPS受信装置163は人工衛星からの電波を受信して後述する走行系ECU120で機体の地図上位置を認識する。   A meter panel 16 is provided on the front case 159 in front of the steering handle 7 above the handle post 6 to display the vehicle status such as traveling speed, and a GPS receiver 163 is provided on the front case 159. The GPS receiver 163 receives radio waves from an artificial satellite and recognizes the position of the aircraft on the map by a traveling system ECU 120 described later.

また、一速から八速まで変速する主変速レバー14はシート9の左前側部にあり、超低速、低速、中速、高速の四段及び中立のいずれかの位置を選択できる副変速レバー15はその後方にあり、さらにその右側に四段に変速するPTO変速レバー12を設けている。   The main transmission lever 14 for shifting from the first speed to the eighth speed is located on the left front side of the seat 9, and the sub-transmission lever 15 can select any one of the super-low speed, low-speed, medium-speed, high-speed four-stage and neutral positions. Is on the rear side thereof, and further, on the right side thereof, a PTO speed change lever 12 for shifting in four steps is provided.

トラクター1の機体後部には、ロータリ作業機17を装着して、ミッションケース8から後方へ突出するPTO出力軸111で駆動するようにしている。   A rotary working machine 17 is mounted on the rear part of the tractor 1 and is driven by a PTO output shaft 111 protruding rearward from the mission case 8.

図2は、ミッションケース8内の変速装置の動力伝動機構を示す伝動線図で、エンジン5から前輪2と後輪3及びロータリ作業機17へのPTO出力軸111への変速伝動機構を説明する。   FIG. 2 is a transmission diagram showing the power transmission mechanism of the transmission in the transmission case 8, and illustrates the transmission mechanism from the engine 5 to the front wheel 2, the rear wheel 3, and the PTO output shaft 111 from the rotary work machine 17. .

エンジン5のエンジン出力軸20の回転がメインクラッチ112を介して入力軸21に伝動され、この入力軸21に固着の第一入力ギヤ22と第二入力ギヤ23がそれぞれ第一高・低クラッチ24の第一低速ギヤ26と第二高・低クラッチ25の第二低速ギヤ27及び第一高・低クラッチ24の第一高速ギヤ30と第二高・低クラッチ25の第二高速ギヤ31に噛み合って回転を伝動している。   The rotation of the engine output shaft 20 of the engine 5 is transmitted to the input shaft 21 via the main clutch 112, and the first input gear 22 and the second input gear 23 fixed to the input shaft 21 are respectively connected to the first high / low clutch 24. The first low speed gear 26 and the second high speed / low clutch 25 are engaged with the second low speed gear 27 and the first high / low clutch 24 is engaged with the first high speed gear 30 and the second high / low clutch 25 is engaged with the second high speed gear 31. To transmit the rotation.

そして、第一高・低クラッチ24を第一低速ギヤ26側に繋ぐと第一低速ギヤ26から第一クラッチ軸28に伝動され、第一高速ギヤ30側に繋ぐと第一高速ギヤ30から第一クラッチ軸28に伝動され、第二高・低クラッチ25を第二低速ギヤ27側に繋ぐと第二低速ギヤ27から第二クラッチ軸29に伝動され、第二高速ギヤ31側に繋ぐと第二高速ギヤ31から第二クラッチ軸29に伝動される。   When the first high / low clutch 24 is connected to the first low speed gear 26 side, the first low speed gear 26 is transmitted to the first clutch shaft 28, and when the first high / low clutch 24 is connected to the first high speed gear 30 side, When the second high / low clutch 25 is connected to the second low speed gear 27 side, the second high / low clutch 25 is connected to the second clutch shaft 29 and connected to the second high speed gear 31 side. It is transmitted from the second high speed gear 31 to the second clutch shaft 29.

第一高・低クラッチ24と第二高・低クラッチ25は同一の油圧多板クラッチで、それぞれ入力軸21の回転を同一減速比で高・低の二段に減速して第一クラッチ軸28と第二クラッチ軸29に伝動することになる。   The first high / low clutch 24 and the second high / low clutch 25 are the same hydraulic multi-plate clutch, and the first clutch shaft 28 decelerates the rotation of the input shaft 21 in two stages of high and low at the same reduction ratio. And transmitted to the second clutch shaft 29.

また、図3に示す如く、第一クラッチ軸28と第二クラッチ軸29をミッションケース8に支持する前仕切壁181に形成した肉盛部181aにケースの左右開口部側からドリルで加工した給油孔8bを設けて、この給油孔8bから第一高・低クラッチ24と第二高・低クラッチ25の軸に給油している。   Further, as shown in FIG. 3, the lubrication machined by drilling from the left and right opening side of the case to the built-up portion 181 a formed on the front partition wall 181 that supports the first clutch shaft 28 and the second clutch shaft 29 to the transmission case 8. A hole 8b is provided to supply oil to the shafts of the first high / low clutch 24 and the second high / low clutch 25 from the oil supply hole 8b.

図2に戻って、第一クラッチ軸28に固着の第一ギヤ113が低速伝動軸34に固着の第二ギヤ35と噛み合って減速して伝動され、第二クラッチ軸29に固着の第三ギヤ149が高速伝動軸32に固着の第四ギヤ33と噛み合って増速して伝動される。   Returning to FIG. 2, the first gear 113 fixed to the first clutch shaft 28 meshes with the second gear 35 fixed to the low-speed transmission shaft 34 and is decelerated and transmitted, and the third gear fixed to the second clutch shaft 29 is transmitted. 149 meshes with the fourth gear 33 fixed to the high-speed transmission shaft 32 and is transmitted at an increased speed.

ここまでの変速伝動で、低速伝動軸34が低速で二段に、高速伝動軸32が高速で二段にそれぞれ変速されることで、計四段に変速されることになる。   With the speed change transmission up to this point, the low speed transmission shaft 34 is shifted in two stages at a low speed, and the high speed transmission shaft 32 is shifted in two stages at a high speed, so that a total of four speeds are achieved.

低速伝動軸34と高速伝動軸32の回転がそれぞれ第一シンクロチェンジ42と第二シンクロチェンジ36に伝動され、第一シンクロチェンジ42の第一シンクロ小ギヤ43と第二シンクロチェンジ36の第二シンクロ小ギヤ37が第一伝動軸39の第五ギヤ40と噛み合い、第一シンクロチェンジ42の第一シンクロ大ギヤ44と第二シンクロチェンジ36の第二シンクロ大ギヤ38が第一伝動軸39の第六ギヤ41と噛み合って伝動する。   The rotation of the low-speed transmission shaft 34 and the high-speed transmission shaft 32 is transmitted to the first sync change 42 and the second sync change 36, respectively, and the first sync small gear 43 of the first sync change 42 and the second sync of the second sync change 36. The small gear 37 meshes with the fifth gear 40 of the first transmission shaft 39, and the first sync large gear 44 of the first sync change 42 and the second sync large gear 38 of the second sync change 36 are the first sync shaft 39. Engage with the six gears 41 to transmit.

第一シンクロチェンジ42の第一シンクロ小ギヤ43と第一シンクロギヤ大44及び第二シンクロチェンジ36の第二シンクロ小ギヤ37と第二シンクロ大ギヤ38は、全く同一のギヤで、低速伝動軸34が低速回転し高速伝動軸32が高速回転しているので、第一シンクロチェンジ42を切換えると低速でさらに二段に変速され、第二シンクロチェンジ36を切換えると高速でさらに二段に変速される。すなわち、第一入力軸21の回転が第一伝動軸39で低速四段と高速四段に変速されることになる。   The first sync small gear 43 and the first sync gear large 44 of the first sync change 42 and the second sync small gear 37 and the second sync large gear 38 of the second sync change 36 are exactly the same gear and have a low speed transmission shaft. Since 34 is rotated at a low speed and the high-speed transmission shaft 32 is rotated at a high speed, when the first sync change 42 is switched, the gear is further shifted in two steps at a low speed, and when the second sync change 36 is switched, the gear is shifted in two steps at a high speed. The That is, the rotation of the first input shaft 21 is shifted by the first transmission shaft 39 between the low speed four stages and the high speed four stages.

ここまでの主変速部150で、操縦者が操作する主変速レバー14の変速位置を読み取って、走行系ECU120で自動的に第一・第二高・低油圧多板クラッチ24,25と第一・第二シンクロチェンジ36,42を制御して低速四段と高速四段まで変速される。   The shift position of the main shift lever 14 operated by the operator is read by the main transmission section 150 so far, and the first, second high and low hydraulic multi-plate clutches 24, 25 are automatically connected to the first and second high / low hydraulic multi-plate clutches 24, 25. -The second sync change 36, 42 is controlled to change the speed to four speeds of low speed and four speeds of high speed.

さらに、第一伝動軸39は第二伝動軸45に軸連結で連結されている。この第二伝動軸45には、第七ギヤ46と第八ギヤ47が固着され、油圧多板の正逆クラッチ48の正転クラッチギヤ49と逆転軸52の逆転ギヤ51に噛み合わされ、逆転ギヤ51が正逆クラッチ48の逆転クラッチギヤ50と噛み合っている。   Further, the first transmission shaft 39 is connected to the second transmission shaft 45 by shaft connection. A seventh gear 46 and an eighth gear 47 are fixed to the second transmission shaft 45, and meshed with a forward clutch gear 49 of a hydraulic multi-plate forward / reverse clutch 48 and a reverse gear 51 of a reverse shaft 52. 51 is meshed with the reverse clutch gear 50 of the forward / reverse clutch 48.

従って、正逆クラッチ48を正転クラッチギヤ49に繋ぐと、正転状態で正逆クラッチ48に連結の副変速軸53に伝動され、正逆クラッチ48を逆転クラッチギヤ50に繋ぐと、逆転状態で副変速軸53に伝動される。正転と逆転では減速比が異なり、逆転の方が低速になる。   Therefore, when the forward / reverse clutch 48 is connected to the forward clutch gear 49, the forward transmission state is transmitted to the auxiliary transmission shaft 53 connected to the forward / reverse clutch 48, and when the forward / reverse clutch 48 is connected to the reverse clutch gear 50, the reverse rotation state is established. Is transmitted to the auxiliary transmission shaft 53. The reduction ratio is different between forward rotation and reverse rotation, and the reverse rotation is slower.

次に、副変速部154を説明する。   Next, the auxiliary transmission unit 154 will be described.

副変速軸53には第九ギヤ54と第十ギヤ55が固着され、それぞれ第三シンクロチェンジ58の第三シンクロ大ギヤ56と第三シンクロ小ギヤ59に噛み合っている。従って、第三シンクロチェンジ58を第三シンクロ大ギヤ56側に繋ぐと第九ギヤ54から第三シンクロ大ギヤ56に伝動した回転で第5伝動軸60が増速して高速で駆動され、第三シンクロチェンジ58を第三シンクロ小ギヤ59側に繋ぐと第十ギヤ55から第三シンクロ小ギヤ59に伝動した回転で第五伝動軸60が減速して中速で駆動される。   A ninth gear 54 and a tenth gear 55 are fixed to the auxiliary transmission shaft 53 and mesh with the third sync large gear 56 and the third sync small gear 59 of the third sync change 58, respectively. Accordingly, when the third sync change 58 is connected to the third sync large gear 56 side, the fifth transmission shaft 60 is accelerated by the rotation transmitted from the ninth gear 54 to the third sync large gear 56 and driven at a high speed. When the third sync change 58 is connected to the third sync small gear 59 side, the fifth transmission shaft 60 is decelerated by the rotation transmitted from the tenth gear 55 to the third sync small gear 59 and driven at medium speed.

さらに、第三シンクロチェンジ58の第三シンクロ小ギヤ59側には第十一ギヤ57を固着して、第四シンクロチェンジ71の第四シンクロ小ギヤ69と噛み合っている。そして、第四シンクロ小ギヤ69側には第十五ギヤ70を固着し、この第十五ギヤ70が第二筒軸114の第十七ギヤ75と噛み合って第二筒軸114に固着の第十八ギヤ76から第四シンクロ大ギヤ72に伝動している。第四シンクロチェンジ71を装着した第一筒軸73には、第十六ギヤ74を固着している。   Further, an eleventh gear 57 is fixed to the third sync change gear 58 on the side of the third sync change gear 59 and meshes with the fourth sync change gear 69 of the fourth sync change 71. The fifteenth gear 70 is fixed to the fourth synchro small gear 69 side, and the fifteenth gear 70 meshes with the seventeenth gear 75 of the second cylindrical shaft 114 and is fixed to the second cylindrical shaft 114. The eighteenth gear 76 is transmitted to the fourth synchro large gear 72. A sixteenth gear 74 is fixed to the first cylinder shaft 73 on which the fourth sync change 71 is mounted.

従って、第三シンクロチェンジ58を中立にすると、第十ギヤ55の回転が第三シンクロ小ギヤ59に伝動され、第三シンクロ小ギヤ59側に固着の第十一ギヤ57から第四シンクロ小ギヤ69に伝動される。   Accordingly, when the third sync change 58 is made neutral, the rotation of the tenth gear 55 is transmitted to the third sync small gear 59, and the eleventh gear 57 fixed to the third sync small gear 59 side to the fourth sync small gear. It is transmitted to 69.

この状態で、第四シンクロチェンジ71を第四シンクロ小ギヤ69側に繋ぐと、第四シンクロ小ギヤ69の回転が第十六ギヤ74の回転となって低速となり、第四シンクロチェンジ71を第四シンクロ大ギヤ72側に繋ぐと第四シンクロ小ギヤ69の回転が第十五ギヤ70から第十七ギヤ75と第十八ギヤ76と第四シンクロ大ギヤ72に伝動されて第十六ギヤ74が極低速となる。   In this state, when the fourth sync change 71 is connected to the fourth sync small gear 69 side, the rotation of the fourth sync small gear 69 becomes the rotation of the sixteenth gear 74 and the speed is lowered. When connected to the fourth synchro large gear 72 side, the rotation of the fourth synchro small gear 69 is transmitted from the fifteenth gear 70 to the seventeenth gear 75, the eighteenth gear 76, and the fourth synchro large gear 72, and the sixteenth gear. 74 becomes extremely low speed.

なお、第三シンクロチェンジ58を第三シンクロ大ギヤ56側或いは第三シンクロ小ギヤ59側に繋ぐ場合には、第四シンクロチェンジ71を中立にしておく。   When the third sync change 58 is connected to the third sync large gear 56 side or the third sync small gear 59 side, the fourth sync change 71 is made neutral.

従って、主変速部150変速された副変速軸53の低速四段と高速四段が、副変速部154で四段に変速されることで、低速十六段と高速十六段に変速されることになる。   Therefore, the sub-transmission shaft 53 that has been subjected to the 150-speed change in the main transmission unit 150 is shifted into four stages by the sub-transmission unit 154 so that the sub-transmission shaft 53 is shifted to the sixteen low-speed stages and the sixteen high-speed stages. It will be.

さらに、第十六ギヤ74は前記第5伝動軸60に固着の第十二ギヤ61と噛み合って第5伝動軸60を駆動する。この第5伝動軸60の軸端に固着の第一ベベルギヤ62がリアベベルケース64の第二ベベルギヤ63と噛み合っていて、リアベベルケース64のベベル出力軸65から第十三ギヤ66と第十四ギヤ67を介して後輪出力軸68を回転して後輪3を駆動する。   Further, the sixteenth gear 74 is engaged with the twelfth gear 61 fixed to the fifth transmission shaft 60 to drive the fifth transmission shaft 60. The first bevel gear 62 fixed to the shaft end of the fifth transmission shaft 60 meshes with the second bevel gear 63 of the rear bevel case 64, and from the bevel output shaft 65 of the rear bevel case 64 to the thirteenth gear 66 and the fourteenth gear. The rear wheel output shaft 68 is rotated via the gear 67 to drive the rear wheel 3.

また、第5伝動軸60には第二十一ギヤ117が固着され、副変速軸53に軸支された第三筒軸119に固着の第二十二ギヤ118と第二十二ギヤ148を介して第一前輪駆動軸78の第十九ギヤ77に伝動して、前記第十六ギヤ74の低速十六段と高速十六段の回転が第一前輪駆動軸78に伝動されている。   A twenty-first gear 117 is fixed to the fifth transmission shaft 60, and a twenty-second gear 118 and a twenty-second gear 148 fixed to a third cylindrical shaft 119 supported by the auxiliary transmission shaft 53 are provided. Thus, the sixteenth gear 77 of the first front wheel drive shaft 78 is transmitted to the nineteenth gear 77, and the sixteenth gear 74 is rotated to the first front wheel drive shaft 78 by the low-speed sixteenth and high-speed sixteenth rotations.

この第一前輪駆動軸78から前輪増速クラッチ79を介して第二前輪駆動軸84に伝動し、第三前輪駆動軸85と第四前輪駆動軸86と前輪駆動ベベル軸87に引き継いで伝動し、前輪駆動ベベル軸87の軸端に固着の第一前ベベルギヤ88が前ベベルケース89の第二前ベベルギヤ115と噛み合っていて、前ベベルケース89の前ベベル出力軸90から第一前ベベルギヤ組91と前縦軸116と第二前ベベルギヤ組92を介して前輪出力軸93を回転して前輪2を駆動する。   The first front wheel drive shaft 78 is transmitted to the second front wheel drive shaft 84 via the front wheel speed increasing clutch 79, and is transferred to the third front wheel drive shaft 85, the fourth front wheel drive shaft 86, and the front wheel drive bevel shaft 87. The first front bevel gear 88 fixed to the shaft end of the front wheel drive bevel shaft 87 is meshed with the second front bevel gear 115 of the front bevel case 89, and the first front bevel gear set 91 extends from the front bevel output shaft 90 of the front bevel case 89. The front wheel output shaft 93 is rotated via the front longitudinal axis 116 and the second front bevel gear set 92 to drive the front wheel 2.

前輪増速クラッチ79を切った状態で後輪3の二輪を駆動する2WDになり、前輪増速クラッチ79を第一増速クラッチギヤ82側に繋いだり第二増速クラッチギヤ80に繋いだりするとそれぞれ第一増速ギヤ83と第二増速ギヤ81に噛み合って増速率を変更して前輪2も駆動する4WDとなる。   When the front wheel speed increasing clutch 79 is disengaged, 2WD is driven to drive the two rear wheels 3, and the front wheel speed increasing clutch 79 is connected to the first speed increasing clutch gear 82 side or to the second speed increasing clutch gear 80. 4WD which meshes with the 1st speed-up gear 83 and the 2nd speed-up gear 81, respectively, changes the speed-up rate, and also drives the front wheel 2.

ここまでの副変速部154が副変速レバー15の変速位置を読み取って、走行系ECU120で自動的に第三シンクロチェンジ58と第四シンクロチェンジ71を制御して変速される。   The sub-transmission unit 154 so far reads the shift position of the sub-transmission lever 15, and the traveling system ECU 120 automatically controls the third sync change 58 and the fourth sync change 71 to change the speed.

また、第四シンクロチェンジ71を装着した第一筒軸73は、第三シンクロチェンジ58を装着した第5伝動軸60の下側に配置され、ミッションケース8の長さを短くしている。   Further, the first cylinder shaft 73 to which the fourth sync change 71 is attached is arranged below the fifth transmission shaft 60 to which the third sync change 58 is attached, and the length of the transmission case 8 is shortened.

次に、PTO出力軸111の伝動経路を説明する。   Next, the transmission path of the PTO output shaft 111 will be described.

前記第二入力ギヤ23にPTOメインクラッチ97のメインクラッチギヤ96を噛み合わせて、PTOメインクラッチ97で動力の断続を行うようにしている。   The main clutch gear 96 of the PTO main clutch 97 is engaged with the second input gear 23, and the power is interrupted by the PTO main clutch 97.

PTOメインクラッチ97を装着した第一PTO軸95には、次の如く、PTO変速部157が設けられている。   The first PTO shaft 95 to which the PTO main clutch 97 is attached is provided with a PTO transmission 157 as follows.

第一PTOギヤ98と第二PTOギヤ99と第五シンクロチェンジ151の第五シンクロ小ギヤ100と第五シンクロ大ギヤ101を装着し、第二PTO軸104に第二十ギヤ102と第二十三ギヤ152と第二十一ギヤ103と第二十四ギヤ153を固着し、カウンタ軸106にPTO逆転ギヤ105を軸支している。   The first PTO gear 98, the second PTO gear 99, the fifth synchro small gear 100 of the fifth sync change 151 and the fifth synchro large gear 101 are mounted, and the twentieth gear 102 and the twentieth gear 20 are attached to the second PTO shaft 104. The three gears 152, the twenty-first gear 103 and the twenty-fourth gear 153 are fixed, and the PTO reverse rotation gear 105 is pivotally supported on the counter shaft 106.

第一PTOギヤ98をスライドして第二十ギヤ102に噛み合わせると第三PTO軸107が二速になり、第一PTOギヤ98をスライドして第二PTOギヤ99に係合すると第一PTO軸95の回転が第二PTOギヤ99と第二十三ギヤ152を介して第三PTO軸107に伝わって四速となり、第五シンクロチェンジ151を第五シンクロ小ギヤ100に繋ぐと第五シンクロ小ギヤ100から第二十一ギヤ103に伝動して一速となり、第五シンクロチェンジ151を第五シンクロ大ギヤ101に繋ぐと第五シンクロ大ギヤ101から第二十四ギヤ153に伝動して三速となり、PTO逆転ギヤ105を第一PTOギヤ98と第二十ギヤ102に噛み合わせると第一PTO軸95の回転が第一PTOギヤ98からPTO逆転ギヤ105を経て第二十ギヤ102に伝動されて第三PTO軸107に伝わって逆回転となる。   When the first PTO gear 98 is slid and meshed with the twentieth gear 102, the third PTO shaft 107 becomes the second speed, and when the first PTO gear 98 is slid and engaged with the second PTO gear 99, the first PTO When the rotation of the shaft 95 is transmitted to the third PTO shaft 107 through the second PTO gear 99 and the twenty-third gear 152 to become the fourth speed, and the fifth sync change 151 is connected to the fifth sync small gear 100, the fifth sync. When the fifth synchro change gear 151 is connected to the fifth synchro large gear 101 from the small gear 100 to the twenty-first gear 103, the fifth gear is transmitted from the fifth synchro large gear 101 to the twenty-fourth gear 153. When the third speed is established and the PTO reverse rotation gear 105 is engaged with the first PTO gear 98 and the twentieth gear 102, the rotation of the first PTO shaft 95 is changed from the first PTO gear 98 to the PTO reverse rotation gear 105. Article is transmitted to the gear 102 becomes reverse rotation transmitted to the third PTO shaft 107 Te.

第三PTO軸107の回転は、第四PTO軸156を介して第五PTO軸108に伝動し、第一PTO出力ギヤ109と第二PTO出力ギヤ110でさらに減速してPTO出力軸111を駆動する。   The rotation of the third PTO shaft 107 is transmitted to the fifth PTO shaft 108 via the fourth PTO shaft 156, and further decelerated by the first PTO output gear 109 and the second PTO output gear 110 to drive the PTO output shaft 111. To do.

図4は、トラクター各部の作動を制御する自動制御の制御ブロック図で、エンジンEの出力を制御するエンジンECU190とロータリ作業機17の昇降を制御する作業機昇降系ECU191と前輪2と後輪3の回転を制御して走行速度を制御する走行系ECU120とで構成し、CAN通信で制御信号の交信を行っている。   FIG. 4 is a control block diagram of automatic control that controls the operation of each part of the tractor. The engine ECU 190 that controls the output of the engine E, the work machine elevating system ECU 191 that controls the lifting and lowering of the rotary work machine 17, the front wheels 2, and the rear wheels 3. And a traveling system ECU 120 that controls traveling speed to control traveling speed, and communicates control signals by CAN communication.

なお、走行系ECU120には、GPS受信装置163からの機体所在地情報が入力し、地図データ164から地図情報が入力し、作業機昇降系ECU191へ制御信号が出力される。   Note that the aircraft location information from the GPS receiver 163 is input to the traveling system ECU 120, the map information is input from the map data 164, and a control signal is output to the work machine elevating system ECU 191.

エンジンECU190への制御データの入力は、エンジンモード選択スイッチ192からの選択モードと、エンジン回転センサ121からのエンジン出力軸20の回転数と、エンジンオイル圧力センサ193からのオイル圧力と、エンジン水温センサ194からのラジエータ水温と、レール圧センサ198からのコモンレールの燃料圧力が入力と、アクセルセンサ195のアクセルペダル18の踏込み信号度等で、エンジンECU190からの制御出力は、燃料高圧ポンプ196へのレール圧と、高圧インジェクタ197への噴射信号である。   Input of control data to the engine ECU 190 includes a selection mode from the engine mode selection switch 192, a rotation speed of the engine output shaft 20 from the engine rotation sensor 121, an oil pressure from the engine oil pressure sensor 193, and an engine water temperature sensor. The radiator water temperature from 194, the fuel pressure of the common rail from the rail pressure sensor 198, the degree of depression signal of the accelerator pedal 18 of the accelerator sensor 195, the control output from the engine ECU 190 is the rail output to the fuel high pressure pump 196 The pressure and the injection signal to the high pressure injector 197.

作業機昇降系ECU191への制御データの入力は、作業機17の昇降を行うポジションコントロールレバー199の操作位置信号と、リフトアームセンサ200からのリフト位置信号と、上げ位置規制ダイヤル201と下げ速度調整ダイヤル202の調整信号等で、作業機昇降系ECU191からの制御出力は、油圧シリンダー203のメイン上昇sol204とメイン下降sol205への上昇或いは下降信号、作業機17の接地を検出する接地センサ161からの検出信号とである。   The control data input to the work implement lifting system ECU 191 includes an operation position signal of the position control lever 199 for raising and lowering the work implement 17, a lift position signal from the lift arm sensor 200, a raising position regulating dial 201, and a lowering speed adjustment. The control output from the work implement elevating system ECU 191 by an adjustment signal of the dial 202, etc. is sent from the ground sensor 161 which detects the rise or fall signals to the main rise sol 204 and the main fall sol 205 of the hydraulic cylinder 203 and the ground of the work implement 17. A detection signal.

走行系ECU120への制御データの入力は、変速1クラッチ圧力センサ122と変速2クラッチ圧力センサ123と変速3クラッチ圧力センサ124と変速4クラッチ圧力センサ125とHi1クラッチ圧力センサ126とLoクラッチ圧力センサ127と前進クラッチ圧力センサ128と後進クラッチ圧力センサ129の各入・切信号と前後進レバー10の前後進レバー操作位置センサ130の操作位置と、副変速レバー15の副変速レバー操作位置センサ131の操作位置と、ミッションオイル油温センサ133のトランスミッションケース8内オイル温度と、クラッチペダル操作位置センサ134のクラッチペダル位置と、エンジンパワー選択スイッチ135の選択信号と、ステアリング切れ角センサ136の操舵角と、後車軸回転センサ137の後輪出力軸68の回転数と、前車軸回転センサ138の前輪出力軸93の回転数と、ブレーキ操作スイッチ139のブレーキ信号と、走行モード設定スイッチ140の走行モードと、アクセル変速設定スイッチ215の設定信号と、主変速増減速操作スイッチ216の設定信号と、アクセルペダル18の踏込み位置を検出するアクセルセンサ144の踏込み信号と、アクセル微調整レバー147の調整信号である。   Input of control data to the travel system ECU 120 is a shift 1 clutch pressure sensor 122, a shift 2 clutch pressure sensor 123, a shift 3 clutch pressure sensor 124, a shift 4 clutch pressure sensor 125, a Hi1 clutch pressure sensor 126, and a Lo clutch pressure sensor 127. ON / OFF signals of the forward clutch pressure sensor 128 and the reverse clutch pressure sensor 129, the operation position of the forward / reverse lever operation position sensor 130 of the forward / reverse lever 10, and the operation of the auxiliary transmission lever operation position sensor 131 of the auxiliary transmission lever 15 The position, the oil temperature in the transmission case 8 of the mission oil temperature sensor 133, the clutch pedal position of the clutch pedal operation position sensor 134, the selection signal of the engine power selection switch 135, the steering angle of the steering angle sensor 136, Rear axle rotation The rotational speed of the rear wheel output shaft 68 of the sensor 137, the rotational speed of the front wheel output shaft 93 of the front axle rotation sensor 138, the brake signal of the brake operation switch 139, the travel mode of the travel mode setting switch 140, and the accelerator shift setting. These are a setting signal for the switch 215, a setting signal for the main shift acceleration / deceleration operation switch 216, a depression signal for the accelerator sensor 144 that detects the depression position of the accelerator pedal 18, and an adjustment signal for the accelerator fine adjustment lever 147.

走行系ECU120からの制御出力は、前後進切換sol141とリニア昇圧sol142とクラッチsol143と変速1-3切換sol207や変速1-3昇圧sol208や変速2-4切換sol209や変速2-4昇圧sol210とHiクラッチ切換sol211やLoクラッチ切換sol212や4WDsol213や前輪増速sol214 等である。   The control output from the traveling system ECU 120 includes forward / reverse switching sol 141, linear boosting sol 142, clutch sol 143, shifting 1-3 switching sol 207, shifting 1-3 boosting sol 208, shifting 2-4 switching sol 209, shifting 2-4 boosting sol 210, Hi The clutch switching sol 211, the Lo clutch switching sol 212, the 4WD sol 213, the front wheel speed increasing sol 214, and the like.

そして、走行速度や変速位置やエンジン水温その他のデータがステアリングハンドル7の前に設けるメータパネル16と操作パネル206に表示され、さらに、操作パネル206には警告表示165が設けられる。   The travel speed, the shift position, the engine water temperature, and other data are displayed on the meter panel 16 and the operation panel 206 provided in front of the steering handle 7, and the operation panel 206 is provided with a warning display 165.

次に、トラクター1の走行駆動開始時の制御を図5で説明する。   Next, the control at the start of driving of the tractor 1 will be described with reference to FIG.

エンジン5を起動すると、まず、機体の所在地を所在地認識手段160で確認し、圃場に在れば、主変速レバー14やアクセルペダル18の操作で走行を開始し、降下したロータリ作業機17を駆動して耕耘作業を行う。   When the engine 5 is started, first, the location of the machine body is confirmed by the location recognition means 160, and if it is in the field, it starts traveling by operating the main transmission lever 14 and the accelerator pedal 18 and drives the rotary work machine 17 that is lowered. Then plowing work.

所在地認識手段160で所在地が圃場でなければ、降下検出手段161でロータリ作業機17が所定高さ以下に降下していないかを判定し、所定高さ以下でなければ、走行を開始するが、所定高さ以下であれば、警報を鳴らすと共に操作パネル206の警告表示165に「作業機を上昇して下さい」と表示して機体の停止状態を持続する。その後に、ロータリ作業機17を上昇すると、警報を止めると共に警告表示165の「作業機を上昇して下さい」との表示を消して、走行を開始する。   If the location is not the field by the location recognition unit 160, the descent detection unit 161 determines whether the rotary work machine 17 has been lowered below a predetermined height. If the height is less than the predetermined height, an alarm is sounded and a warning display 165 on the operation panel 206 is displayed as “Please raise the work machine”, and the aircraft is kept stopped. Thereafter, when the rotary work machine 17 is raised, the alarm is stopped and the warning display 165 “Please raise the work machine” disappears, and the running is started.

所在地認識手段160は、GPS受信装置163で認識した機体位置が地図データ164の圃場内であるかを判定するが、所在地の地面をカメラで撮影し、圃場であるかの判定をするようにしても良い。   The location recognizing means 160 determines whether or not the body position recognized by the GPS receiver 163 is within the field of the map data 164, but the location ground is photographed with a camera to determine whether or not the field is in the field. Also good.

また、降下検出手段161は、接地センサでロータリ作業機17が地面に接触しているかを検出するだけでなく、近接センサで所定高さ以下に地面に接近している状態も判定するようにすると良い。   Further, the descent detecting means 161 not only detects whether the rotary work machine 17 is in contact with the ground with the ground sensor, but also determines the state where the proximity sensor is approaching the ground at a predetermined height or less. good.

なお、走行速度を変速する主変速部150と副変速部154を無段変速装置に変更して、耕耘ピッチ(ロータリ作業機17の耕耘爪が圃場に食い込むピッチ)を設定するとPTO変速部157の変速率を考慮して走行速度を自動的に変速するようにすると良い。その際に、走行速度の検出は、後輪3の回転速度を計測する後車軸回転センサ137の検出値から算出するだけでなく、GPS受信装置163で単位時間当たりの移動距離を算出すると正確な走行速度が検出できる。   If the main transmission unit 150 and the sub-transmission unit 154 that change the traveling speed are changed to a continuously variable transmission and a tilling pitch (pitch in which the tilling claws of the rotary work machine 17 bite into the field) is set, the PTO transmission unit 157 It is preferable to automatically shift the traveling speed in consideration of the gear ratio. In this case, the traveling speed is not only calculated from the detection value of the rear axle rotation sensor 137 that measures the rotational speed of the rear wheel 3, but is also accurate when the movement distance per unit time is calculated by the GPS receiver 163. Travel speed can be detected.

また、圃場での耕耘作業中に機体の移動軌跡をGPS受信装置163で追跡し、畦際の直進走行後にロータリ作業機17を上昇させ旋回が終了して数秒間直進すると、ロータリ作業機17を自動で降下するようにすると操縦操作が単純化する。   Further, the trajectory of the aircraft is tracked by the GPS receiver 163 during the tilling work on the farm field, and after turning straight, the rotary work machine 17 is lifted and the turn is completed. The maneuvering operation is simplified by automatically descending.

さらに、畦際隣接地の往復耕耘を追跡した後でないとロータリ作業機17の自動降下が働かず、一度走行を停止すると自動降下が働かないようにしても良い。   Further, the automatic lowering of the rotary working machine 17 does not work until after the reciprocating tillage of the adjacent land near the shoreline, and the automatic lowering may not work once the traveling is stopped.

次に、トラクター1の前輪2と後輪3の駆動を切り換える走行駆動制御を説明する。   Next, traveling drive control for switching the driving of the front wheels 2 and the rear wheels 3 of the tractor 1 will be described.

まず、機体の走行速度を検出する走行速度センサとして後車軸回転センサ137で走行速度を検出し、2WDで走行中にアクセルペダル18を戻してエンジン5の回転をアイドリング回転にした場合に、走行速度が低下しない場合には、走行系ECU120の制御によって前輪増速クラッチ79を繋いで4WDとして走行する。   First, the traveling speed is detected when the rear axle rotation sensor 137 detects the traveling speed as a traveling speed sensor for detecting the traveling speed of the fuselage, and the accelerator pedal 18 is returned to the idling rotation while the accelerator pedal 18 is returned during traveling at 2WD. When the vehicle speed does not decrease, the vehicle is driven as 4WD by connecting the front wheel acceleration clutch 79 under the control of the traveling system ECU 120.

なお、前記の4WD切換は、主変速レバー14を四速或いは副変速レバー15を中速以上にしている場合に切り換える。   The 4WD switching is performed when the main transmission lever 14 is set to the fourth speed or the auxiliary transmission lever 15 is set to the medium speed or higher.

或いは、前記の4WD切換は、走行速度センサ187が3km/h以上の速度で走行している場合に切り換える。   Alternatively, the 4WD switching is performed when the traveling speed sensor 187 is traveling at a speed of 3 km / h or more.

或いは、前記の4WD切換は、ステアリングハンドル7の旋回角をステアリング切れ角センサ136が検出し、20°以内の旋回角の場合に切り換える。   Alternatively, the 4WD switching is performed when the turning angle sensor 136 detects the turning angle of the steering handle 7 and the turning angle is within 20 °.

なお、前記の4WD切換は、前記の条件、すなわち、2WDで走行中にアクセルペダル18を戻しても走行速度が低下しない場合で、走行速度が3km/h以上で、主変速レバー14を四速或いは副変速レバー15を中速以上にしていて、ステアリングハンドル7の旋回角が20°以内の全ての条件を満たしている場合に切り換えるようにしても良い。   The 4WD switching is performed under the above-described conditions, that is, when the traveling speed does not decrease even when the accelerator pedal 18 is returned during traveling at 2WD, the traveling speed is 3 km / h or more, and the main transmission lever 14 is moved to the fourth speed. Alternatively, the switching may be performed when the auxiliary transmission lever 15 is set to a medium speed or more and the turning angle of the steering handle 7 satisfies all the conditions within 20 °.

また、機体の前後方向傾斜角を検出する機体傾斜センサを設けて、この機体傾斜センサが5°以上の前向き傾斜角度を検出した場合に、4WDに切り換えるようにしても良い。   In addition, a body tilt sensor that detects the front-rear direction tilt angle of the body may be provided, and when the body tilt sensor detects a forward tilt angle of 5 ° or more, it may be switched to 4WD.

また、アクセルセンサ144で指示するエンジン5の規定回転数よりもエンジン回転センサ121が検出するエンジン回転数が高い場合に4WDに切り換えるようにしても良い。   Further, the engine speed sensor 121 may switch to 4WD when the engine speed detected by the engine speed sensor 121 is higher than the specified speed of the engine 5 indicated by the accelerator sensor 144.

また、前記の4WD切換条件にロータリ作業機17が上昇位置であることを加えても良い。   Moreover, you may add that the rotary working machine 17 is a raise position to the said 4WD switching conditions.

なお、GPS受信装置163と地図データ164に基づいて、機体が圃場内であればトラクター1の走行制御を2WDの路上走行モードから4WD等の作業モードに切換えるようにすると良い。その際には、自動制御を解除して手動で設定できるようにする。   Note that, based on the GPS receiver 163 and the map data 164, the traveling control of the tractor 1 may be switched from a 2WD on-road traveling mode to a working mode such as 4WD if the aircraft is in an agricultural field. In that case, the automatic control is canceled so that it can be set manually.

また、GPS受信装置163と地図データ164に基づいて、ロータリ作業機17を機体から取り外した位置と機体方向を記憶し、再度ロータリ作業機17を装着する際には、機体の走行方向をモニタに表示するようにすることも出来る。   Further, based on the GPS receiver 163 and the map data 164, the position and direction of the rotary work machine 17 removed from the machine are stored, and when the rotary work machine 17 is mounted again, the running direction of the machine is monitored. It can also be displayed.

また、GPS受信装置163と地図データ164に基づいて計測するマルチ作業中の機体の移動距離とマルチフィルムの長さから、マルチフィルムが無くなる前に注意警報を出したり、マルチフィルムが無くなると走行を停止するようにしたりすることも出来る。   Also, based on the distance traveled by the aircraft during multi-operation and the length of the multi-film measured based on the GPS receiver 163 and the map data 164, a warning warning is issued before the multi-film disappears, or the vehicle runs when the multi-film disappears. You can also stop it.

上記の実施例では、対地作業車がトラクター1でロータリ作業機17の昇降制御について説明したが、対地作業車が除草機の場合には、作業地が草地になるために、機体の所在地が草地であるかの判定になる。   In the above-described embodiment, the ground work vehicle is the tractor 1 and the lift control of the rotary work machine 17 has been described. It becomes a judgment whether it is.

17 作業機
160 所在地認識手段
161 接地検出手段
163 GPS受信装置
164 地図データ
165 警告報知手段
17 Work implement 160 Location recognition means 161 Ground detection means 163 GPS receiver 164 Map data 165 Warning notification means

Claims (4)

作業機(17)を昇降可能に装着した農作業機において、機体の現在地が作業地かそれ以外かを識別する所在地認識手段(160)と作業機(17)の接地或いは所定高さ以下の降下を検出する降下検出手段(161)を設け、走行開始時に所在地認識手段(160)が作業地以外を認識し接地検出手段(161)が降下を検出する非作業状態であると、走行開始操作を行っても走行しないように制御したことを特徴とする対地作業車の作業機昇降制御。   In a farm work machine equipped with a work machine (17) that can be moved up and down, the position recognition means (160) for identifying whether the current location of the machine body is a work place or the other is grounded or the work machine (17) is grounded or lowered below a predetermined height. A descent detecting means (161) for detecting is provided, and when the driving is started, the location recognizing means (160) recognizes other than the work place and the grounding detecting means (161) is in a non-working state in which the descent is detected. The working machine lifting control of the ground work vehicle, which is controlled so as not to run even if it is. 対地作業車(17)が非作業状態であると、走行開始操作を行うと作業者に作業機(17)の上昇を促す警告を報知する警告報知手段(165)を設けたことを特徴とする請求項1に記載の対地作業車の作業機昇降制御。   When the ground work vehicle (17) is in a non-working state, there is provided warning notifying means (165) for notifying the operator of a warning that prompts the worker to raise the work machine (17) when the traveling start operation is performed. The work machine raising / lowering control of the ground work vehicle of Claim 1. 作業機(17)を昇降可能に装着した農作業機において、機体の現在地が作業地かそれ以外かを識別する所在地認識手段(160)と作業機(17)の接地或いは所定高さ以下の降下を検出する降下検出手段(161)を設け、走行開始時に所在地認識手段(160)が作業地以外を認識し接地検出手段(161)が接地を検出する非作業状態であると、走行開始操作を行うと走行開始前に作業機(17)を自動で上昇するように制御したことを特徴とする請求項1に記載の対地作業車の作業機昇降制御。   In a farm work machine equipped with a work machine (17) that can be moved up and down, the position recognition means (160) for identifying whether the current location of the machine body is a work place or the other is grounded or the work machine (17) is grounded or lowered below a predetermined height. A descent detecting means (161) for detecting is provided, and the travel start operation is performed when the location recognition means (160) recognizes other than the work place at the start of traveling and the grounding detection means (161) is in a non-working state for detecting grounding. The work implement lifting / lowering control of the ground work vehicle according to claim 1, wherein the work implement (17) is controlled to automatically rise before the start of traveling. 所在地認識手段(160)がGPS受信装置(163)と地図データ(164)で所在地を認識することを特徴とする請求項1から請求項3のいずれか1項に記載の対地作業車の作業機昇降制御。   The work machine for a ground work vehicle according to any one of claims 1 to 3, wherein the location recognition means (160) recognizes the location using a GPS receiver (163) and map data (164). Lift control.
JP2015013450A 2015-01-27 2015-01-27 Tractor Expired - Fee Related JP6550762B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2015013450A JP6550762B2 (en) 2015-01-27 2015-01-27 Tractor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015013450A JP6550762B2 (en) 2015-01-27 2015-01-27 Tractor

Publications (2)

Publication Number Publication Date
JP2016136878A true JP2016136878A (en) 2016-08-04
JP6550762B2 JP6550762B2 (en) 2019-07-31

Family

ID=56558579

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015013450A Expired - Fee Related JP6550762B2 (en) 2015-01-27 2015-01-27 Tractor

Country Status (1)

Country Link
JP (1) JP6550762B2 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110091712A (en) * 2018-01-31 2019-08-06 斗山英维高株式会社 The travel controlling system and travel control method of engineering machinery
WO2020195601A1 (en) * 2019-03-26 2020-10-01 ヤンマー株式会社 Tractor
JP2020178641A (en) * 2019-04-26 2020-11-05 松山株式会社 State detection system for agricultural implement
JP2020184957A (en) * 2019-05-16 2020-11-19 三菱マヒンドラ農機株式会社 Mulch rice transplanter
JP2021007307A (en) * 2019-06-28 2021-01-28 井関農機株式会社 Work vehicle
JP2021007305A (en) * 2019-06-28 2021-01-28 井関農機株式会社 Work vehicle
JP2021036787A (en) * 2019-08-30 2021-03-11 井関農機株式会社 Work vehicle
JP2021069335A (en) * 2019-10-31 2021-05-06 井関農機株式会社 Work vehicle

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5765104A (en) * 1980-10-08 1982-04-20 Iseki Agricult Mach Lifting and lowering device for working machine of travelling agricultural machine
JPS5765105A (en) * 1980-10-08 1982-04-20 Iseki Agricult Mach Lifting and lowering device for working machine of travelling agricultural machine
JPS6089828U (en) * 1983-11-28 1985-06-20 三菱農機株式会社 Safety devices for mobile agricultural machinery
JP2001095313A (en) * 1999-09-27 2001-04-10 Iseki & Co Ltd Working machine lifting and lowering control apparatus for movable agricultural machine
JP2003039964A (en) * 2001-07-31 2003-02-13 Iseki & Co Ltd Travel controller for motor vehicle
JP2004024172A (en) * 2002-06-27 2004-01-29 Iseki & Co Ltd Tilling pitch control device of rotary tilling apparatus
US20090037059A1 (en) * 2007-08-03 2009-02-05 Jochen Huster Control system for agricultural working vehicles
JP2009055795A (en) * 2007-08-30 2009-03-19 Iseki & Co Ltd Working vehicle
JP2011125308A (en) * 2009-12-21 2011-06-30 Kubota Corp Tractor

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5765104A (en) * 1980-10-08 1982-04-20 Iseki Agricult Mach Lifting and lowering device for working machine of travelling agricultural machine
JPS5765105A (en) * 1980-10-08 1982-04-20 Iseki Agricult Mach Lifting and lowering device for working machine of travelling agricultural machine
JPS6089828U (en) * 1983-11-28 1985-06-20 三菱農機株式会社 Safety devices for mobile agricultural machinery
JP2001095313A (en) * 1999-09-27 2001-04-10 Iseki & Co Ltd Working machine lifting and lowering control apparatus for movable agricultural machine
JP2003039964A (en) * 2001-07-31 2003-02-13 Iseki & Co Ltd Travel controller for motor vehicle
JP2004024172A (en) * 2002-06-27 2004-01-29 Iseki & Co Ltd Tilling pitch control device of rotary tilling apparatus
US20090037059A1 (en) * 2007-08-03 2009-02-05 Jochen Huster Control system for agricultural working vehicles
JP2009055795A (en) * 2007-08-30 2009-03-19 Iseki & Co Ltd Working vehicle
JP2011125308A (en) * 2009-12-21 2011-06-30 Kubota Corp Tractor

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110091712A (en) * 2018-01-31 2019-08-06 斗山英维高株式会社 The travel controlling system and travel control method of engineering machinery
JP7139274B2 (en) 2019-03-26 2022-09-20 ヤンマーパワーテクノロジー株式会社 tractor
WO2020195601A1 (en) * 2019-03-26 2020-10-01 ヤンマー株式会社 Tractor
JP2020156389A (en) * 2019-03-26 2020-10-01 ヤンマーパワーテクノロジー株式会社 Tractor
JP2020178641A (en) * 2019-04-26 2020-11-05 松山株式会社 State detection system for agricultural implement
JP7362101B2 (en) 2019-04-26 2023-10-17 松山株式会社 Condition detection system for agricultural machinery
JP2020184957A (en) * 2019-05-16 2020-11-19 三菱マヒンドラ農機株式会社 Mulch rice transplanter
JP2021007307A (en) * 2019-06-28 2021-01-28 井関農機株式会社 Work vehicle
JP2021007305A (en) * 2019-06-28 2021-01-28 井関農機株式会社 Work vehicle
JP7196787B2 (en) 2019-06-28 2022-12-27 井関農機株式会社 work vehicle
JP7226143B2 (en) 2019-06-28 2023-02-21 井関農機株式会社 work vehicle
JP2021036787A (en) * 2019-08-30 2021-03-11 井関農機株式会社 Work vehicle
JP7238704B2 (en) 2019-08-30 2023-03-14 井関農機株式会社 agricultural tractor
JP2021069335A (en) * 2019-10-31 2021-05-06 井関農機株式会社 Work vehicle
JP7276075B2 (en) 2019-10-31 2023-05-18 井関農機株式会社 work vehicle

Also Published As

Publication number Publication date
JP6550762B2 (en) 2019-07-31

Similar Documents

Publication Publication Date Title
JP6550762B2 (en) Tractor
JP6869808B2 (en) Work machine control device, work machine control method and work machine
JP7550281B2 (en) Autonomous driving system and method
JP7549698B2 (en) Autonomous driving system and method
KR101146066B1 (en) Control apparatus of work vehicle
JP6645844B2 (en) Work vehicle
JP2018108764A (en) Work vehicle and operation system of work vehicle
JP6925882B2 (en) Work machine control device, work machine control method and work machine
JP2024053067A (en) Automatic travel system and automatic travel method
WO2022065091A1 (en) Automatic traveling system, automatic traveling method, and automatic traveling program
US10316959B2 (en) System and method for controlling a work vehicle transmission based on the detection of unintended vehicle motion
WO2021125095A1 (en) Work machine
JP2018071676A (en) Work vehicle
JP2020195288A (en) Work vehicle
JP6821127B2 (en) Work vehicle
JP7059221B2 (en) Control system for work vehicles
EP3901722B1 (en) Travel state display device and automated travel system
JP2017177896A (en) Working vehicle
JP7317169B2 (en) Control system for work vehicles
JP7438718B2 (en) Automated driving system for work vehicles
JP7556103B2 (en) Autonomous driving method and system
JP7322100B2 (en) Agricultural machines
JP5118076B2 (en) Pulse signal output structure of work equipment
JPH04356289A (en) Controlling device for center of gravity of agricultural ground work vehicle
JP2021008826A (en) Work vehicle

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20180116

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180912

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20181016

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181213

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20190604

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190617

R150 Certificate of patent or registration of utility model

Ref document number: 6550762

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees