JP2021036787A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of changing the position of a work machine to an appropriate position according to a travelling state.SOLUTION: A work vehicle includes: a travel vehicle body 2; a work machine W mounted on the rear part of the travel vehicle body 2 so as to be lifted or lowered; a control device 40 for executing control to lift or lower the work machine W; a vehicle body positioning device 30 mounted on the travel vehicle body 2 for measuring the position of the travel vehicle body 2; and a work machine positioning device 31 mounted on the work machine W for measuring the position of the work machine W. Upon determination that the work machine is travelling on the road, the control device 40 lifts or lowers the work machine W so that the position of the work machine W with respect to the travel vehicle body 2 is a predetermined position on the basis of a detection value of the vehicle body positioning device 30 and a detection value of the work machine positioning device 31.SELECTED DRAWING: Figure 2

Description

The present invention relates to a work vehicle.

Conventionally, it is known that a reflector is provided behind the traveling vehicle body and a sensor for detecting a shield is provided so that the reflector is not shielded by a working machine mounted on the traveling vehicle body (see, for example, Patent Document 1). ).

Japanese Unexamined Patent Publication No. 2017-108686

When the work vehicle travels on the road with the work machine attached, it is desirable that the position of the work machine is a position that does not shield the reflector or the like. Further, when the work vehicle turns the field with the work machine attached, it is desirable to raise the position of the work machine to a high position in order to perform a compact turn.

However, since there are a wide variety of work machines and there is a possibility of mounting various things in terms of shape and weight, the center of gravity rises too much without shielding the reflector, making it easier to fall behind the reflector. In some cases, it was possible to drive on the road in an inappropriate state simply by detecting the obstruction in the area.

The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle that changes the position of a work machine to an appropriate position according to a running state.

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to one aspect of the embodiment is mounted on the traveling vehicle body (2) and the rear portion of the traveling vehicle body (2) so as to be able to move up and down. A work machine (W), a control device (40) for raising and lowering the work machine (W), and a car body positioning device (30) mounted on the traveling vehicle body (2) to position the traveling vehicle body (2). ), And a work machine positioning device (31) that is attached to the work machine (W) and positions the position of the work machine (W), and the control device (40) determines that the vehicle is traveling on the road. Based on the detected value of the vehicle body positioning device (30) and the detected value of the working machine positioning device (31), the position of the working machine (W) with respect to the traveling vehicle body (2) is set to a predetermined position. It is characterized by going up and down.

According to the work vehicle according to one aspect of the embodiment, the position of the work machine when traveling on the road can be automatically adjusted by using the height information of the traveling vehicle body and the positioning device attached to the work machine, respectively. The position of the working machine can be changed to an appropriate position according to the state.

FIG. 1 is a schematic left side view of the work vehicle according to the embodiment. FIG. 2 is a diagram showing a case where the working machine according to the embodiment is raised to a specified height. FIG. 3 is a schematic explanatory view of power transmission of the work vehicle (tractor) 1. FIG. 4 is a schematic perspective view on the right side of the driver's seat. FIG. 5 is an explanatory view of the operating device in front of the cockpit. FIG. 6 is an enlarged view of part A in FIG. FIG. 7 is a schematic perspective view of the left and right brake pedals 15L and 15R. FIG. 8 is an explanatory view of the pedal connection operation unit. FIG. 9A is an operation explanatory view (No. 1) of the lock mechanism. FIG. 9B is an operation explanatory view (No. 2) of the lock mechanism. FIG. 10 is a block diagram of the control unit.

Hereinafter, embodiments of the work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

First, the overall configuration of the work vehicle 1 according to the embodiment will be described with reference to FIG. FIG. 1 is an explanatory view of the work vehicle 1 according to the embodiment, and is a schematic left side view of the work vehicle 1. In the following, a tractor will be described as an example of the work vehicle 1.

The tractor 1 which is a work vehicle is an agricultural tractor that performs work in a field or the like while traveling by itself. Further, the tractor 1 is provided by a control system centered on a control device 40 (see FIG. 3), which will be described later, in addition to executing a predetermined work while the operator (also referred to as an operator) is on board and traveling in the field. By controlling each part, a predetermined work is executed while automatically traveling in the field.

Further, in the following, the front-rear direction is defined as the traveling direction when the tractor 1 travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the tractor 1 is a direction from the driver's seat 8 to the steering wheel 9, which will be described later, when the tractor 1 travels straight.

The left-right direction is a direction that is horizontally orthogonal to the front-back direction. In the following, left and right are defined toward the "front" side. That is, with the operator of the tractor 1 seated in the cockpit 8 and facing forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is a direction parallel to the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. It should be noted that each direction is defined for convenience of explanation, and the present invention is not limited to these directions. Further, in the following, the tractor 1 may be referred to as an "airframe".

As shown in FIG. 1, the tractor 1 includes a traveling vehicle body 2 and a working machine W. The traveling vehicle body 2 includes a vehicle body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control unit 7, and a mission case 10. The vehicle body frame 3 and the mission case 10 are the main frames of the traveling vehicle body 2.

The front wheels 4 are a pair of left and right wheels, and are mainly steering wheels (steering wheels). The rear wheels 5 are a pair of left and right wheels, and are mainly driving wheels (driving wheels). The tractor 1 may be configured to be switchable between a two-wheel drive (2WD) driven by the rear wheels 5 and a four-wheel drive (4WD) driven by both the front wheels 4 and the rear wheels 5. In this case, the drive wheels are both the front wheels 4 and the rear wheels 5. The traveling vehicle body 2 may be provided with a crawler device instead of the wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawler is the drive wheel.

The bonnet 6 is provided so as to be openable and closable at the front portion of the traveling vehicle body 2. The bonnet 6 can be rotated (opened and closed) in the vertical direction with the rear portion as the center of rotation. The bonnet 6 covers the engine E mounted on the vehicle body frame 3 in a closed state. The engine E is a drive source for the tractor 1 and is a heat engine such as a diesel engine or a gasoline engine.

The control unit 7 is provided on the upper portion of the traveling vehicle body 2, and includes a driver's seat 8, a steering wheel 9, and the like. The control unit 7 may be formed by being covered with a cabin 7a provided on the upper part of the traveling vehicle body 2. The driver's seat 8 is a driver's seat. The steering wheel 9 is operated by the operator when steering the front wheels 4, which are the steering wheels. The steering unit 7 includes a meter panel 11 (display unit) that displays various information in front of the steering wheel 9.

Further, the control unit 7 includes various operation levers such as a forward / backward advance lever 201, an accelerator lever, a main shift lever, and an auxiliary shift lever 14, and various operation pedals such as a clutch pedal 18, a brake pedal 15, and an accelerator pedal 19.

The transmission case 10 houses a transmission (transmission mechanism). The transmission appropriately decelerates the power (rotational power) transmitted from the engine E and transmits it to the rear wheels 5 which are the driving wheels and the PTO (Power Take-off) shaft 16.

A work machine W that performs work in the field is connected to the rear portion of the traveling vehicle body 2, and a PTO shaft 16 that transmits power for driving the work machine W projects rearward from the mission case 10. The PTO shaft 16 transmits the rotational power appropriately decelerated by the transmission to the working machine W mounted at least at the rear of the traveling vehicle body 2.

Further, an elevating device 12 for raising and lowering the working machine W is provided at the rear portion of the traveling vehicle body 2. The elevating device 12 moves the working machine W to a non-working position by raising the working machine W. The non-working position is, for example, a position where the working machine W is raised when the traveling vehicle body 2 retracts or when the traveling vehicle body 2 turns. Further, the elevating device 12 moves the work machine W to the ground work position by lowering the work machine W. The lifting device 12 includes a hydraulic lifting cylinder 121, a lift arm 122, a lift rod 123, a lower link 124, and a top link 125.

When the hydraulic oil is supplied to the elevating cylinder 121, the lift arm 122 rotates so as to raise the work machine W around the shaft AX which is a rotation fulcrum, and when the hydraulic oil is discharged from the elevating cylinder 121, the lift arm 122 rotates. The work machine W is rotated around the shaft AX so as to be lowered. A lift arm sensor 26 for detecting the rotation angle of the lift arm 122 is provided at the base of the lift arm 122 (near the shaft AX). The height of the work machine W is determined by the detection result of the lift arm sensor 26, the height of the work machine W obtained by the work machine positioning device 31 attached to the work machine W, and the body positioning device 30 attached to the traveling vehicle body 2. It is calculated based on the comparison of the heights of the obtained traveling vehicle bodies 2. The vehicle body positioning device 30 and the work equipment positioning device 31 are, for example, GNSS (Global Navigation Satellite System) antennas, and can receive radio waves from the navigation satellite S orbiting in the sky to perform positioning and timing. It is also possible to calculate the moving speed from the history of positioning results and the Doppler effect of radio waves.

Further, the lift arm 122 is connected to the lower link 124 via the lift rod 123. In this way, the elevating device 12 connects the working machine W to the traveling vehicle body 2 so as to be able to move up and down by the lower link 124 and the top link 125. The lower link 124 is attached to the rear portion of the mission case 10, and the draft sensor 27 detects the load related to the lower link 124. By detecting this load, it is possible to determine whether or not the work equipment is attached.

The working machine W is a machine that performs work in the field. In the example shown in FIG. 1, the working machine W is a rotary cultivator that performs cultivating work in a field. The rotary tiller cultivates the field scene (soil) by rotating the tiller claw 61 by the power transmitted from the PTO shaft 16.

Further, the tractor 1 includes a control device 40 (see FIG. 3). The control device 40 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. Further, the control device 40 controls the working machine W to move up and down.

Further, the tractor 1 can set various operations in a specific field by the operation of the information processing terminal (portable terminal such as a tablet terminal) 100 by the operator. The information processing terminal 100 includes, for example, a storage unit composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and a display unit and an operation unit composed of a touch panel. Various keys, buttons, and the like may be separately provided as the operation unit.

Further, the tractor 1 includes an obstacle sensor 20. The obstacle sensor 20 includes a front sensor 21 and a rear sensor 22. The front sensor 21 is arranged at the front portion of the traveling vehicle body 2, such as being attached to a sensor mounting stay 13 provided in front of the bonnet 6, and is an obstacle (person or object) existing in front of the traveling vehicle body 2. Is detected.

The rear sensor 22 is arranged on the upper rear side of the traveling vehicle body 2, such as being attached to the upper portion of the cabin 7a, and detects an obstacle existing behind the traveling vehicle body 2. The rear sensor 22 can change the angle with respect to the cabin 7a, that is, the traveling vehicle body 2 by a motor (not shown).

Further, both the front sensor 21 and the rear sensor 22 are medium-range sensors, preferably infrared sensors. The front sensor 21 and the rear sensor 22 emit an infrared beam and detect the reflected light from an obstacle. The front sensor 21 has a detection area extending forward. Further, the rear sensor 22 has a detection region extending rearward.

The front sensor 21 and the rear sensor 22 can detect the distance to the obstacle, for example, by measuring the time from emitting the infrared beam to detecting the reflected light from the obstacle. The front sensor 21 and the rear sensor 22, which are infrared sensors, detect obstacles two-dimensionally, and are, for example, a detection area of about several meters to several tens of meters. As the obstacle sensor 20, it is possible to use or use other medium-range sensors such as sonar and millimeter-wave radar other than the infrared sensor.

FIG. 2 is a diagram showing a case where the working machine according to the embodiment is raised to a specified height. In the present embodiment, the tractor 1 has a position H of the working machine W with respect to the traveling vehicle body 2 from the position H1 of the traveling vehicle body 2 obtained by the vehicle body positioning device 30 and the position H2 of the working machine W obtained by the working machine positioning device 31. Calculated. In the example shown in FIG. 2, the working machine positioning device 31 is moved up and down so as to be arranged at a predetermined position H with respect to the vehicle body positioning device 30. The predetermined position H is set so that, for example, the lower end position of the working machine W corresponds to an elevating position existing at a position about 20 cm from the ground. Further, the lift arm sensor 26 for detecting the angle D of the lift arm 122 is raised and lowered so as to have a predetermined value, and the lower end position of the work machine W is adjusted to be about 20 cm above the ground. It is also possible.

Next, the power transmission of the tractor 1 will be described with reference to FIG. FIG. 3 is a schematic explanatory view of power transmission of the work vehicle (tractor) 1. As shown in FIG. 3, the tractor 1 includes a transmission 70 in the transmission case 10. The transmission 70 includes a power transmission device 71 that transmits rotational power from the engine E to the rear wheels 5 and the like. The power transmission device 71 transmits the rotational power output from the engine E to the front wheels 4, the rear wheels 5, and the work machine W (see FIG. 1) connected to the traveling vehicle body 2, and the front wheels 4, the rear wheels 5, and the power transmission device 71 Drive the work machine W.

The power transmission device 71 includes a forward / backward switching unit 72, a main transmission unit 73, an auxiliary transmission unit 74, and a front wheel transmission unit 75. The power transmission device 71 transmits the rotational power from the engine E to the rear wheels 5 and 5 via, for example, the input shaft 76, the forward / backward switching unit 72, the main transmission unit 73, and the auxiliary transmission unit 74 in this order.

Further, the power transmission device 71 transmits the rotational power from the engine E through, for example, the input shaft 76, the forward / backward switching unit 72, the main transmission unit 73, the auxiliary transmission unit 74, and the front wheel transmission unit 75 in this order. Communicate to. Further, the power transmission device 71 transmits the rotational power from the engine E to the work machine W via, for example, the input shaft 76 and the PTO drive unit in this order.

As shown in FIG. 3, the input shaft 76 is provided on the output shaft of the engine E, and the rotational power from the engine E is transmitted (input). In the following, regarding the direction of power transmission, the engine E side is defined as the power transmission upstream side, and the final output destinations, the front wheels 4, 4, the rear wheels 5, 5 and the work machine W side, are respectively defined as the power transmission downstream side. Defined as the side.

The forward / backward switching unit (hereinafter referred to as a forward / backward clutch unit) 72 switches the rotational power transmitted from the engine E between forward rotation and reverse rotation by the forward / reverse rotation of the main shaft 77. For example, the forward / backward clutch 72 portion switches between forward and reverse by hydraulic control when the forward / backward lever 201 (see FIG. 1) is operated in the driver's seat 8.

The main transmission 73 includes a main transmission and a high / low (Hi-Lo) transmission. The main transmission shifts the rotational power from the engine E at any of a plurality of shift stages. The main transmission includes a first main transmission clutch and a second main transmission clutch, and includes, for example, 1st gear to 4th gear as a plurality of gears.

The first main speed change clutch includes a hydraulic multi-plate type 1-speed clutch and a hydraulic multi-plate type 3-speed clutch, and a 1-speed gear is provided on the 1-speed clutch side and a 3-speed gear is provided on the 3-speed clutch side. ing. The second main speed change clutch includes a hydraulic multi-plate type 2-speed clutch and a hydraulic multi-plate type 4-speed clutch, and a 2-speed gear is provided on the 2-speed clutch side and a 4-speed gear is provided on the 4-speed clutch side. ing. The first main speed change clutch and the second main speed change clutch form a "main speed change clutch".

The main speed change clutch shifts the rotational power from the engine E at a gear ratio of any of the 1st to 4th speed gears according to the connection state of the 1st main speed change clutch and the 2nd main speed change clutch, that is, the rear stage, that is, Power transmission Transmits to the downstream side. The main gear shift clutch selects one of the 1st gear to the 4th gear by, for example, operating the main gear shift operation unit 17 (see FIG. 4) in the driver's seat 8.

The high-low (Hi-Lo) transmission shifts the rotational power from the engine E at a high speed stage or a low speed stage. The high-low (Hi-Lo) transmission includes a high-speed (Hi) side hydraulic multi-plate clutch (Hi clutch), a low-speed (Lo) side hydraulic multi-plate clutch (Lo clutch), a high-speed (Hi) gear, and a low-speed (Lo). ) Equipped with a gear. The Hi clutch and the Lo clutch form a "Hi-Lo clutch".

The Hi-Lo clutch shifts the rotational power shifted by the main transmission clutch at the gear ratio of the high-speed (Hi) gear or the gear ratio of the low-speed (Lo) gear, and transmits the rotational power to the rear stage, that is, to the downstream side of the power transmission. In the Hi-Lo clutch, for example, when the main transmission operation unit 17 is operated between the 4th speed and the 5th speed in the driver's seat 8, the high speed (Hi) side or the low speed (Lo) side is automatically controlled by the flood control. Switch to. The Hi-Lo clutch has, for example, eight speeds of four speeds on the high speed (Hi) side and four speeds on the low speed (Lo) side.

The sub-transmission unit 74 includes an sub-transmission device, and transmits a plurality of rotational powers transmitted from the engine E via, for example, a forward / backward clutch unit 72 and a main transmission unit 73 (main transmission device, high / low transmission device) in this order. It is possible to shift to any of the stages. The auxiliary transmission includes a first auxiliary transmission (first transmission shifter) and a second auxiliary transmission (second transmission shifter). The first shift shifter and the second shift shifter form an "auxiliary transmission".

The auxiliary transmission shifts the rotational power transmitted to the transmission shaft 78 via the first shift shifter, the second shift shifter, and a plurality of gears, and transmits the rotational power to the output shaft 79. The auxiliary transmission transmits the rotational power transmitted from the engine E and further changed by the main transmission or the like to, for example, four speeds and transmitted to the rear wheels 5 and 5.

That is, the rotation of the main shaft 77 is changed by, for example, a main speed change clutch that shifts four speeds, a Hi-Lo clutch that shifts two high and low speeds, and an auxiliary transmission that mechanically shifts four speeds, and finally. It is transmitted to the output shaft 79.

The power transmission device 71 transmits the rotational power transmitted to the output shaft 79 to the rear wheels 5 and 5 via the rear wheel differential gear (rear wheel differential) 80, the axle (drive shaft) 81, the planetary gear mechanism, and the like. Will be done. As a result, in the tractor 1, the rear wheels 5 and 5 are rotationally driven as driving wheels by the rotational power from the engine E.

The front wheel transmission (4WD clutch) 75 includes a front wheel transmission and transmits the rotational power transmitted to the input shaft 76 to the front wheels 4 and 4. The front wheel transmission includes a front wheel speed-increasing clutch and a front wheel constant speed clutch. The front wheel speed-increasing clutch and the front wheel constant speed clutch form a "front wheel speed change clutch (4WD clutch)".

The 4WD clutch is provided on the first front wheel drive shaft 82, and when the front wheel constant velocity clutch is connected, the rotation of the first front wheel drive shaft 82 is transmitted to the second front wheel drive shaft 83 at a constant velocity. Further, when the front wheel speed-increasing clutch is connected, the 4WD clutch accelerates the rotation of the first front wheel drive shaft 82 and transmits it to the second front wheel drive shaft 83 via a plurality of gears.

The 4WD clutch transmits the rotational power transmitted to the second front wheel drive shaft 83 to the front wheels 4 and 4 via the front wheel differential gear (front wheel differential) 84, the axle (drive shaft) 85, the planetary gear mechanism, and the like. As a result, the tractor 1 can travel with four-wheel drive (4WD) of the left and right front wheels 4, 4 and the left and right rear wheels 5, 5.

The tractor 1 is provided with a steering cylinder 55 constituting a power steering device on the front wheels 4 and 4 sides. Further, the tractor 1 is provided with left and right brakes 56L and 56R constituting a braking device on the rear wheels 5 and 5 sides. Further, the tractor 1 includes a control device 40 that controls the traveling of the traveling vehicle body 2.

Further, although not shown, the power transmission device 71 further includes a PTO drive device. The PTO drive device shifts the rotational power from the engine E and outputs it from the PTO shaft 16 (see FIG. 1) at the rear of the traveling vehicle body 2 to the work machine W (see FIG. 1), thereby working with the power from the engine E. Drive the machine W.

The PTO drive device includes a PTO clutch device, a PTO transmission, and a PTO shaft 16. The PTO drive device switches between a drive state in which the work machine W at the rear of the traveling vehicle body 2 is driven and a non-drive state in which the drive of the work machine W is stopped.

Various operating devices provided around the cockpit 8 will be described with reference to FIG. FIG. 4 is a schematic perspective view of the right side of the driver's seat 8. The various operating devices shown in each figure are examples, and are not limited to the types and arrangements of the operating devices.

As shown in FIG. 4, on the right side of the driver's seat 8, the main shifting operation unit 17 (main shifting speed increasing button 17a, main shifting deceleration button 17b), auxiliary shifting lever 14, accelerator lever 151, position lever 152, ascending / descending A position setting means (raised height dial) 90, a public road traveling button 91, an operation panel storage unit 62, and the like are provided. Of these, the position lever 18 is operated when raising and lowering the lift arm 122.

Further, on the right side of the driver's seat 8, various operation switches such as a PTO automatic / manual changeover switch, a PTO on / off switch, an engine rotation indicator, a rotation speed increase adjustment switch, and a rotation speed decrease adjustment switch are provided. .. The operation panel storage unit 62 stores an operation panel provided with operation switches other than the above.

The elevating position setting means (elevation height dial) 90 adjusts the elevating cylinder 121, which is a hydraulic cylinder, with respect to the traveling vehicle body 2 when the public road traveling button 91 is pressed or when the control device 40 determines that the vehicle is traveling on the road. It is a dial for adjusting a value of a predetermined position H of the work machine W or a predetermined angle D of the lift arm 122 detected by the lift arm sensor 26. Whether to use the predetermined position H of the work machine W with respect to the traveling vehicle body 2 or the angle D of the lift arm 122 detected by the lift arm sensor 26 is preset by using the meter panel 11 or the information processing terminal 100.

Next, various operating devices provided around the steering wheel 9 will be described with reference to FIGS. 5 and 6. FIG. 5 is an explanatory view of the operating device in front of the cockpit 8. FIG. 6 is an enlarged view of part A in FIG. Note that FIG. 6 shows a case where the part A of FIG. 5 is viewed from right to left. Further, the types and arrangements of the operating devices shown in each figure are examples, and the present invention is not limited to these.

As shown in FIG. 5, a steering wheel 9 is provided in front of the driver's seat 8 (see FIG. 1) as described above. A clutch pedal 18 is provided on the lower left side of the handle post 350 to which the steering wheel 9 is attached, and an accelerator pedal 19 and a brake pedal 15 are provided on the lower right side of the handle post 350. The brake pedal 15 includes left and right brake pedals 15L and 15R, respectively. The configurations of the left and right brake pedals 15L and 15R will be described later with reference to FIG.

A forward / backward lever 201 is provided on the upper left side of the handle post 350. Further, as shown in FIGS. 5 and 6, an accelerator lever 351 and a winker lever 352 and a one-touch elevating lever 353 are provided on the upper right side of the handle post 350. The one-touch lifting lever 353 operates the lift arm that connects the working machine to the machine body with one touch to the operating position or the uppermost position of the position lever 358 (see FIG. 7). Further, a PTO shift lever 354 is provided in the center of the handle post 350.

As shown in FIG. 5, a dashboard cover 355 is provided in front of the steering wheel 9. Further, the dashboard cover 355 is provided with a meter panel 11 so as to be visible to the operator of the driver's seat 8. Further, the meter panel 11 is provided with a display unit (liquid crystal monitor) 356, an engine tachometer (tachometer) 357, and the like. The liquid crystal monitor 356 displays, for example, various displays such as a shift stage display for displaying the current shift stage, a fuel consumption rate display, and a running speed display, and the fuel consumption rate display and the running speed display are switched at regular intervals. May be displayed as.

As shown in FIG. 6, a traveling mode selection switch 223 and an engine mode selection switch 192 are provided on the right side of the dashboard cover 355. When the engine mode selection switch 192 is pressed, the engine E (see FIG. 1) is controlled by a fuel-efficient engine output curve.

Here, the lock mechanism 318 that locks the connection between the left and right brake pedals 15L and 15R and the left and right brake pedals 15L and 15R will be described with reference to FIGS. 7, 8, 9A and 9B. FIG. 7 is a schematic perspective view of the left and right brake pedals 15L and 15R. FIG. 8 is an explanatory view of the pedal connection operation unit 310. 9A and 9B are operation explanatory views of the lock mechanism 318. As described above, the brake pedal 15 includes left and right brake pedals 15L and 15R that are operated when braking the left and right wheels (rear wheels 5), respectively.

As shown in FIG. 7, the left and right brake pedals 15L and 15R are rotatably supported by a base shaft 300 extending in the left-right direction, and are provided at the tip portions of the arms 301 and 301 extending downward. .. The arms 301 and 301 are urged by urging members 302 and 302 such as springs in the direction opposite to the direction in which the operator steps on the base shaft 300, respectively. Further, a pedal connecting portion 303 for connecting the left and right brake pedals 15L and 15R is provided at an intermediate position of the arms 301 and 301.

The pedal connecting portion 303 includes a connecting piece 304 and a receiving portion 305. The connecting piece 304 is rotatably attached to an arm 301 provided with one of the left and right brake pedals (for example, the left brake pedal 15L) in a direction substantially orthogonal to the extension direction of the arm 301. Further, the receiving portion 305 is provided on the arm 301 provided with the other brake pedal (for example, the right brake pedal 15R) on the left and right.

The pedal connecting portion 303 connects the arms 301 and 301 by rotating the connecting piece 304 around a rotation shaft and fitting the tip portion of the connecting piece 304 into the hook-shaped receiving portion 305. By connecting the arms 301 and 301 by the pedal connecting portion 303 in this way, the left and right brake pedals 15L and 15R are substantially integrated, and when the operator steps on them, they operate together. The operation of connecting the left and right brake pedals 15L and 15R and depressing the left and right at the same time is used when the aircraft is normally driven on a road or the like. On the other hand, the operation of disconnecting the left and right brake pedals 15L and 15R and depressing each of them individually is used when the aircraft is sharply turned in a field or the like. In the following, the normal operation in which the operator depresses the left and right brake pedals 15L and 15R at the same time with the left and right brake pedals 15L and 15R connected is referred to as "brake operation", and the operation of depressing only one of the left and right is "one-sided". Sometimes called "brake operation".

Further, the connecting piece 304 of the pedal connecting portion 303 is connected to the wire 306, and when the operator steps on the pedal connecting operating portion 310 (see FIG. 9), the connecting piece 304 is pulled up by the wire 306 and the left and right brake pedals 15L and 15R. Break the connection. When the operator releases the foot from the pedal connecting operation unit 310, the wire 306 releases the pulling of the connecting piece 304, the connecting piece 304 rotates and fits into the receiving portion 305, and the left and right brake pedals 15L and 15R are released. Be connected.

The pedal connecting operation unit 310 described above is provided at the lower part of the handle post 350 (see FIG. 5) so as to project toward the driver's seat 8. As shown in FIG. 9, the pedal connection operation unit 310 is provided with a pedal unit 311 at the tip end portion. Further, the pedal connection operation unit 310 is provided with a base end portion 312 rotatably, so that the operator can step on the pedal connection operation unit 310. Further, the base end portion 312 of the pedal connecting operation unit 310 has a first convex portion 313a protruding upward from the rotation center and a first convex portion 313a protruding upward from the rotation center with a predetermined angle deviation from the first convex portion 313a. Two convex portions 313b are provided. When the pedal connecting operation unit 310 rotates, the first convex portion 313a and the second convex portion 313b move in the rotation direction together with the rotation.

A lock plate 315 is provided above the base end portion 312 of the pedal connecting operation unit 310. The lock plate 315 is rotatably provided around a rotation shaft 316. Further, the lock plate 315 is connected to the lock lever 314 via a rod 317. Therefore, the lock plate 315 rotates around the rotation shaft 316 by operating the lock lever 314 up and down. Such a lock plate 315 operates the pedal connecting operation unit 310 that releases the connection state of the left and right brake pedals 15L and 15R together with the first convex portion 313a of the pedal connecting operation unit 310, the rod 317, the lock lever 314, and the like. It constitutes a lock mechanism 318 that locks in an impossible state.

As shown in FIG. 9A, the lock mechanism 318 has a first convex portion when the pedal connecting operation unit 310 is not stepped on by the operator, that is, when the pedal connecting operation unit 310 is in the reference posture (substantially horizontal posture). The 313a is tilted by a predetermined angle about the base end portion 312. In this state, the wire 306 is not pulled, and the connecting piece 304 of the pedal connecting portion 303 is fitted into the receiving portion 305, so that the left and right brake pedals 15L and 15R are connected. At this time, if the lock lever 314 is fixed at the lowered position, even if the operator tries to step on the pedal connecting operation unit 310, the first convex portion 313a comes into contact with the one end portion 315a of the lock plate 315, so that the left and right sides The brake pedals 15L and 15R are not disconnected.

As shown in FIG. 9B, when the lock lever 314 is raised, the lock plate 315 rotates and the pedal connection operation unit 310 can be stepped on. When the pedal connecting operation unit 310 is stepped on by the operator, the wire 306 is pulled and the connecting piece 304 of the pedal connecting unit 303 is pulled up. As a result, the left and right brake pedals 15L and 15R are disconnected.

Further, as shown in FIG. 8, a detection unit (pedal connection operation detection switch) 137 for detecting the connection operation by the pedal connection operation unit 310 is provided in the vicinity of the pedal connection operation unit 310. Specifically, the pedal connection operation detection switch 137 is provided above the base end portion 312 of the pedal connection operation unit 310, and when the pedal connection operation unit 310 rotates, the second convex portion 313b is moved accordingly. As it rotates, the actuator 137a is pressed against the second convex portion 313b, and the sensing portion 137b is pressed via the actuator 137a. Thereby, the connection / disconnection of the left and right brake pedals 15L and 15R described above can be detected by operating the pedal connection operation unit 310. In the example of FIG. 9, when the pedal connection operation unit 310 is in the basic posture (substantially horizontal posture), the pedal connection operation detection switch 137 is pressed, and the left and right brake pedals 15L and 15R are connected by the pedal connection unit 303. To detect. Further, when the pedal connecting operation unit 310 is in the tilted posture, the pedal connecting unit 303 detects that the left and right brake pedals 15L and 15R are disconnected.

Further, as shown in FIG. 8, a lock operation detection unit (lock operation detection switch) 138 for detecting the rotational operation of the lock plate 315 is provided in the vicinity of the lock plate 315. Specifically, the lock operation detection switch 138 is provided above the lock plate 315, and when the lock plate 315 rotates, the convex portion 319 provided on the upper portion of the lock plate 315 has a predetermined angle. Rotating, the actuator 138a is pressed against the convex portion 319, and the sensing portion 138b is pressed via the actuator 138a. Thereby, the lock mechanism 318 can detect the above-mentioned lock / unlock. In the example of FIG. 9, when the lock lever 314 is lowered, the lock of the pedal connecting portion 303 is detected. Further, when the lock lever 314 is raised, the lock operation detection switch 138 is pressed to detect the unlocking of the pedal connecting portion 303.

Further, in the present embodiment, the tractor 1 is configured so that the field mode for traveling in the field and the road mode for traveling on the road can be manually switched by the mode selection switch 223. The field mode is a control mode selected when working in the field, and is controlled so that the vehicle travels only at a low vehicle speed (1 to 10 km / h), for example. The road mode is, for example, a control mode selected when traveling on the road to a field, and is controlled so that the vehicle can travel at a high speed (15 km / h or more), for example.

Then, in the control device 40 according to the embodiment, when the road mode is selected and the auxiliary shift lever 14 is operated at high speed, or when the lock operation detection switch 138 detects the locked state, the working machine W When the elevating position is not located at the specified height (height that can be traveled on the road), a predetermined notification (voice or screen display) is given to the operator, and the elevating position of the work machine W is not located at the specified height. Notify the worker to that effect.

Then, the control device 40 automatically raises and lowers the work machine W to a predetermined height during the period in which the notification is given. As a result, it is possible to reduce that the work machine W travels on the road without being located at the specified height.

Further, the control device 40 (see FIG. 10) according to the embodiment detects the detection status of the lift arm sensor 26 or the vehicle body positioning device 30 and the working machine positioning device 31 when the working machine W is automatically raised and lowered to a specified height. Use. Specifically, in the control device 40, when the detection status of the lift arm sensor 26 or the vehicle body positioning device 30 and the working machine positioning device 31 is a specific situation, the elevating position of the working machine W is a specified height. Is determined. This point will be described with reference to FIG.

FIG. 2 is a diagram showing a case where the working machine W according to the embodiment is raised to a specified height. FIG. 2 shows a case where the height of the traveling vehicle body 2 is H1 and the elevating position of the rotary cultivator, which is the working machine W, is the height H2. When the working machine W is a rotary cultivator, the control device 40 detects the situation shown in FIG. 2 as a specific situation, and determines that the working machine W has a specified height. For example, the position H of the working machine W with respect to the traveling car body 2 is within a predetermined range from the difference between the height H1 of the traveling vehicle body 2 obtained from the vehicle body positioning device 30 and the height H2 of the working machine W obtained from the working machine positioning device 31. In this case, or when the angle of the lift arm 122 is within a predetermined range, it is determined that the working machine W has a specified height.

Then, when the control device 40 determines that the working machine W has a specified height, the control device 40 notifies the worker that the raising and lowering of the working machine W should be stopped, or raises and lowers the working machine W. It will stop automatically. As a result, the worker can stop the work machine W at a specified position.

That is, in the control device 40 according to the embodiment, when the position H of the work machine W with respect to the traveling vehicle body 2 or the angle D of the lift arm 122 is in a specific situation, the elevating position of the work machine W is at a specified height. By determining that there is, the working machine W can be raised and lowered to an appropriate position.

The above-mentioned specified height is, for example, a height at which the vehicle can travel on the road. That is, in the control device 40, when the position H of the work machine W with respect to the traveling vehicle body 2 or the angle D of the lift arm 122 is a specific situation, the elevating position of the work machine W is a height at which the work machine W can travel on the road. judge. As a result, the work machine W can be accurately moved up and down to a height at which it can travel on the road.

Further, in FIG. 2, the case where the working machine W is a rotary cultivator is taken as an example. For example, the working machine W is a halo (earth crusher), a broad caster (fertilizer applicator), a towing work machine, or the like. May be good.

Further, the control device 40 may have a specific situation for determining that the elevating position of the working machine W is a specified height, depending on the type of the working machine W.

Further, the control device 40 according to the embodiment controls the ascending / descending speed when the working machine W is automatically ascended / decreased. Specifically, the control device 40 makes the ascending / descending speed of the automatic ascending / descending speed when the tractor 1 travels on the road (in the road mode) slower than the ascending / descending speed when the tractor 1 travels in the field (in the field mode). As a result, it is possible to improve safety when traveling on a road where there are many obstacles and pedestrians as compared with the field.

Next, the control system of the work vehicle (tractor) 1 centering on the control device 40 will be described with reference to FIG. FIG. 10 is a block diagram showing an example of the control system of the work vehicle 1. As shown in FIG. 10, the control device 40 includes an engine ECU (Electronic Control Unit) 41, a traveling system ECU 42, and a work equipment elevating system ECU 43. The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the traveling speed of the traveling vehicle body 2 (see FIG. 1) by controlling the rotation of the drive wheels. The work equipment elevating system ECU 43 controls the elevating device 12 to elevate and control the work equipment W.

The control device 40 can control each part by electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, various programs, a planned traveling route of the traveling vehicle body 2 preset for each field, and the like. It is equipped with a storage unit for storing necessary data.

As shown in FIG. 10, the control device 40 includes a vehicle body positioning device 30, a work equipment positioning device 31, an engine rotation sensor 23, a vehicle speed sensor 24, a turning angle sensor 25, and an obstacle sensor 20 (front sensor 21 and rear sensor 22). ), Various sensors such as the lift arm sensor 26 and the lever sensor 35, and various switches such as the lock operation detection switch 138, the mode selection switch 223, the public road traveling button 91, and the raised height dial 90 are connected. The engine rotation sensor 23 detects the rotation speed of the engine E. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The turning angle sensor 25 detects the turning angle of the front wheels 4 (see FIG. 1), which are the steering wheels. The turning angle sensor 25 detects the turning of the airframe. The lever sensor 35 detects that the auxiliary shift lever 14 is operated at least at a high speed position.

The control device 40 includes position information of the traveling vehicle body 2 from the vehicle body positioning device 30, position information of the working vehicle W from the working machine positioning device 31, rotation speed of the engine E from the engine rotation sensor 23, and traveling vehicle body 2 from the vehicle speed sensor 24. Travel speed, turning angle of front wheel 4 from turning angle sensor 25, obstacle detection result from obstacle sensor 20, height of work equipment W from lift arm sensor 26, high-speed position operation of auxiliary speed change lever 14 from lever sensor 35 The presence or absence is entered respectively. When the tractor 1 is autonomously driven, the control device 40 uses the detection result of the steering angle sensor 25 to control the steering cylinder connected to the steering wheel 9 while feeding back the steering angle of the front wheels 4, thereby controlling the steering wheel. 9 is automatically steered.

Further, in the control device 40, the engine ECU 41 is connected to the engine E, the traveling system ECU 42 is connected to the steering device 51, the transmission device 52, the braking device 53, and the like, and the work equipment elevating system ECU 43 is connected to the elevating device 12. To.

Of these, the work equipment elevating system ECU 43 outputs a work equipment elevating signal to the elevating device 12. The elevating device 12 elevates and drives the work machine W based on the work machine elevating signal output from the work machine elevating system ECU 43. It also controls the horizontal cylinder 33 that adjusts the rolling angle of the working machine W with respect to the traveling vehicle body 2. The horizontal cylinder 33 is provided on the lift rod 123 on the right side, and the rolling angle is adjusted by expanding and contracting to change the length.

Further, the control device 40 is wirelessly connected to, for example, an information processing terminal 100 that can be carried by an operator. The control device 40 controls each part of the tractor 1 based on an instruction signal from the information processing terminal 100 operated by the operator. Further, the control device 40 may be configured to hold the aircraft information database of the tractor 1 so that information such as a model can be exchanged from the information processing terminal 100 or the like.

Further, the control device 40 stops the traveling vehicle body 2 when an obstacle is detected by the front sensor 21 or the rear sensor 22. Further, when an obstacle is detected by the front sensor 21 or the rear sensor 22, the control device 40 stops the engine E or stops the transmission of the rotational power to the PTO shaft 16. Further, the control device 40 activates an alarm (not shown) when an obstacle is detected by the front sensor 21 or the rear sensor 22, and the control device 40 detects the obstacle. It may be notified.

Further, the control device 40 has an "automatic operation mode" in which the tractor 1 performs work while autonomously traveling. In the automatic operation mode, the control device 40 determines a planned travel route according to the work content of the work machine W in advance for each field, converts it into data and stores it in the storage unit, and based on the measurement result of the positioning device 30. , Each part such as the engine E, the steering device 51, the transmission 52, the braking device 53, and the elevating device 12 is controlled so as to travel along the stored scheduled traveling path. The planned travel route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, the type of crop, and the like.

Further, as described above, when the lock operation detection switch 138 is detecting the locked state, the control device 40 is operated at a high speed of the auxiliary shift lever 14, and the mode selection switch 223 is set to the road mode. Alternatively, when the work machine W attached to the traveling vehicle body 2 is detected to be outside the field by the field position information and shape information registered in advance in the control device 40 and the work machine positioning device 31, the work machine W Raises and lowers to a predetermined position. At this time, the rolling angle of the working machine W is automatically adjusted by the horizontal cylinder 33 so as to be substantially horizontal to the traveling vehicle body 2, so that the posture more suitable for traveling on the road can be obtained.

The predetermined position of the work machine W is set by, for example, manually operating the position lever 152 to adjust the height, and then pressing a specific button (for example, the public road running button 91) with the fuse removed. .. Further, the predetermined position of the work machine W may be set by operating the information processing terminal 100, or may be set by the elevating position setting means (raising height dial) 90. As a result, the lifting position of the working machine W when traveling on the road can be set to an arbitrary position, so that the working machine W can be raised and lowered to an appropriate raising and lowering position when traveling on the road regardless of the mounting of the working machine W.

Further, when the public road traveling button 91 is pressed in a normal state such as returning the removed fuse after the predetermined position of the working machine W is set, the working machine W is moved to the operating position of the position lever 152. Regardless of the above, the configuration is such that the operation by the position lever 152 is not accepted until the position is controlled to a predetermined position and then the public road traveling button 91 is pressed again, and the lifting position of the work machine W can be finely adjusted only by the raising height dial 90. May be good. As a result, it is possible to prevent the work machine W from being unexpectedly moved up and down while traveling on the road and traveling at an inappropriate position.

Further, when it is detected that the work machine W attached to the traveling vehicle body 2 has entered the field from outside the field by the information on the position and range of the field registered in advance and the work machine positioning device 31, the work machine W Should be raised from a predetermined position to the highest position. As a result, it becomes easier to turn around in the field, and contact with the shore can be suppressed. Further, by determining by the working machine positioning device 31, it is possible to configure the structure so that unnecessary ascending control is not executed when the traveling vehicle enters the field without the working machine attached.

Further, the moving speed of the working machine W is calculated from the working machine positioning device 31, and when this is equal to or higher than a predetermined speed (for example, 15 km / h), a warning is notified to the driver. As a result, it is possible to suppress running at high speed with the work machine W attached, and to suppress running in a state where it is easy to fall. By calculating and determining the moving speed of the work machine W from the work machine positioning device 31, it is possible to prevent unnecessary notification in a state where the work machine W can be traveled without any problem, such as a state where the work machine W is not attached.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1 Tractor (working vehicle)
2 Traveling vehicle body 15L Left brake pedal 15R Right brake pedal 26 Lift arm sensor 30 Body positioning device 31 Work equipment positioning device 33 Horizontal cylinder 35 Lever sensor 40 Control device 90 Lifting position setting means (raising height dial)
91 Public road running button 138 Lock operation detector 152 Position lever 223 Mode selection switch 303 Pedal connection 310 Pedal connection operation 318 Lock mechanism W Work machine

Claims (3)

With the running body
A work machine that can be raised and lowered at the rear of the traveling vehicle body,
A control device that controls the raising and lowering of the work equipment,
A vehicle body positioning device mounted on the traveling vehicle body and positioning the position of the traveling vehicle body,
It is equipped with a work machine positioning device that is attached to the work machine and positions the work machine.
When it is determined that the control device is traveling on the road, the position of the work machine with respect to the traveling vehicle body is set to a predetermined position based on the detection value of the vehicle body positioning device and the detection value of the work machine positioning device. A work vehicle characterized by ascending and descending. The first aspect of claim 1, wherein the control device has position information and shape information of the field, and when it detects that the control device is outside the field based on the detection value of the working machine positioning device, it determines that the vehicle is traveling on the road. Work vehicle. The control device calculates the moving speed of the work machine from the detected value of the work machine positioning device, and obtains
The work vehicle according to claim 1 or 2, further comprising a notification means for notifying the driver when the moving speed of the work machine exceeds a predetermined speed.