JP2882317B2 - Farm work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural work machine in which a work machine such as a rotary tilling work machine or the like and a transplanting machine such as a seedling planting machine are mounted on a traveling vehicle body. In conjunction with the steering operation at the time of turning, raising the work machine to the non-working position, switching to the wheel driving state suitable for turning, switching the rear wheel brake inside the turning to the braking state, etc. The present invention belongs to the technical field of an agricultural work machine configured to switch a body to a state at the time of turning.

[0002]

2. Description of the Related Art As a conventional technique for the present invention, there is a technique having a configuration described in Japanese Patent Publication No. 6-34643 or Japanese Patent Application Laid-Open No. 6-16059. That is, conventionally, in an agricultural work machine configured to switch the aircraft to a state during turning in conjunction with a steering operation during turning, the agricultural machine is configured to switch to the state during turning based on the operation angle of the steering operation. There is a farm work machine.

[0003] The agricultural working machine of this configuration is linked to a steering operation which is always performed by the operator at the time of turning, and therefore has the advantage that the machine is always switched to the state at the time of turning. However, since the configuration is such that the aircraft switches to the state at the time of turning only based on the operation angle of the steering operation, the aircraft may be switched to the state at the time of turning even after the turn. That is,
When the turning is completed and the next travel work travel is started, the position and direction of the body and the direction of the wheels may be shifted from the course of the next travel to proceed. In this case, the driver may notice the deviation immediately after starting the work travel of the next step, and may perform a large left and right steering operation in a hurry to correct the deviation and meander. At the time of course correction at the start of this work travel,
If the steering operation corresponding to the turning is performed, the aircraft is switched to the state at the time of turning, which is a situation contrary to the intention of the pilot. Therefore, in the above-mentioned conventional machine, the body may be switched to the state at the time of turning after turning, and there is a problem in terms of maneuverability.

[0004]

Therefore, the prior art has the above-mentioned problems, and it is an object of the present invention to solve these problems. That is, in an agricultural work machine configured to switch the aircraft to the state at the time of turning in conjunction with the steering operation at the time of turning, the switching of the aircraft to the state at the time of turning is reliably switched at the time of turning,
Another object of the present invention is to prevent switching at the time of course correction at the start of work traveling.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to an agricultural work machine provided with a turning control device configured to switch a body to a turning state in conjunction with a steering operation during turning. After the control device is operated and returned to the state before the operation, the operation of the turning control device is regulated for a certain period of time.

[0006]

The agricultural working machine according to the present invention travels in a field while traveling straight, but when it reaches the edge of the field, it is largely steered and turns in a U-shape to move to the next stroke. In proceeding in this way, when turning,
The turning control device operates in conjunction with the steering operation, and the body is switched to the state at the time of turning. At the end of the turn, the vehicle is returned to the state before the turning control device was operated and the work traveling is resumed, but at this time, the aircraft progressed with a deviation from the course of the next stroke, and at the time of turning to correct it, Even if such a steering operation is performed, since the operation of the turning control device is restricted for a certain period of time, the turning control device does not switch to the turning state again.

Therefore, the agricultural working machine of the present invention is an agricultural working machine provided with a turning control device configured to switch the machine body to a turning state in conjunction with a steering operation at the time of turning. After returning to the state before the operation, the system is configured to regulate the operation of the turning control device for a certain period of time, so that the steering operation such as turning is performed by correcting the course at the time of straight work after turning. This does not switch to the state at the time of turning, and it is easy to make this course correction.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a block diagram of a control system in a tractor as an example of a four-wheel drive vehicle, in which a tillage depth of a rotary is set with a tillage depth adjustment dial provided on an input side of a control unit, and a tillage position adjustment dial is used. Set the highest position of the work equipment. Then, the height of the working machine is detected by the lift arm sensor, and the tillage amount of the rotary is detected by the rear cover sensor.

Further, a steering angle sensor is provided as means for detecting the steering angle of the steering, and an automatic brake switch is provided for turning on / off a means for braking the rear wheel inside the turn during turning. Further, a check switch for shifting from the normal control mode to the check mode is provided, and the work implement is raised to the highest position, or the work implement is lowered to the position set by the position lever. Provide a lifting switch.

On the output side of the control unit, a solenoid for raising the working machine and a solenoid for lowering the working machine are provided. A solenoid for right brake and a solenoid for left brake are provided as means for independently braking the rear wheel inside the turn when the auto brake switch is on, and the rotational speed of the front wheel is increased during the turn. A double-speed device is provided as a means, and a double-speed solenoid for turning on and off the double-speed device is provided.

A switch that is opened and closed according to a value detected by a high-speed sensor is connected to the left and right brake solenoids and the double-speed solenoids. When the vehicle is running at high speed, the rear wheels inside the turning are braked. And the means for increasing the rotational speed of the front wheels during turning are not operated. FIG. 2 is a flowchart of the entire control.
First, the detection values of the sensors are read (step 10).
1) When both the check switch and the elevation switch are turned on and immediately after the power is turned on (steps 102 to 103), the current sensor values are recorded in the EEPROM as the respective reference values (step 102). 10
4). In the check mode, the steering wheel is set to the neutral position in the left and right direction (straight running state) and recorded as a reference value of the steering angle sensor.

On the other hand, if at step 102 either or both switches are off,
If it is not immediately after the power is turned on in step 3, sensor processing (step 105), position control or depth control (step 106), front wheel speed-up control (step 107), autobrake control (step 108), and autolift control (step 108) Step 10) after performing each processing of 109)
Return to 1.

FIGS. 3 to 6 are flowcharts of each subroutine. First, in a position control or depth control routine, a lift arm target value and a detection value of a lift arm sensor are compared, and a work is performed according to a deviation. Either an ascending signal is output to the ascending solenoid, or a descending signal is output to the working equipment descending solenoid, or control is performed so as not to output a signal when the deviation is in the dead zone. When the UP mode is set in the automatic lift control routine described below, the set value of the raising position adjustment dial is set to the lift arm target value,
An ascending signal is output to the work implement ascending solenoid to raise the work implement to the highest position.

Next, the front wheel speed increasing control and the automatic brake control will be described. Both routines are executed only when the work implement lift flag is set to 1 in an automatic lift control routine to be described later. In the front wheel speed-up control, when the work implement lift flag is set to 1 and the detection value of the steering angle sensor becomes equal to or greater than a set value, the double speed solenoid is turned on to operate the speed doubler. Then, the rotation speed of the front wheels is increased to approximately twice that of the rear wheels.

On the other hand, in the automatic brake control, the work implement lift flag is set to 1 and the detected value of the steering angle sensor exceeds the set value within a certain time while the work implement rise timer is counting. When this happens, one of the left and right brake solenoids is turned on, and the rear wheel inside the turn is braked. When the work implement ascent timer finishes counting, the left and right brake solenoids are turned off, and the one-side braking of the rear wheels is not performed.

Further, the automatic lift control will be described. First, when the automatic brake switch is on (step 201) and there is a signal input from the rear cover sensor (step 202), the process proceeds to the next step. This is such that this control is operated only during the rotary work, and the turning control including the auto lift control is not operated during other work such as fertilizer application.

Next, not immediately after the work implement raising operation has been performed (step 203), but also after the work implement lowering timer has finished counting (step 204), the detection value of the steering angle sensor changes from the straight running state. When you come off (Step 2
05), the UP mode is set (step 206).
This means that the UP mode is not set immediately after the work implement raising operation is performed, and in the above-described position control, the set value of the raising position adjustment dial is not set to the lift arm target value, thereby avoiding the maximum lifting of the work equipment. I do.

A work implement lowering timer is started immediately after a work implement lowering operation described later is performed (step 208).
→ 209) When the work machine descent timer does not finish counting, that is, do not set the UP mode for a certain period of time after the work machine is lowered and touched down, and an unskilled operator makes the machine meander after turning. Even if this happens, make sure that the implement does not rise again.

Then, in step 207, the work implement rise timer is started, and the work implement rise flag is set to 1
Set to. Next, if the work implement lowering operation has just been performed, the process proceeds from step 208 to step 209, where the work implement lowering timer is started, the work implement elevation timer is cleared, and the work implement elevation flag is returned to 0.
In addition, even if it is not immediately after the work implement lowering operation, if the detection value of the steering angle sensor returns to the straight traveling state, the process returns from step 210 to step 209.

This is because when the work implement is descending or when the steering angle of the steering is once returned to the straight running state, the work implement elevation flag is returned to 0 and the front wheel speed-up control and the automatic brake control are not operated. It is like that. That is, when the turning is completed, the steering operation is performed while lowering the work implement, but even if the inexperienced operator excessively operates the steering, the automatic brake control is not operated.

Thus, when the tractor performs the turning control during the rotary work, the automatic ascent of the work implement or the ascent operation by the operator is given top priority, and then the front wheel speed-up control and the automatic brake control are performed. Will be. Here, a steering angle sensor that detects the steering angle of the steering will be described. FIG. 7 shows the inside of the steering column 11. A screw 13 having a coarse pitch is provided at an intermediate portion of the steering shaft 12, and a boss 14 is screwed to the screw 13. A pin 15 is provided on the outer surface of the boss 14.
The pin 15 is engaged with a slide groove 16 formed on the rear side (driver's seat side) of the steering column 11. Further, a steering angle sensor 17 is connected to the tip of the pin 15.

When the steering shaft 18 is turned to rotate the steering shaft 12, the boss 14 engaged with the screw portion 13 moves up and down.
The pin 15 protruding from 4 moves up and down in the slide groove 16. 8 and 9 show the steering angle sensor 17, in which a bracket 19 is fixedly mounted near the slide groove 16 of the steering column 11, and the bracket 19 is screwed to the steering angle sensor 17. The steering angle sensor 17 uses a rotary potentiometer, and is mounted so that the sensor shaft 20 projects toward the driver's seat. Then, the detection arm 21 is connected to the sensor shaft 20.
Of the detection arm 21, the locking groove 21a is opened in the other end of the detection arm 21, and the pin 15 protruding from the slide groove 16 is engaged with the locking groove 21a. Also,
When the steering wheel 18 is in the neutral position and the body is in a straight-ahead state, the steering angle sensor 17 is set so that the steering column 11 and the detection arm 21 are orthogonal to each other.
Is set.

When the steering wheel 18 is steered to the right or left, the pin 15 moves up and down along the slide groove 16, and the detection arm 21 rotates to change the detection value of the steering angle sensor 17. . The control unit calculates the steering angle of the steering based on the detection value of the steering angle sensor 17. At this time, the pin 15 moves up and down at an equal rate in proportion to the steering amount of the steering wheel 18, but the rotation angle of the detection arm 21 when the steering wheel 18 is close to the neutral position even with the same steering amount. Is big.
That is, the resolution of the steering angle sensor 17 near the neutral position of the steering angle is increased, and a minute change in the steering angle can be finely detected.

In this embodiment, a rotary potentiometer is used for the steering angle sensor 17, but the present invention is not limited to this. Although illustration is omitted, for example, a linear operation type potentiometer may be attached in the axial direction of the steering column 11. When that happens,
Since the sensor arm moves linearly in parallel with the steering column 11, the detection section can be made compact.

Thus, the present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a control system according to an embodiment of the present invention.

FIG. 2 is a flowchart of the entire control.

FIG. 3 is a flowchart of position control or depth control.

FIG. 4 is a flowchart of a front wheel speed increase control.

FIG. 5 is a flowchart of an automatic brake control.

FIG. 6 is a flowchart of an automatic lift control.

FIG. 7 is a partially cutaway side view showing the inside of the steering column.

FIG. 8 is a rear view of a main part of the steering column showing a mounting state of the steering angle sensor.

FIG. 9 is a side view of a main part of the steering column showing a mounting state of the steering angle sensor.

[Explanation of symbols]

 11 Steering Column 12 Steering Shaft 14 Boss 15 Pin 17 Steering Angle Sensor

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-251003 (JP, A) JP-A-3-43907 (JP, U) JP-B 1-53003 (JP, B2) (58) Survey Field (Int.Cl. ⁶ , DB name) A01B 63/00-63/12 A01B 69/00 A60K 17/348 B62D 11/08

Claims (1)

(57) [Claims] 1. Work of the aircraft in conjunction with steering operation during turning
Configuration was handed to switch to the state it was in when turning from the state of the time
In an agricultural work machine provided with a time control device , the control device
After it has been activated and returned to its pre-operation state,
A farm working machine characterized in that the operation of the turning control device is restricted over a period of time.