JP2882318B2 - 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 machine to a state at the time of turning in conjunction with a steering operation at the time of turning, the structure in which the machine is switched to the state at the time of turning is switched based only on the operation angle of the steering operation. There is a working agricultural 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 is switched to the state at the time of turning only based on the operation angle of the steering operation, there is a disadvantage that the aircraft is switched to the state at the time of turning even during non-turning. For example, when the steering operation is performed at a large angle due to the unevenness of the field, or when the aircraft is greatly shifted left and right with respect to the course to be worked and the steering operation is performed at a large angle to repair this, If the steering operation is performed at a large operation angle corresponding to the turning, 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-described conventional machine, the body may be switched to a state of turning when not turning, and there is a problem in maneuverability.

On the other hand, there is a technology having a configuration described in Japanese Patent Application Laid-Open No. 63-251003. That is, the switching of the aircraft to the state at the time of turning is performed based on the operation angle of the steering operation and the operation that is a separate operation from the steering operation and is frequently performed during the turning (for example, rear wheel shake inside the turning). -Braking operation, etc.).

[0005] The agricultural working machine of this configuration is configured so that the machine body is switched to the state at the time of turning, on condition that the turning is performed by performing another operation that is operated only at the time of turning together with the steering operation. But the other operation is
Even if the operation is performed only at the time of turning, the operation is not always performed at the time of turning, and the turning may be performed without performing the operation depending on the intention of the operator or various situations at the time of turning. Therefore, this conventional machine has a problem that the operation at the time of turning is restricted and the operability is deteriorated, and there is a problem that a situation occurs in which the body does not switch to the state at the time of turning depending on the manner of operation at the time of turning.

[0006]

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 machine body to the state at the time of turning in conjunction with the steering operation at the time of turning, it is ensured that this switching is performed at the time of turning and is prevented at the time of non-turning.
This is the problem to be solved by the present invention.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to an agricultural work machine configured to switch a machine body to a turning state in conjunction with a steering operation during turning.
A steering operation speed is detected from the steering operation, and when the detected operation speed exceeds an operation speed set in advance within a predetermined range excluding a straight traveling range, the aircraft is configured to switch to a turning state. A farm work machine.

[0008]

Operation and effect of the agricultural working machine of the present invention, when a steering operation is performed during a turn, the operation speed is a predetermined operation speed in a predetermined range excluding a straight traveling range, that is, a high speed assumed at the time of the turn. If it is the operation speed, it can be switched to the state at the time of turning. In other words, the steering operation at the time of turning is faster than the steering operation at the time of a large course change occurring during straight traveling, so that the aircraft can be switched to the state at the time of turning. Without such a high operation speed, the aircraft cannot be switched to the state at the time of turning. Further, even when the operation speed exceeds the set speed, if the detected position is in the straight traveling range, the switching is suppressed.

Therefore, the agricultural working machine of the present invention is configured such that the body is switched to the state at the time of turning based on the steering operation speed of the vehicle body. This switching can be prevented when the vehicle is not turning, so that an unexpected situation does not occur. In addition, even when the vehicle is meandering when returning straight ahead after turning and performing a quick steering operation, the switching is suppressed, so that the vehicle is switched to the turning state only when necessary, and operability is improved.

[0010]

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 shows a tractor 11, in which a clutch housing 13 is fixedly provided at a rear portion of an engine 12, and a front transmission case 15 and a rear transmission case 16 are continuously provided via a spacer case 14.

Left and right brake pedals 17 and 18 are provided on the right side of the spacer case 14, and are pivotally mounted so that they can be independently depressed. When the left brake pedal 17 is depressed, the rotation of the pedal shaft 19 causes the brake rod 2 provided on the left side of the spacer case 14 to move.
0 is pulled, the left brake arm 21 rotates forward, and the left rear wheel brake device 22 operates.

The left and right brake linkages are formed symmetrically. When the right brake pedal 18 is depressed, the brake rod 23 provided on the right side of the spacer case 14 is pulled, and the right brake arm 24 is moved forward. And the brake device 25 for the right rear wheel operates. The left and right rear axle housings 26 and 27 are provided with hydraulic actuators 28 and 29 for pressing the brake arms 21 and 24 forward, respectively.

A rotation angle sensor 31 is provided on the steering shaft 30 to detect the rotation angle of the steering wheel 32. The controller 33 divides the rotation angle into three regions: a straight traveling region, an intermediate region, and a turning region, and determines in which region the steering wheel 32 is rotating. FIG. 2 shows an example of the relationship between the rotation angle of the steering wheel 32 and each of the above-mentioned regions,
The range from the neutral position N to the left and right of 45 degrees is defined as a straight region A, and the range from the neutral position N to the left and right of 90 degrees from the neutral position N beyond the straight region A is defined as an intermediate region B. Then, after exceeding the intermediate region B, the turning region C is set.

As shown in FIG. 1, a lift cylinder 34 is provided on the upper portion of the rear transmission case 16, and the left and right lift arms 3 are moved by the expansion and contraction of the lift cylinder 34.
The work implements (not shown) connected to the rear part of the tractor 11 are formed so that the work implements (5, 36) are turned up and down to an arbitrary height. Next, an example of the auto-lift control will be described with reference to the flowchart of FIG. First, the detection value of each sensor and the operation state of switches are read (step 1).
01). Then, it is determined whether the auto-lift control switch is on or off (step 102). If the switch is on, the process proceeds to step 103, and based on the detection value of the rotation angle sensor 31, the range of the rotation angle of the steering wheel 32 is determined. Is determined. When the rotation angle of the steering wheel 32 is in the turning range, the process proceeds to step 104,
It is determined whether or not the rotation angle has once returned to the straight traveling area since the previous automatic lift.

In step 104, if the auto-lift has never been performed, or if the rotation angle of the steering wheel 32 has once returned to the straight traveling range since the previous auto-lift, the process proceeds to step 105. The lift arms 35 and 36 are rotated upward by the extension of the lift cylinder 34, and an automatic lift for automatically raising the working machine is performed.

On the other hand, when the automatic lift control switch is turned off in step 102, or when the rotation angle of the steering wheel 32 is not in the turning range in step 103, or when the previous automatic lift was performed in step 104 If the rotation angle of the steering wheel has not returned to the straight traveling range from
Proceed to and do not perform the automatic lift of the work equipment.

That is, the steering wheel 32 is rotated, and when the rotation angle changes from the straight traveling range to the intermediate range, and further from the intermediate range to the turning range, the working machine is automatically lifted. Further, when the work machine is lowered after the auto-lift is operated and the steering wheel is rotated while maintaining the rotation angle of the steering wheel in the turning range or the intermediate range, when the rotation angle fluctuates in the range of the turning range and the intermediate range. Even if there is no automatic lift, the work implement is prevented from being raised unexpectedly by the fine movement operation of the steering wheel.

FIG. 4 shows another embodiment of the auto-lift control, in which two modes are set for the operation of the auto-lift control, and the operation timing of the auto-lift is changed by switching a mode switch. First, the state of each sensor and switches is read (step 201), and it is determined whether the automatic lift control switch is on or off (step 202). When the automatic lift control switch is turned off, the work implement is not automatically lifted (step 202).
→ 230). If the automatic lift control switch is on, the operation state of the mode switch is read in step 203, and if the mode switch is in the strong position, the process proceeds to step 204.

In step 204, the operation of the auto lift is determined based on the detected values of both the rotation speed and the rotation angle of the steering wheel 32. That is, at the time of tilling on a hard ground such as a dry field, the rotation speed of the steering wheel 32 is high because the steering operation is performed smoothly. Therefore, when the rotation speed of the steering wheel 32 is equal to or higher than the predetermined value and the rotation angle is equal to or higher than the predetermined value, the automatic lift is operated to automatically raise the work implement (steps 205 to 206). If the rotation angle does not reach the predetermined value, the height of the work machine is maintained without operating the auto-lift (steps 205 to 220).

On the other hand, the mode switch is set to weak when cultivating on soft ground such as a wetland. If so, step 20
From 3 to 210, the operation of the auto lift is determined based only on the detected value of the rotation angle of the steering wheel 32. That is, in a soft ground such as a wetland, the steering operation becomes heavy, and the steering wheel is likely to be turned in the opposite direction. If not, the position of the working machine is maintained at the current position without operating the auto-lift (step 210 → 220),
When the rotation angle becomes equal to or larger than a predetermined value, the automatic lift is operated (step 210 → 206). FIG. 5 shows still another embodiment of the auto-lift control. When the steering operation has not been performed for a certain period of time during the operation of the auto-lift control, the rotation position of the steering wheel at that time is set to the neutral position. First, the state of each sensor and switches is read (step 301). When the auto-lift control switch is off, the work machine is not automatically lifted (steps 302 → 330). If the automatic lift control switch is ON, it is determined in step 303 whether or not the work implement is at the lowered position. If the work implement is lowered, the process proceeds to step 304.

In step 304, a change in the rotation angle of the steering wheel 32 is monitored. For example, when one wheel runs on uncultivated land and the other one wheel runs on cultivated land, the aircraft travels straight with the front wheels slightly turned toward the uncultivated land. At this time, the steering wheel 32 is naturally held at a position rotated from the neutral position to one side, and the rotation angle does not change. If so, in step 305, the rotational position of the steering wheel 32 at that time is stored as a straight-ahead position, and then the process proceeds to step 306.

On the other hand, the steering wheel 32
If the rotation angle of is changing, then from step 304 to step 3
The program proceeds to 10, and when a certain amount of time has elapsed with the amount of change in the rotation angle being large, it is considered that the aircraft is turning, and in step 311 the original neutral position of the steering wheel 32 is stored as it is as the straight traveling position. Then, the process proceeds to step 306. If the change in the rotation angle is large for a short time, the process proceeds from step 310 to step 306.

In step 306, the rotation angle of the steering wheel 32 from the newly stored straight-ahead position is calculated, and when the rotation angle exceeds a predetermined value, the automatic lift is operated. The working machine is automatically raised (steps 307 → 308). On the other hand, when the rotation angle does not reach the predetermined value, the height of the work implement is maintained without operating the automatic lift (steps 307 → 320).
Also, in step 303, when the work implement is already in the raised position, the process proceeds to step 320, and the height of the work implement is maintained.

Thus, for example, when the vehicle is running straight while operating the steering wheel slightly to the mountain side while working on a slope, the rotation position of the steering wheel at that time is regarded as the straight running position and the auto-lift is performed. Since the control is performed, the auto-lift is performed at the same timing when the left and right rotation angles of the steering wheel change.

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 side view of a tractor, showing one embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a relationship between a rotation angle of a steering wheel and each area.

FIG. 3 is a flowchart illustrating an example of an auto-lift control.

FIG. 4 is a flowchart showing another embodiment of the automatic lift control.

FIG. 5 is a flowchart showing still another embodiment of the automatic lift control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Tractor 31 Rotation angle sensor 32 Steering wheel 33 Controller 34 Lift cylinder 35, 36 Lift arm A Straight running area B Middle area C Turning area

Continuation of the front page (56) References JP-A-63-251003 (JP, A) JP-A-4-141001 (JP, A) JP-A-64-415 (JP, U) , B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) A01B 63/00-63/12 A01B 69/00

Claims (1)

(57) [Claims] 1. An agricultural work machine configured to switch a body to a state of turning in conjunction with a steering operation at the time of turning,
Detecting a steering operation speed from the steering operation;
The operating speed is a preset operating speed within a predetermined range excluding the straight running range.
An agricultural work machine characterized in that the aircraft is configured to switch to a state at the time of turning when exceeding a degree .