JP3632779B2 - Mobile farm machine - Google Patents

Mobile farm machine Download PDF

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Publication number
JP3632779B2
JP3632779B2 JP33258094A JP33258094A JP3632779B2 JP 3632779 B2 JP3632779 B2 JP 3632779B2 JP 33258094 A JP33258094 A JP 33258094A JP 33258094 A JP33258094 A JP 33258094A JP 3632779 B2 JP3632779 B2 JP 3632779B2
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turning
headland
work
rotary
lever
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JP33258094A
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JPH08154421A (en
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山 英 機 神
藤 孝 明 須
川 治 中
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Yanma Agricultural Equipment Co Ltd
Yanmar Co Ltd
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Yanma Agricultural Equipment Co Ltd
Yanmar Co Ltd
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Description

【0001】
【産業上の利用分野】
本発明は、例えば耕耘作業を行う耕耘ロータリ作業機、またはプラウをトラクタによって牽引する耕耘装置等の移動農機に関する。
【0002】
【従来の技術】
従来、トラクタの後側に耕耘ロータリ作業機を昇降自在に装設し、このロータリ作業機によって耕耘作業を行うが、耕耘作業時のトラクタ走行速度を速くして、できるだけ早く作業を終了することが望まれていた。
【0003】
【発明が解決しようとする課題】
前記従来技術は、走行速度を早くすることにより、耕耘作業能率を向上させることができるが、圃場の枕地でトラクタを方向転換時、操向ハンドル及びブレーキペダルの各操作、並びにロータリ作業機上昇操作に加えて、走行速度を減速させるアクセルレバーまたは変速レバー操作を行う必要がある。
しかし乍ら、前記各操作を作業者が行って、走行速度を減速させかつ方向転換させることにより、操作が煩雑になり易い。
また、方向転換のための走行速度の減速タイミング、または耕耘作業中止タイミング及び再開タイミングが早くなったり遅れたりして枕地幅が不均一に形成され易い。
一般に、トラクタの1往復で、耕耘が行える大きさ以下の枕地幅が好ましいが、走行速度を必要以上に早く減速した場合、方向転換に必要な幅以上に枕地幅が大きく形成されたり、枕地に到達するまでの時間が長くなって作業能率が低下する不具合が生じる。
それと共に、走行速度を減速するタイミングが遅れた場合、方向転換に必要な幅以上に圃場の端部にトラクタが接近し、前進走行だけで方向転換を行えなくなり、前進と後進の切換による面倒な方向転換を行う必要がある。
このように、耕耘作業時の走行速度を高速にすることにより、圃場枕地でのトラクタの方向転換操作が容易に行えなくなる等の問題が生じる。
【0004】
【課題を解決するための手段】
然るに、本発明は、課題を解決するために次の如く構成したものである。
請求項1においては、走行速度の増減速自動制御、並びに対地作業機(14)の昇降自動制御をオンオフさせる回向スイッチ(62)と、傾動自在な回向レバー(63)を設け、回向スイッチ(62)のオンの状態で、回向レバー(63)の左または右方向の傾動操作により、走行速度の減速と、作業機(14)の上昇と、更に前走行輪(4)(4)の旋回動作が自動的に行われる枕地旋回操向自動制御を行う枕地コントローラ(75)を具備した移動農機において、回向レバー(63)に手動操作用の押ボタン(66)を付設し、回向スイッチ(62)がONで、回向レバー(63)が傾動された前記枕地旋回操向自動制御において、該押ボタン(66)の操作することにより、更に、旋回内側の後走行輪(7)(7)を制動すべく枕地コントローラ(75)を構成したものである。
【0005】
請求項2においては、請求項1記載の移動農機において、対地作業機(14)が作業位置から非作業位置に上昇開始することによって走行速度を減速させ、かつ対地作業機(14)が非作業位置に上昇したときに走行速度をさらに減速させるべく、枕地コントローラ(75)を構成したものである。
【0006】
【実施例】
以下、本発明の実施例を図面に基づいて詳述する。
図1は枕地コントローラの制御回路図、
図2は全体の側面図、
図3は同平面図、
図4は耕耘ロータリ作業機部の側面図である。
図中(1)はトラクタであり、エンジン(2)を内設させるボンネット(3)両側に左右の前走行輪(4)(4)を装設させ、前記ボンネット(3)後部に操向ハンドル(5)を設け、該ハンドル(5)後方に運転席(6)を設置させ、運転席(6)両側外方に左右の後走行輪(7)(7)を装設させると共に、運転席(6)前側のステップ(8)に左右ブレーキペダル(9)(9)及びクラッチペダル(10)を配設させ、作業者が運転席(6)に座乗して走行移動するように構成している。
【0007】
また、前記走行輪(4)(7)を駆動するミッションケース(11)に、ロワリンク(12)及びトップリンク(13)を介して、対地作業機である耕耘ロータリ作業機(14)を取付け、該作業機(14)をトラクタ(1)後側に昇降自在に装設させるもので、走行主変速レバー(15)と、前記作業機(14)を手動操作で昇降させるポジションコントロールレバー(16)と、前記作業機(14)を非作業上昇位置及び耕耘作業下降位置にワンタッチ動作で昇降させる昇降スイッチ(17)を、運転席(6)の右側に配置させる。
それと共に、走行副変速レバー(18)と、前記作業機(14)への出力を変更させるPTO変速レバー(19)を、運転席(6)の左側に配置させる。
【0008】
さらに、図4乃至図7に示す如く、前記作業機(14)の中央にギアボックス(20)を配置し、トラクタ(1)のPTO軸(21)から動力を伝える。
それと共に、前記ギアボックス(20)側面より、両側方にビーム(22)を突出し、該ビーム(22)のそれぞれの中途部に支持プレート(23)を固設し、該支持プレート(23)の前端にはロワリンク(12)を連結させ、支持プレート(23)後端にはデプスフレーム(24)の前端を枢支し、該デプスフレーム(24)後端側に左右尾輪(25)(25)を設けている。
【0009】
前記ビーム(22)の外側端に、チェーンケース(26)上部とサイドサポート(27)上部が固設され、該チェーンケース(26)下部と、サイドサポート(27)下部の間に耕耘爪軸(28)が横架され、該耕耘爪軸(28)上にナタ爪よりなる多数のロータリ爪(29)…が側面視で放射状に植設される。
それと共に、該ロータリ爪(29)の回転軌跡上方がロータリカバー(30)によって覆われ、両側はサイドカバー(31)によって覆われている。
そして、該耕耘爪軸(28)はギアボックス(20)内のギア、ビーム(22)内の伝動軸、チェーンケース(26)内のスプロケット及びチェーンを介して駆動され、ロータリ爪(29)…が回転されることによって耕耘ができると共に、ハンドル(32)の回転操作によって耕耘爪軸(28)軸芯を中心にロータリカバー(30)を前後に回転させることができるようにしている。
【0010】
そして、前記ビーム(22)に固定するプレート(33)を前方に突設させ、該プレート(33)前端に支持杆(34)が横架され、該支持杆(34)に取付プレート(35)が固定され、該取付プレート(35)に固定刃(36)の上部が固定されている。
なお、固定刃(36)を左右幅方向でロワーリンク(12)より機外側方に4本装着すると共に、固定刃(36)の中間部は後方に湾曲させ、前後に傾斜させる固定刃(36)の直線形下部を前記ロータリ爪(29)の回転軌跡の前部に後傾形に臨ませている。つまり、側面視において固定刃(36)の下部がロータリ爪(29)の回転軌跡の前部でオーバーラップするように配置させる。
それと共に、固定刃(36)と、これに隣り合うロータリ爪(29)の左右間隔は狭くして、残耕ができないようにしている。
但し、外側2本の固定刃(36)(36)は、ロータリ爪(29)と偏心爪(37)の間に設ける。また、ロータリ爪(29)の回転軌跡上部に処理刃(38)が配設されている。
即ち、両側方の処理刃(38)は、固定刃(36)の後側に配設されており、ロータリ爪(29)から前方に飛散する藁や雑草等が、固定刃(36)に巻付くのを防止すると共に、ロータリ爪(29)が持回る土塊を処理刃(38)によって破砕するもので、前記処理刃(38)の幅(板厚)は固定刃(36)の幅より狭くして、藁草等及び土塊が分断されるようにしている。
【0011】
さらに、ロータリ爪(29)上側のロータリカバー(30)後端に、第1支点軸(39)を介して、鋼板製第1リヤカバー(40)を上下方向に揺動自在に連結させ、第1リヤカバー(40)後端に、ゴム製第2リヤカバー(41)前端を固定させ、下方に均し空間(42)を形成する第2リヤカバー(41)後端に鋼板製第3リヤカバー(43)前端を固定させる。
それと共に、第1リヤカバー(40)後端部の第2支点軸(44)と、第3リヤカバー(43)前端部の第3支点軸(45)を、左右一対のリンク(46)(46)によって連結させ、第3支点軸(45)と略同軸上に第4支点軸(47)を設け、第4支点軸(47)に第1吊下ロッド(48)下端を連結させ、第3リヤカバー(43)後端部の第5支点軸(49)に左右一対の第2吊下ロッド(50)下端を連結させ、第1リヤカバー(40)の支持体(51)に第1及び第2吊下ロッド(48)(50)上端側を昇降自在に取付け、各吊下ロッド(48)(50)と第3リヤカバー(43)によって側面視三角形を形成させる。
また、第2及び第3及び第5支点軸(44)(45)(49)を結ぶ線によって、側面視三角形を形成させたもので、第2支点軸(44)または第3支点軸(45)を中心に第3リヤカバー(43)を上方移動させ、第2支点軸(44)及び支持体(51)の吊下ロッド(48)(50)連結部を支点とした前記カバー(43)及び各ロッド(48)(50)の両てこ機構の動作により、各ロッド(48)(50)の下方突張りによって前方移動が規制される第3リヤカバー(43)を後上方に移動させ、第3リヤカバー(43)の両側部が、平面視で前後移動するフローティング動作を行わせる。
また、第5支点軸(49)と第1リヤカバー(40)の支持体(51)間に、左右一対のガスダンパ(52)を連結させたもので、全ストローク略一定のバネ定数が得られかつストロークも大きく形成できるガスダンパ(52)によって、第3リヤカバー(43)を支持させ、トラクタ(1)が左右に傾いても第3リヤカバー(43)の左右均等な加圧によって耕耘面を均すことができるように構成している。
【0012】
また、前記吊下ロッド(48)(50)上端側を、支持体(51)…の軸受体(53)…に遊嵌挿入させ、軸受体(53)…の上面側に当接するピン(54)…を前記ロッド(48)(50)に植設させ、前記ロッド(48)(50)の下方抜出しを防ぎ、第3リヤカバー(43)の前方移動を制限する。
それと共に、スプリング(55)(55)を巻装させた左右一対のロッド(56)(56)の下端を、第1リヤカバー(40)上面に連結させ、前記ロッド(56)上端側をロータリカバー(30)の支持体(57)に摺動自在に取付け、第1リヤカバー(40)をスプリング(55)によって下方に弾圧するように構成している。
【0013】
また、前記第3リヤカバー(43)上面にレーキ支持体(58)を着脱自在に固定させ、該支持体(58)に固定させるレーキ(59)を、第3リヤカバー(43)後方に延出させると共に、図6に示す如く、第2吊下ロッド(50)上端側を取付ける支持体(51)の軸(60)に、前記ガスダンパ(52)上端を連結させ、第2吊下ロッド(50)とガスダンパ(52)を可及的に接近させて略平行に設ける。
それと共に、前記デプスフレーム(24)後端に、支持フレーム(61)を介して左右一対の尾輪(25)(25)を取付け、左右尾輪(25)(25)間に、前記レーキ(59)を配設させるものである。
枕地方向転換時に畦などにレーキ(59)が衝突するのを前記尾輪(25)によって防止すると共に、路上走行または上方に持上げての保守作業などにおいてレーキ(59)左右外側のバンパとして尾輪(25)を兼用させるように構成している。
【0014】
さらに、ロータリ爪(29)の回転軌跡上端と略同じ高さ、またはそれ以上に高い位置に第1支点軸(39)を取付け、耕耘作業時に第1支点軸(39)を中心にリヤカバー(40)(41)(43)が上昇することにより、ロータリ爪(29)の回転軌跡後方でリヤカバー(40)(41)(43)下方に大きな面積の均し空間(42)が形成され、リヤカバー(40)(41)(43)によって前方に押す土がロータリ爪(29)の土跳ね上げ部に至るのを防止し、高速走行での耕耘作業によるロータリ爪(29)の耕耘負荷増加を防止するも。
耕耘作業時、ロータリ爪(29)が地上に抜出する地点(A)を中心とする、半径の円弧線上に、リヤカバー(40)(41)(43)が耕土によって持上げられて配置され、ロータリ爪(29)の回転軌跡の面積の約50パーセント以上の大きさの均し空間(42)を、ロータリ爪(29)回転軌跡後側と、リヤカバー(40)(41)(43)の間に形成させ、細かい土塊または軽い土塊など小形物がロータリ爪(29)によってロータリカバー(40)(41)下面の高位置に飛散される。
大きい土塊または重い土塊または切り株(稲株)など大形物がロータリ爪(29)によって低い位置に飛散され、ロータリ爪(29)の飛散による比重分離作用によって小形物が上層となり、また大形物が下層となり、上層の小形物がリヤカバー(41)(43)によって均平にされ、後方のレーキ(59)によって大形物がさらに下方に押下げられる。
従って、大形物によって培土内部の通気性及び通水性が良好に保たれると共に、播種または苗移植に適した状態に培土表層部が小形物によって形成される。
【0015】
さらに、前記耕耘爪軸(28)を中心に、同一円周上に90度の間隔で4本のロータリ爪(29)…を取付け、各ロータリ爪(29)先端側を交互に左右方向に向けて湾曲させ、耕耘爪軸(28)の直交平面上で4本1列のロータリ爪(29)…を耕耘爪軸(28)軸芯線方向に複数列設けるもので、左右方向で対向させるロータリ爪(29)(29)の先端軌跡間に間隙を設け、ロータリ爪(29)の左右側方湾曲幅を先端軌跡間隙の約2倍の大きさとし、左右方向のロータリ爪(29)(29)基端間隔が先端軌跡間隙の約5倍の大きさになるようにロータリ爪(29)を形成している。
また、前記ロータリ爪(29)は土を切取った後に掬取る形状に湾曲させ、ロータリ爪(29)の先端湾曲部の水平分力により土を横方向に押移動させる力、並びにロータリ爪(29)の弾力変形の横方向の反撥力により、掬取り土を耕耘爪軸(28)軸芯と略平行な横方向に押出し、左右ロータリ爪(29)(29)先端軌跡間隙の残耕となる部位の土を破砕させ、残耕が形成されるのを防ぐ構造としたものである。
従来のロータリ爪取付け本数の約70パーセントの本数のロータリ爪(29)…を取付け、ロータリ爪(29)の回転速度を従来の回転速度(1分間に約200〜400回転)と略同一とし、トラクタ(1)の走行速度を従来の走行速度(1秒間に約0.5メートル)の約2倍とし、従来に比べて耕耘負荷を増大させることなく、作業能率を約2倍にして耕耘作業を行えるように構成している。
また、前記ロータリ爪(29)の土中突入地点に対し、側面視で重複する位置で前記固定刃(36)を土中に突入させ、固定刃(36)の土中突入部を後方傾斜支持させ、かつ固定刃(36)の左右両面を幅を有する偏平面で形成し、牽引により固定刃(36)が土中に進入する下向きの力と、切開される土が復元力によって固定刃(36)側面に圧接する力が、固定刃(36)の抜出し抵抗力として発生する。
この固定刃(36)の抜出し抵抗力により、ロータリ爪(29)の土中突入抵抗の反力によって、耕耘ロータリ作業機(14)全体が、上方に持上げられるのを防ぎ、ロータリ爪(29)が土中突入によって発生する衝撃を緩和させる。
それと共に、前記固定刃(36)前側に引掛る藁草を、固定刃(36)両側のロータリ爪(29)によって掻落し、藁草が固定刃(36)前部に留まるのを防ぎ、固定刃(36)の牽引抵抗を略一定に保つように構成している。
なお、耕耘爪軸(28)後方側では、リヤカバー(40)(41)(43)の均平力の反力(持上げ力)に対向して、ロータリ爪(29)抜出し力の反力が発生し、各反力の均衡によって耕耘姿勢を安定させる。
【0016】
また、前記トラクタ(1)の走行速度を早くすると、前記作業機(14)の牽引抵抗が大きくなり、作業機(14)を上昇させる力が大きくなるが、前記固定刃(36)の土中突入によって作業機(14)の持上がりを防ぎ、耕深を安定させる。
しかも、トラクタ(1)の走行速度を早くすることにより、前記作業機(14)の耕耘負荷が大きくなるが、耕耘幅を一定に保ち乍ら耕耘幅方向のロータリ爪(29)…取付け本数を従来よりも減少させることにより、耕耘負荷が増大するのを防ぐ。
それと共に、ロータリ爪(29)取付け本数の減少によって、耕耘幅方向のロータリ爪(29)…間に間隙が形成されるが、ロータリ爪(29)…間の残耕が形成される間隙位置に固定刃(36)を突入させ、固定刃(36)によって切開した土をロータリ爪(29)によって掻き取らせ、固定刃(36)の切開によってロータリ爪(29)の耕耘を補助してロータリ爪(29)の実際の耕耘幅を拡張させ、残耕が形成されるのを防ぐように構成している。
このように、前記作業機(14)の持上がりを防いで、耕深を安定させる機能とロータリ爪(29)の耕耘を補助する機能を、固定刃(36)の設置により付加させ、前記作業機(14)の持上がりを防止し、かつ耕耘負荷及び耕耘処理能力を低速走行速度(約1秒間に0.5メートル)による耕耘作業と略同程度に維持し、高速走行速度(約1秒間に1.0メートル)で耕耘作業を行えるように構成している。
【0017】
さらに、図1に示す如く、走行速度の増減速自動制御並びに対地作業機の昇降自動制御をオンオフさせる回向スイッチ(62)と、左または右方向に傾動自在な回向レバー(63)によって切換えるトグルスイッチ型回向方向指令スイッチ(64)と、走行副変速レバー(18)の低速変速を検出するマイクロスイッチ型対地速度センサ(65)と、前記回向レバー(63)の握り部上部に設ける押ボタン(66)によって、オンにするブレーキスイッチ(67)と、左右一対の前走行輪(4)(4)を操向動作させる油圧操舵シリンダ(68)を駆動制御する電磁油圧左右操舵バルブ(69)(70)と、左右一対の後走行輪(7)(7)のブレーキを作動させる油圧左右ブレーキシリンダ(71)(72)を駆動制御する電磁油圧左右ブレーキバルブ(73)(74)を、マイクロコンピュータで形成する枕地コントローラ(75)に接続させる。
それと共に、図3に示す如く、前記回向スイッチ(62)及び回向レバー(63)を運転席(6)の右側部に配設させる。
【0018】
また、前記枕地コントローラ(75)に、電子ガバナコントローラ(76)を接続させるもので、エンジン(2)の回転数を変更させるラックアクチュエータ(図示省略)などを有する電子ガバナ(77)と、作業者が操作するアクセルレバーまたはペダル(図示省略)の操作量を検出するポテンショメータ型アクセルセンサ(78)と、エンジン(2)の回転数を検出するピックアップ型回転数センサ(79)を、前記電子ガバナコントローラ(76)に接続させ、電子ガバナ(77)制御によってエンジン(2)の回転数を変化させて走行速度を増減速させるように構成している。
【0019】
さらに、前記各コントローラ(75)(76)に接続させる耕深コントローラ(80)を設けるもので、前記昇降スイッチ(17)と、前記作業機(14)の昇降位置をロワリンク(12)の支持角に基づき検出するポテンショメータ型リフト角センサ(81)と、ロワリンク(12)を介して、作業機(14)を昇降させる油圧昇降シリンダ(82)を駆動制御する電磁油圧昇降バルブ(83)を、前記耕深コントローラ(80)に接続させる。
昇降スイッチ(17)の手動操作により、昇降シリンダ(82)を作動させて作業機(14)を作業位置に下降させ、また作業機(14)を非作業位置に上昇させると共に、電子ガバナコントローラ(76)からのエンジン(2)負荷入力によって昇降シリンダ(82)を自動制御し、作業機(14)の耕耘深さを自動制御するように構成している。
【0020】
上記のように、各コントローラ(75)(76)(80)を相互に入出力接続させ、前記電子ガバナ(77)並びに各シリンダ(68)(71)(72)(82)を手動または自動で作動させるもので、回向スイッチ(62)をオンにした状態で回向レバー(63)を左または右方向に傾動操作して、回向方向指令スイッチ(64)を切換えることにより、走行速度減速自動制御動作によって電子ガバナ(77)を減速作動させてエンジン(2)の回転を低下させ、また対地作業機上昇自動制御によって昇降シリンダ(82)を上昇作動させて作業機(14)を非作業位置に上昇させる枕地旋回操向自動制御を行わせる。 更に、枕地旋回操向自動制御においては、回向レバー(63)の操作により、操舵シリンダ(68)を作動させて前走行輪(4)(4)を左右に方向転換させる。
即ち、回向スイッチ(62)のオンの状態で、回向レバー(63)の左または右方向の傾動操作により、走行速度の減速と、作業機(14)の上昇と、更に前走行輪(4)(4)の旋回動作が自動的に行われる枕地旋回操向自動制御を行うのである。
また、該枕地旋回操向自動制御の状態において、これに付加して、回向レバー(63)に付設した押ボタン(66)の押し操作により、左右ブレーキシリンダ(71)(72)の一方を制動させて、旋回内側の後走行輪(7)を制動し、旋回内側の後走行輪(7)の制動を必要に応じて行わせる。
これらは、枕地コントローラ(75)により制御される。
また、昇降シリンダ(82)による作業機(14)上昇開始時と作業機(14)非作業位置上昇時に分けて段階的に電子ガバナ(77)を減速作動させ、また対地速度センサ(65)入力によって所定以下の走行速度(副変速低速)のときは前記電子ガバナ(77)制御を中止させるように構成している。
【0021】
このように、回向スイッチ(62)のオンの状態で、回向レバー(63)を操作するだけで、枕地旋回操向自動制御としての、走行速度減速自動制御並びに対地作業機上昇自動制御と、操舵シリンダ(68)による前走行輪(4)(4)の操舵操作が行われる。
即ち、回向レバー(63)を操作するだけで、圃場枕地に到達したときに、走行速度の 減速と作業機(14)の上昇の各動作が自動的に行われ、また走行速度の減速と作業機(14)の上昇に加えて前走行輪(4)(4)の旋回動作が自動的に行われる。
この枕地旋回操向自動制御に付加して、回向レバー(63)に設けた押ボタン(66)の操作により、旋回内側になる後走行輪(7)を制動するブレーキ制御によって、旋回内側の後走行輪(7)の制動を行える。
また、作業機(14)が作業位置から非作業位置に上昇開始することによって走行速度を減速させ、かつ作業機(14)が非作業位置に上昇したときに、走行速度をさらに減速させ、走行速度を段階的に減速させる一方、所定以下の走行速度で作業を行っているときは走行速度減速自動制御を中止させ、必要以上に走行速度を減速させることなく枕地での方向転換作業を行えるように構成している。
【0022】
本実施例は上記の如く構成するもので、図8のフローチャートに示す如く、走行副変速レバー(18)の高速操作によって、対地速度センサ(65)が検出する作業速度(圃場での走行速度)が所定以上のときで、更に回向スイッチ(62)がオンのとき、回向レバー(63)が中立に位置して回向方向指令がない場合、昇降バルブ(83)の下降動作により昇降シリンダ(82)を作動させて作業機(14)を下降させ、リフト角センサ(81)入力によって作業機(14)が作業位置に下降するのを検出し、作業者がアクセル操作した設定回転と一致するように電子ガバナ(77)を増速動作させ、エンジン(2)回転を作業状態に上げて高速耕耘作業(従来の約2倍の走行速度)を行う。
また、トラクタ(1)が枕地に到達して、回向スイッチ(62)がオンのとき、更に作業者が回向レバー(63)を左または右に傾動操作し、回向方向指令スイッチ(64)が切換わって回向方向指令があった場合には、昇降バルブ(83)の上昇動作により、昇降シリンダ(82)を作動させて、作業機(14)を上昇させ、作業機(14)の上昇開始により電子ガバナ(77)の1回目の減速動作を行わせ、エンジン(2)回転を下げて走行速度を減速させると共に、リフト角センサ(81)入力によって作業機(14)が非作業位置に上昇したのを検出し、電子ガバナ(77)の2回目の減速動作を行わせ、エンジン(2)回転を下げて走行速度をさらに減速させる。
そして、回向方向指令スイッチ(64)による、回向指令が左のときは、左操舵バルブ(69)をオンにして操舵シリンダ(68)により前走行輪(4)を左方向に向けて左旋回走行を開始させ、このときに押ボタン(66)を押してブレーキスイッチ(67)がオンになると、左ブレーキバルブ(73)がオンになって左ブレーキシリンダ(71)を作動させ、旋回内側である左の後走行輪(7)を制動し、旋回半径を小さくして方向転換させ、次工程耕耘開始位置にトラクタ(1)を移動させる。
一方、回向方向指令スイッチ(64)による回向指令が右のときは、右操舵バルブ(70)をオンにして操舵シリンダ(68)により前走行輪(4)を右方向に向けて右旋回走行を開始させ、このときに押ボタン(66)を押してブレーキスイッチ(67)がオンになると、右ブレーキバルブ(74)がオンになって右ブレーキシリンダ(72)を作動させ、旋回内側である右の後走行輪(7)を制動し、旋回半径を小さくして方向転換させ、次工程耕耘開始位置にトラクタ(1)を移動させる。
前記のように左または右旋回によってトラクタ(1)が方向転換し、回向レバー(63)を中立復帰させると、上記のように、作業機(14)が下降して走行速度が増速され、次工程の高速耕耘作業が行われる。
【0023】
さらに、図9のフローチャートに示す如く、走行副変速レバー(18)の低速操作によって対地速度センサ(65)が検出する作業速度(圃場での走行速度)が所定以下のとき、また回向スイッチ(62)がオンのとき、回向レバー(63)が中立に位置して回向方向指令がない場合、昇降バルブ(83)の下降動作により昇降シリンダ(82)を作動させて作業機(14)を下降させ、リフト角センサ(81)入力によって作業機(14)が作業位置に下降するのを検出しても、電子ガバナ(77)の増速動作を行うことなく、エンジン(2)回転を従来と同様の作業状態に保って低速耕耘作業を行う。
また、トラクタ(1)が枕地に到達して、回向スイッチ(62)がオンで、作業者が回向レバー(63)を左または右に傾動操作し、回向方向指令スイッチ(64)が切換わって回向方向指令があった場合、昇降バルブ(83)の上昇動作により昇降シリンダ(82)を作動させて作業機(14)を上昇させても、上記した電子ガバナ(77)の1回目の減速動作並びに2回目の減速動作を行うことがなく、耕耘作業時と同じ走行速度で方向転換を行うものである。
上記と同様に、回向方向指令スイッチ(64)による回向指令が左のときは、左操舵バルブ(69)をオンにして左旋回走行を開始させ、このときに押ボタン(66)を押すと、旋回内側である左の後走行輪(7)が制動される一方、回向方向指令スイッチ(64)による回向指令が右のときは、右操舵バルブ(70)をオンにして右旋回走行を開始させ、このときに押ボタン(66)を押すと、旋回内側である右の後走行輪(7)が制動される。前記のように左または右旋回によってトラクタ(1)が方向転換して次工程耕耘開始位置に移動し、回向レバー(63)を中立復帰させると、上記のように、作業機(14)が作業位置に下降し、走行速度が増速されることなく次工程の耕耘作業が低速走行によって行われる。
【0024】
【発明の効果】
以上実施例から明らかなように本発明は、走行速度の増減速自動制御、並びに対地作業機(14)の昇降自動制御をオンオフさせる回向スイッチ(62)と、傾動自在な回向レバー(63)を設け、回向スイッチ(62)のオンの状態で、回向レバー(63)の左または右方向の傾動操作により、走行速度の減速と、作業機(14)の上昇と、更に前走行輪(4)(4)の旋回動作が自動的に行われる枕地旋回操向自動制御を行う枕地コントローラ(75)を具備した移動農機において、回向レバー(63)に手動操作用の押ボタン(66)を付設し、回向スイッチ(62)がONで、回向レバー(63)が傾動された前記枕地旋回操向自動制御において、該押ボタン(66)の操作することにより、更に、旋回内側の後走行輪(7)(7)を制動すべく枕地コントローラ(75)を構成したので、、回向スイッチ(62)と回向レバー(63)により枕地旋回操向自動制御の上に、更に、押ボタン(66)操作によって旋回内側の走行輪(7)制動をオンオフさせるから、圃場条件に対処して所定の旋回動作を容易に得ることができ、次工程に対する機体の位置合せ等を容易に行うことができるものである。
【0025】
また、対地作業機(14)が作業位置から非作業位置に上昇開始することによって走行速度を減速させ、かつ対地作業機(14)が非作業位置に上昇したときに走行速度をさらに減速させる枕地コントローラ(75)を設けたもので、走行速度を段階的に減速させるから、急激な減速によるスリップ等を防いで作業者に与える衝撃の緩和並びに枕地旋回動作の安全性向上などを容易に図ることができるものである。
【図面の簡単な説明】
【図1】枕地コントローラの制御回路図。
【図2】全体の側面図。
【図3】同平面図。
【図4】耕耘ロータリ作業機の側面図。
【図5】ロータリ爪部の側面図。
【図6】リヤカバーの平面図。
【図7】ロータリ爪部の背面図。
【図8】図1のフローチャート。
【図9】同フローチャート。
【符号の説明】
(4)前走行輪
(7)後走行輪
(14)耕耘ロータリ作業機(対地作業機)
(62)回向スイッチ
(63)回向レバー
(66)押ボタン
(75)枕地コントローラ
[0001]
[Industrial application fields]
The present invention relates to a mobile rotary machine such as a tillage rotary working machine that performs tillage work or a tiller that pulls a plow by a tractor.
[0002]
[Prior art]
Conventionally, a tilling rotary working machine is installed on the rear side of the tractor so that it can be raised and lowered, and the plowing work is carried out by this rotary working machine, but the tractor traveling speed during the tilling work can be increased to finish the work as soon as possible. It was desired.
[0003]
[Problems to be solved by the invention]
The conventional technology can improve the efficiency of tillage work by increasing the traveling speed, but when turning the tractor at the headland in the field, each operation of the steering handle and the brake pedal, and the rotary work machine is raised. In addition to the operation, it is necessary to perform an accelerator lever or a shift lever operation for reducing the traveling speed.
However, if the operator performs the operations described above to reduce the traveling speed and change the direction, the operations are likely to be complicated.
In addition, the headland width is likely to be unevenly formed because the traveling speed deceleration timing for changing the direction, or the tilling work stop timing and the restart timing are advanced or delayed.
Generally, a headland width less than the size that can be cultivated by one round trip of the tractor is preferable, but if the traveling speed is decelerated more than necessary, the headland width is formed larger than the width necessary for the direction change, It takes a long time to reach the headland, resulting in a problem that the work efficiency is lowered.
At the same time, if the timing for decelerating the traveling speed is delayed, the tractor approaches the end of the field beyond the width necessary for the direction change, making it impossible to change the direction only by traveling forward, which is troublesome by switching between forward and reverse. It is necessary to change direction.
As described above, by increasing the traveling speed at the time of tillage work, there arises a problem that the direction change operation of the tractor at the field headland cannot be easily performed.
[0004]
[Means for Solving the Problems]
However, the present invention is configured as follows to solve the problems.
In claim 1, a turning switch (62) for turning on and off automatic increase / decrease control of the traveling speed and up / down automatic control of the ground work machine (14) and a tilting turning lever (63) are provided,With the turning switch (62) turned on, the turning lever (63) is tilted to the left or right to reduce the traveling speed, raise the work implement (14), and further move the front traveling wheel (4). In the mobile farming machine equipped with the headland controller (75) for performing the headland turning steering automatic control in which the turning operation of (4) is automatically performed, a push button (66) for manual operation on the turning lever (63) In the headland turning automatic control in which the turning switch (62) is turned on and the turning lever (63) is tilted, the push button (66) is operated to further The headland controller (75) was configured to brake the rear running wheels (7) (7)Is.
[0005]
In claim 2,The mobile agricultural machine according to claim 1,In order to reduce the traveling speed when the ground work machine (14) starts to rise from the work position to the non-work position, and to further reduce the travel speed when the ground work machine (14) rises to the non-work position, The earth controller (75) is configured.
[0006]
【Example】
Embodiments of the present invention will be described below in detail with reference to the drawings.
1 is a control circuit diagram of a headland controller,
2 is a side view of the whole,
FIG. 3 is a plan view of the same.
FIG. 4 is a side view of the tillage rotary working unit.
In the figure, reference numeral (1) denotes a tractor, in which the left and right front running wheels (4) and (4) are installed on both sides of the bonnet (3) in which the engine (2) is installed, and the steering handle is located at the rear of the bonnet (3) (5) is provided, the driver seat (6) is installed behind the steering wheel (5), the left and right rear traveling wheels (7) (7) are installed on both sides of the driver seat (6), and the driver seat (6) The left and right brake pedals (9), (9) and the clutch pedal (10) are arranged in the front step (8) so that an operator can sit on the driver's seat (6) and travel. ing.
[0007]
Further, a tilling rotary working machine (14) which is a ground working machine is attached to the transmission case (11) for driving the traveling wheels (4) and (7) via a lower link (12) and a top link (13). The work implement (14) is installed on the rear side of the tractor (1) so as to be movable up and down, and a traveling main transmission lever (15) and a position control lever (16) for raising and lowering the work implement (14) manually. And the raising / lowering switch (17) which raises / lowers the said working machine (14) to a non-work raising position and a tilling work lowering position by one-touch operation | movement is arrange | positioned on the right side of a driver's seat (6).
At the same time, a traveling auxiliary transmission lever (18) and a PTO transmission lever (19) for changing the output to the working machine (14) are arranged on the left side of the driver's seat (6).
[0008]
Further, as shown in FIGS. 4 to 7, a gear box (20) is arranged in the center of the work machine (14) to transmit power from the PTO shaft (21) of the tractor (1).
At the same time, the beam (22) protrudes from the side surface of the gear box (20) on both sides, and a support plate (23) is fixed to each middle part of the beam (22), and the support plate (23) A lower link (12) is connected to the front end, a front end of the depth frame (24) is pivotally supported on the rear end of the support plate (23), and left and right tail wheels (25) (25) are connected to the rear end side of the depth frame (24). ).
[0009]
An upper part of the chain case (26) and an upper part of the side support (27) are fixed to the outer end of the beam (22), and a tilling claw shaft (28) is provided between the lower part of the chain case (26) and the lower part of the side support (27). Are horizontally mounted, and a large number of rotary claws (29) made of nail claws are planted radially on the tilling claw shaft (28) in a side view.
At the same time, the upper part of the rotational trajectory of the rotary claw (29) is covered with the rotary cover (30), and both sides are covered with the side cover (31).
The tilling claw shaft (28) is driven via a gear in the gear box (20), a transmission shaft in the beam (22), a sprocket in the chain case (26) and a chain, and the rotary claw (29). Is rotated so that the rotary cover (30) can be rotated back and forth around the axis of the tilling claw shaft (28) by rotating the handle (32).
[0010]
Then, a plate (33) fixed to the beam (22) is projected forward, a support rod (34) is horizontally mounted on the front end of the plate (33), and a mounting plate (35) is mounted on the support rod (34). And the upper part of the fixed blade (36) is fixed to the mounting plate (35).
Four fixed blades (36) are mounted on the outer side of the lower link (12) in the left-right width direction, and the intermediate portion of the fixed blade (36) is curved backward and tilted forward and backward (36). ) In a rearwardly inclined manner at the front part of the rotational trajectory of the rotary claw (29). That is, it arrange | positions so that the lower part of a fixed blade (36) may overlap with the front part of the rotation locus | trajectory of a rotary nail | claw (29) in side view.
At the same time, the distance between the left and right of the fixed blade (36) and the rotary claw (29) adjacent to the fixed blade (36) is reduced so that no residual tillage is possible.
However, the two outer fixed blades (36) (36) are provided between the rotary claw (29) and the eccentric claw (37). Moreover, the processing blade (38) is arrange | positioned at the rotation locus upper part of the rotary nail | claw (29).
In other words, the processing blades (38) on both sides are disposed on the rear side of the fixed blade (36), and ridges, weeds, etc. scattered forward from the rotary claw (29) are wound around the fixed blade (36). In addition to preventing sticking, the processing blade (38) crushes the lump carried around by the rotary claw (29), and the width (plate thickness) of the processing blade (38) is narrower than the width of the fixed blade (36). Thus, the grass and the like and the clod are cut off.
[0011]
Furthermore, a steel plate first rear cover (40) is connected to the rear end of the rotary claw (29) on the upper side of the rotary cover (30) via a first fulcrum shaft (39) so as to be swingable in the vertical direction. A rubber second rear cover (41) front end is fixed to the rear end of the rear cover (40), and a steel plate third rear cover (43) front end is formed at the rear end of the second rear cover (41) that forms a leveling space (42) below. To fix.
At the same time, the second fulcrum shaft (44) at the rear end of the first rear cover (40) and the third fulcrum shaft (45) at the front end of the third rear cover (43) are connected to a pair of left and right links (46) (46). The fourth fulcrum shaft (47) is provided substantially coaxially with the third fulcrum shaft (45), the lower end of the first suspension rod (48) is connected to the fourth fulcrum shaft (47), and the third rear cover (43) The lower ends of the pair of left and right second suspension rods (50) are connected to the fifth fulcrum shaft (49) at the rear end, and the first and second suspensions are supported on the support body (51) of the first rear cover (40). The upper ends of the lower rods (48) and (50) are attached so as to be movable up and down, and a triangle in a side view is formed by the suspension rods (48) and (50) and the third rear cover (43).
A side view triangle is formed by a line connecting the second, third, and fifth fulcrum shafts (44) (45) (49). The second fulcrum shaft (44) or the third fulcrum shaft (45 ) About the second rear fulcrum shaft (44) and the suspension rod (48) (50) connecting portion of the support (51) as a fulcrum. The third rear cover (43), whose forward movement is restricted by the downward tension of each rod (48) (50), is moved rearward and upward by the operation of the lever mechanism of each rod (48) (50). Both sides of the rear cover (43) perform a floating operation that moves back and forth in plan view.
Further, a pair of left and right gas dampers (52) are connected between the fifth fulcrum shaft (49) and the support (51) of the first rear cover (40), and a substantially constant spring constant is obtained for the entire stroke. The third damper (52) is supported by a gas damper (52) that can be formed with a large stroke, and even if the tractor (1) is tilted to the left or right, the tilling surface is leveled by the right and left pressurization of the third rear cover (43). It is configured to be able to.
[0012]
In addition, the upper end side of the suspension rod (48) (50) is loosely inserted into the bearing body (53) of the support body (51), so that the pin (54 which contacts the upper surface side of the bearing body (53). ... Are implanted in the rods (48) and (50) to prevent the rods (48) and (50) from being pulled out downward and restrict the forward movement of the third rear cover (43).
At the same time, the lower ends of a pair of left and right rods (56) (56) wound with springs (55) (55) are connected to the upper surface of the first rear cover (40), and the upper end side of the rod (56) is a rotary cover. The first rear cover (40) is slidably attached to the support (57) of (30) and is pressed downward by a spring (55).
[0013]
Further, a rake support (58) is detachably fixed to the upper surface of the third rear cover (43), and a rake (59) fixed to the support (58) is extended rearward of the third rear cover (43). In addition, as shown in FIG. 6, the upper end of the gas damper (52) is connected to the shaft (60) of the support (51) to which the upper end side of the second suspension rod (50) is attached, and the second suspension rod (50). And a gas damper (52) as close as possible to each other.
At the same time, a pair of left and right tail wheels (25) and (25) are attached to the rear end of the depth frame (24) via a support frame (61), and the rake (25) is placed between the left and right tail wheels (25) and (25). 59).
The tail wheel (25) prevents the rake (59) from colliding with the eaves or the like when changing the headland direction, and the tail (59) serves as a bumper on the left and right outer sides of the rake (59) for maintenance work such as running on the road or lifting upward. The ring (25) is also used.
[0014]
Further, the first fulcrum shaft (39) is mounted at a position substantially the same height as or higher than the upper end of the rotation trajectory of the rotary claw (29), and the rear cover (40) is centered on the first fulcrum shaft (39) during tillage work. ) (41) (43) ascends to form a large-area smoothing space (42) below the rear cover (40) (41) (43) behind the rotational trajectory of the rotary claw (29). 40) (41) The soil pushed forward by (43) is prevented from reaching the soil lift-up portion of the rotary claw (29), and an increase in tillage load on the rotary claw (29) due to the cultivation work at high speed is prevented. Also.
During the tilling work, the rear covers (40), (41), and (43) are arranged by being lifted by the cultivated soil on a circular arc with a radius centered at the point (A) where the rotary claws (29) are extracted to the ground. A uniform space (42) having a size of about 50% or more of the area of the rotation trajectory of the claw (29) is provided between the rear side of the rotary claw (29) rotation trajectory and the rear cover (40) (41) (43). A small object such as a fine or light clot is formed and scattered by the rotary claw (29) to a high position on the lower surface of the rotary cover (40) (41).
Large objects such as large or heavy clumps or stumps (rice plants) are scattered by the rotary claws (29) to a lower position, and the small objects become upper layers due to the specific gravity separation action caused by the scattering of the rotary claws (29). Becomes the lower layer, and the small object in the upper layer is leveled by the rear cover (41) (43), and the large object is pushed down further by the rear rake (59).
Therefore, the large-sized product maintains the air permeability and water permeability inside the soil well, and the soil surface layer is formed by the small-sized material in a state suitable for sowing or seedling transplantation.
[0015]
Further, four rotary claws (29) are mounted at intervals of 90 degrees on the same circumference with the tilling claw shaft (28) as the center, and the front ends of the rotary claws (29) are alternately directed in the left-right direction. Are arranged in a plurality of rows in the direction of the axis of the tilling claw shaft (28) on the orthogonal plane of the tilling claw shaft (28). (29) A gap is provided between the tip trajectories of (29), the lateral bending width of the rotary claw (29) is about twice as large as the tip trajectory gap, and the rotary claw (29) (29) base in the left-right direction is set. The rotary claw (29) is formed so that the end interval is about five times as large as the tip trajectory gap.
Further, the rotary claw (29) is bent into a shape to be picked up after the soil is cut off, and the force to push and move the soil laterally by the horizontal component force of the tip bending portion of the rotary claw (29), and the rotary claw ( 29) The horizontal repulsive force of the elastic deformation of 29) pushes the dredging soil in a lateral direction substantially parallel to the axis of the tilling claw shaft (28), and the left and right rotary claws (29) (29) It is made into the structure which crushes the soil of the part which becomes, and prevents that residual tillage is formed.
The rotary claws (29) of about 70% of the number of conventional rotary claws attached are attached, and the rotational speed of the rotary claws (29) is substantially the same as the conventional rotational speed (about 200 to 400 revolutions per minute). Tractor (1) traveling speed is approximately double the conventional traveling speed (approximately 0.5 meters per second) and the work efficiency is approximately doubled without increasing the tillage load compared to the conventional. It is configured to be able to do.
In addition, the fixed blade (36) is inserted into the soil at a position overlapping with the rotary claw (29) in the ground in a side view, and the underground entry portion of the fixed blade (36) is supported to be inclined backward. And the left and right sides of the fixed blade (36) are formed by flat surfaces having a width, and the fixed blade (36) is fixed by the downward force of the fixed blade (36) entering the soil by traction and the restoring force of the soil to be cut. 36) A force that presses against the side surface is generated as an extraction resistance force of the fixed blade (36).
The pulling-out resistance of the fixed blade (36) prevents the rotary tiller (29) from being lifted upward by the reaction force of the rotary pawl (29) into the soil, and the rotary pawl (29). Alleviates the impact caused by rushing into the ground.
At the same time, the grass caught on the front side of the fixed blade (36) is scraped off by the rotary claws (29) on both sides of the fixed blade (36) to prevent the grass from staying at the front of the fixed blade (36) and fixed. The traction resistance of the blade (36) is configured to be kept substantially constant.
Note that, on the rear side of the tilling claw shaft (28), a reaction force of the rotary claw (29) extraction force is generated opposite to the reaction force (lifting force) of the flat force of the rear covers (40) (41) (43). And stabilize the tillage posture by balancing each reaction force.
[0016]
Further, when the traveling speed of the tractor (1) is increased, the traction resistance of the work implement (14) increases and the force for raising the work implement (14) increases, but the ground of the fixed blade (36) increases. The working machine (14) is prevented from being lifted by the entry, and the tilling depth is stabilized.
In addition, by increasing the traveling speed of the tractor (1), the tillage load of the work implement (14) increases, but while keeping the tillage width constant, the rotary claws in the tillage width direction (29)... By reducing the conventional amount, the tillage load is prevented from increasing.
At the same time, due to the decrease in the number of rotary claws (29) attached, a gap is formed between the rotary claws (29) in the tillage width direction, but at the gap position where the residual tillage between the rotary claws (29) is formed. The fixed blade (36) is plunged, the soil cut by the fixed blade (36) is scraped off by the rotary claw (29), and the rotary claw is assisted by plowing the rotary claw (29) by cutting the fixed blade (36). The actual tillage width of (29) is expanded to prevent residual tillage from being formed.
As described above, the function of preventing the lifting of the work machine (14) and stabilizing the tilling depth and the function of assisting the tilling of the rotary claw (29) are added by the installation of the fixed blade (36), The lifting of the machine (14) is prevented, and the tillage load and tillage processing capacity are maintained at the same level as the tillage work at a low speed (0.5 meters per second), and the high speed (about 1 second) is maintained. To 1.0 m).
[0017]
Further, as shown in FIG. 1, switching is performed by a turning switch (62) for turning on / off automatic running speed increase / decrease control and automatic lifting / lowering control of the ground work machine, and a turning lever (63) which can be tilted left or right. A toggle switch type turning direction command switch (64), a micro switch type ground speed sensor (65) for detecting a low speed shift of the traveling auxiliary transmission lever (18), and an upper part of a grip part of the turning lever (63). A brake switch (67) that is turned on by a push button (66) and an electromagnetic hydraulic left / right steering valve (68) that controls the drive of a hydraulic steering cylinder (68) that steers the pair of left and right front traveling wheels (4) (4). 69) (70), and hydraulic left and right brake cylinders (71) and (72) for driving and controlling the brakes of the left and right rear traveling wheels (7) and (7). Kibarubu (73) (74), is connected to the headland controller formed of a microcomputer (75).
At the same time, as shown in FIG. 3, the turning switch (62) and the turning lever (63) are arranged on the right side of the driver's seat (6).
[0018]
In addition, an electronic governor controller (76) is connected to the headland controller (75), and includes an electronic governor (77) having a rack actuator (not shown) for changing the rotational speed of the engine (2), and the like. A potentiometer-type accelerator sensor (78) for detecting an operation amount of an accelerator lever or a pedal (not shown) operated by a person and a pickup-type rotation speed sensor (79) for detecting the rotation speed of the engine (2) include the electronic governor. It is connected to the controller (76), and the traveling speed is increased or decreased by changing the rotational speed of the engine (2) by the electronic governor (77) control.
[0019]
Further, a plowing depth controller (80) to be connected to each of the controllers (75) and (76) is provided, and the raising and lowering positions of the raising and lowering switch (17) and the working machine (14) are set to support angles of the lower link (12). A potentiometer type lift angle sensor (81) that is detected based on the above and an electromagnetic hydraulic lift valve (83) that drives and controls a hydraulic lift cylinder (82) that lifts and lowers the work implement (14) via a lower link (12), Connect to tilling controller (80).
By manually operating the lift switch (17), the lift cylinder (82) is actuated to lower the work implement (14) to the working position, and the work implement (14) is raised to the non-working position, and the electronic governor controller ( 76), the lifting cylinder (82) is automatically controlled by load input from the engine (2), and the tilling depth of the work machine (14) is automatically controlled.
[0020]
As described above, the controllers (75), (76), and (80) are connected to each other for input / output, and the electronic governor (77) and the cylinders (68), (71), (72), and (82) are manually or automatically connected. With the turning switch (62) turned on, the turning lever (63) is tilted to the left or right and the turning direction command switch (64) is switched to reduce the traveling speed. The electronic governor (77) is decelerated by the automatic control operation to reduce the rotation of the engine (2), and the lifting cylinder (82) is raised by the automatic control of the ground work machine to operate the work machine (14). The headland turning steering automatic control to raise to the position is performed. In addition, the headland swivel steering automatic controlIn, by operating the turning lever (63), the steering cylinder (68) is actuated to turn the front traveling wheels (4) (4) to the left and right.
That is, when the turning switch (62) is turned on, the turning lever (63) is tilted left or right to reduce the traveling speed, raise the work implement (14), and further move the front traveling wheel ( 4) The headland turning steering automatic control in which the turning operation of (4) is automatically performed is performed.
Further, in the state of the headland turning steering automatic control, one of the left and right brake cylinders (71) and (72) is added by pressing the push button (66) attached to the turning lever (63). Is braked to brake the rear running wheel (7) inside the turn, and the rear running wheel (7) inside the turn is braked as necessary.
These are controlled by the headland controller (75).
In addition, the electronic governor (77) is decelerated in a stepwise manner when the work machine (14) starts to be lifted by the lift cylinder (82) and when the work machine (14) is not moved, and the ground speed sensor (65) is input. Thus, the electronic governor (77) control is stopped when the traveling speed is lower than a predetermined speed (sub-shifting low speed).
[0021]
Thus, only by operating the turning lever (63) with the turning switch (62) turned on, the traveling speed deceleration automatic control and the ground work machine ascent automatic control as the headland turning steering automatic control are performed. Then, the steering operation of the front traveling wheels (4) and (4) is performed by the steering cylinder (68).
That is, when the field headland is reached only by operating the turning lever (63), the traveling speed is adjusted. Each operation of deceleration and ascent of work implement (14) is performed automatically, and,In addition to the reduction of the traveling speed and the increase of the work implement (14), the turning operation of the front traveling wheels (4) and (4) is automatically performed.
In addition to this headland turning steering automatic control, by the operation of the push button (66) provided on the turning lever (63), the brake control for braking the rear traveling wheel (7) on the inside of the turning, the inside of the turning The rear running wheel (7) can be braked.
Further, when the work machine (14) starts to rise from the work position to the non-work position, the travel speed is reduced, and when the work machine (14) rises to the non-work position, the travel speed is further reduced to While decelerating the speed step by step, when working at a traveling speed below a predetermined level, the traveling speed deceleration automatic control is stopped, and the direction change work can be performed at the headland without decelerating the traveling speed more than necessary. It is configured as follows.
[0022]
This embodiment is configured as described above. As shown in the flowchart of FIG. 8, the working speed (traveling speed in the field) detected by the ground speed sensor (65) by the high-speed operation of the traveling sub-shift lever (18). When is greater than or equal toAnd moreWhen the turning switch (62) is on, when the turning lever (63) is in a neutral position and there is no turning direction command, the lifting cylinder (82) is operated by the lowering operation of the lifting valve (83). The electronic governor (77) is lowered so that the work machine (14) is detected to be lowered to the work position by the lift angle sensor (81) input and coincides with the set rotation that the operator has operated the accelerator. Is increased, the engine (2) is rotated to a working state, and a high-speed tillage operation (about twice the conventional traveling speed) is performed.
The tractor (1) reaches the headland andWhen the turning switch (62) is on,Further, when the operator tilts the turning lever (63) to the left or right, and the turning direction command switch (64) is switched to give a turning direction command.InThe elevating cylinder (82) is actuated by the raising operation of the elevating valve (83), the working machine (14) is raised, and the electronic governor (77) is decelerated for the first time when the working machine (14) starts to rise. The engine (2) is rotated to reduce the traveling speed, and the lift angle sensor (81) is input to detect that the work implement (14) has been raised to the non-working position, and the electronic governor (77) A second deceleration operation is performed, and the traveling speed is further reduced by lowering the rotation of the engine (2).
AndWhen the turning direction command by the turning direction command switch (64) is left, the left steering valve (69) is turned on and the front traveling wheel (4) is turned leftward by the steering cylinder (68). When driving is started and the push button (66) is pressed at this time and the brake switch (67) is turned on, the left brake valve (73) is turned on and the left brake cylinder (71) is actuated. The left rear traveling wheel (7) is braked, the turning radius is reduced and the direction is changed, and the tractor (1) is moved to the next process tilling start position.
On the other hand, when the turning command by the turning command switch (64) is right, the right steering valve (70) is turned on and the front traveling wheel (4) is turned rightward by the steering cylinder (68). When the push button (66) is pressed and the brake switch (67) is turned on at this time, the right brake valve (74) is turned on and the right brake cylinder (72) is operated, A right rear traveling wheel (7) is braked, the turning radius is reduced and the direction is changed, and the tractor (1) is moved to the next process tilling start position.
As described above, when the tractor (1) changes direction by turning left or right and the turning lever (63) is returned to the neutral position, the work implement (14) is lowered and the traveling speed is increased as described above. Then, the high-speed tillage work of the next process is performed.
[0023]
Furthermore, as shown in the flowchart of FIG. 9, when the work speed (travel speed on the field) detected by the ground speed sensor (65) by the low speed operation of the travel sub-shift lever (18) is below a predetermined value, the turning switch ( 62), when the turning lever (63) is in the neutral position and there is no turning direction command, the lifting cylinder (82) is operated by the lowering operation of the lifting valve (83) to operate the work implement (14). Even if it is detected that the work machine (14) is lowered to the work position by the lift angle sensor (81) input, the electronic governor (77) is not accelerated, and the engine (2) is rotated. The low-speed tillage work is performed while maintaining the same work state as before.
The tractor (1) reaches the headland andThe turning switch (62) is on,When the operator tilts the turning lever (63) to the left or right and the turning direction command switch (64) is switched to give a turning direction command, the lifting valve (83) is lifted to move the lifting cylinder. Even if the work implement (14) is raised by operating (82), the first speed reduction operation and the second speed reduction operation of the electronic governor (77) are not performed, and the same traveling speed as in the tillage work The direction is changed by.
Similarly to the above, when the turning command by the turning direction command switch (64) is left, the left steering valve (69) is turned on to start the left turn, and the push button (66) is pushed at this time. On the other hand, when the left rear traveling wheel (7) that is inside the turn is braked, and the turning command by the turning direction command switch (64) is right, the right steering valve (70) is turned on and the right turn If the push button (66) is pressed at this time and the push button (66) is pressed, the right rear traveling wheel (7) that is inside the turning is braked. As described above, when the tractor (1) changes its direction by turning left or right and moves to the next process tilling start position, and the turning lever (63) is returned to the neutral position, the work implement (14) as described above. Is lowered to the work position, and the next tilling work is performed by low-speed traveling without increasing the traveling speed.
[0024]
【The invention's effect】
As is apparent from the above-described embodiments, the present invention includes a turning switch (62) for turning on / off automatic traveling speed increase / decrease automatic control and automatic lifting control of the ground work machine (14), and a tilting turning lever (63). )With the turning switch (62) turned on, the turning lever (63) is tilted to the left or right to reduce the traveling speed, raise the work implement (14), and further move the front traveling wheel (4). In the mobile farming machine equipped with the headland controller (75) for performing the headland turning steering automatic control in which the turning operation of (4) is automatically performed, a push button (66) for manual operation on the turning lever (63) In the headland turning automatic control in which the turning switch (62) is turned on and the turning lever (63) is tilted, the push button (66) is operated to further The headland controller (75) was configured to brake the rear running wheels (7) (7)Therefore, since the turning switch (62) and the turning lever (63) are used to automatically control the headland turning operation, the driving wheel (7) inside the turning is turned on and off by operating the push button (66). Thus, it is possible to easily obtain a predetermined turning operation in response to the field conditions, and to easily align the machine body with respect to the next process.
[0025]
Moreover, the pillow that decelerates the traveling speed when the ground work machine (14) starts to rise from the working position to the non-working position, and further reduces the traveling speed when the ground work machine (14) rises to the non-working position. Since the ground controller (75) is provided and the traveling speed is gradually reduced, it is possible to reduce the impact on the worker by preventing slipping due to sudden deceleration and to improve the safety of the headland turning operation. It can be planned.
[Brief description of the drawings]
FIG. 1 is a control circuit diagram of a headland controller.
FIG. 2 is an overall side view.
FIG. 3 is a plan view of the same.
FIG. 4 is a side view of a tillage rotary working machine.
FIG. 5 is a side view of a rotary claw portion.
FIG. 6 is a plan view of a rear cover.
FIG. 7 is a rear view of a rotary claw portion.
FIG. 8 is a flowchart of FIG. 1;
FIG. 9 is a flowchart of the same.
[Explanation of symbols]
(4) Front running wheel
(7) Rear running wheel
(14) Tillage rotary work machine (ground work machine)
(62) Turning switch
(63) Turning lever
(66) Push button
(75) Headland controller

Claims (2)

走行速度の増減速自動制御、並びに対地作業機(14)の昇降自動制御をオンオフさせる回向スイッチ(62)と、傾動自在な回向レバー(63)を設け、
回向スイッチ(62)のオンの状態で、回向レバー(63)の左または右方向の傾動操作により、走行速度の減速と、作業機(14)の上昇と、更に前走行輪(4)(4)の旋回動作が自動的に行われる枕地旋回操向自動制御を行う枕地コントローラ(75)を具備した移動農機において、
回向レバー(63)に手動操作用の押ボタン(66)を付設し、回向スイッチ(62)がONで、回向レバー(63)が傾動された前記枕地旋回操向自動制御において、該押ボタン(66)の操作することにより、更に、旋回内側の後走行輪(7)(7)を制動すべく枕地コントローラ(75)を構成したことを特徴とする移動農機。
A turning switch (62) for turning on / off automatic increase / decrease control of the traveling speed and up / down automatic control of the ground work machine (14), and a tilting turning lever (63);
With the turning switch (62) turned on, the turning lever (63) is tilted to the left or right to reduce the traveling speed, raise the work implement (14), and further move the front traveling wheel (4). In the mobile farm machine equipped with the headland controller (75) for performing the headland turning steering automatic control in which the turning operation of (4) is automatically performed,
In the headland turning automatic control in which the push lever (66) for manual operation is attached to the turning lever (63), the turning switch (62) is ON, and the turning lever (63) is tilted, A mobile farm machine comprising a headland controller (75) configured to further brake the rear traveling wheels (7) and (7) inside the turn by operating the push button (66) .
請求項1記載の移動農機において、対地作業機(14)が作業位置から非作業位置に上昇開始することによって走行速度を減速させ、かつ対地作業機(14)が非作業位置に上昇したときに走行速度をさらに減速させるべく、枕地コントローラ(75)を構成したことを特徴とする移動農機。 The mobile farm machine according to claim 1, wherein when the ground work machine (14) starts to rise from the work position to the non-work position, the traveling speed is reduced and the ground work machine (14) rises to the non-work position. A mobile farm machine comprising a headland controller (75) to further reduce the traveling speed.
JP33258094A 1994-12-12 1994-12-12 Mobile farm machine Expired - Fee Related JP3632779B2 (en)

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JP33258094A JP3632779B2 (en) 1994-12-12 1994-12-12 Mobile farm machine

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JP3632779B2 true JP3632779B2 (en) 2005-03-23

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Cited By (2)

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JP2008278840A (en) * 2007-05-14 2008-11-20 Kubota Corp Working vehicle
JP2008278839A (en) * 2007-05-14 2008-11-20 Kubota Corp Working vehicle

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Publication number Priority date Publication date Assignee Title
JP5081008B2 (en) * 2008-02-12 2012-11-21 株式会社クボタ Working gear shifting structure
JP2016019540A (en) * 2015-09-28 2016-02-04 井関農機株式会社 Seedling transplanter

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008278840A (en) * 2007-05-14 2008-11-20 Kubota Corp Working vehicle
JP2008278839A (en) * 2007-05-14 2008-11-20 Kubota Corp Working vehicle

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