JP4568268B2 - Agricultural tractor - Google Patents

Description

  The present invention relates to an agricultural tractor that performs traveling work by connecting implements such as various spraying devices for work.

PTO systems that extract working power from agricultural tractors include a ground PTO that transmits PTO power at a rotational speed synchronized with the traveling speed, and a live PTO that transmits PTO power at a constant speed regardless of the traveling speed. When driving an implement that spreads medicine or fertilizer with live PTO power, it is possible to change and control the amount of spread of the implement according to the traveling speed of the tractor machine in order to perform uniform spraying throughout the field. For example, as shown in Patent Document 1, there is known a device configured to control the shutter opening of a fertilizer application device based on a detection signal from a vehicle speed sensor provided in a tractor main unit. It has been.
JP 2004-329067 A

In general, a vehicle speed sensor is often used that detects the rotational speed as the number of pulses by using a gear provided on a rotating shaft of a traveling system in the tractor main body. A detection signal from a vehicle speed sensor provided in the vehicle is input to a control device provided in a spreading device (implement) to calculate a traveling speed, and a shutter is opened so that a desired amount of spraying is performed for a unit traveling distance. The degree is automatically controlled.

  Since the detection signal from the vehicle speed sensor is a high-speed pulse signal, the control device of the spraying device is required to have a capability capable of high-speed processing. When the wheel size (diameter) in the tractor main body is changed, it is necessary to perform a traveling speed correction process in the control device of the spraying device. Even when the spreader is connected to a tractor with different specifications, it is necessary to adjust the spreader control device according to the vehicle speed sensor and wheel size of this tractor to correct the running speed. There is. Thus, it is required that the controller of the spraying device has a high capacity capable of high-speed response, and the spraying device becomes expensive.

  The present invention has been made paying attention to such points, and by reducing the processing load on the implement control device, the implement control device need not be adapted to high speed at low cost. It is an object to enable desired control to be performed appropriately.

According to a first aspect of the present invention, the tractor main body is provided with a rotation sensor that detects the rotational speed of the rotating shaft of the traveling system, and the main control device provided in the tractor main body is operated based on the output of the rotation sensor. Computing means for determining the speed, and output means for outputting a predetermined implementation control signal corresponding to the determined traveling speed , wherein the implementation control signal has a frequency directly proportional to the determined traveling speed. The pulse signal has a frequency lower than the frequency of the output pulse of the rotation sensor .

According to the above configuration, the type of tractor the machine, so regardless of the wheel size, same in the pull instrument control signals for the same travel speed is output, by adjusting the main control device of the tractor the machine, By providing each tractor machine to the user, it is not necessary to calculate the traveling speed of the tractor machine with the implement control device, regardless of the type of tractor machine connected to the implement. The implement control signal from the aircraft can be used as it is as a signal indicating the traveling speed of the tractor.

  Therefore, according to the first aspect of the invention, the travel speed calculation processing is not required in the implementation control device, and therefore the implementation control device can be implemented with a low processing capability and at a low cost.

According to the above configuration, the implementation control signal is a pulse signal having a frequency lower than the frequency of the output pulse of the rotation sensor. Therefore, the processing load on the implementation control device is low, and the implementation control device is operated at high speed. It can be made cheaper that does not need to cope.

According to a second invention, in the first invention,
In-pull instrument control signal when the advancing of the tractor the machine is detected, the lower frequency of the pulse signal than the frequency of the output pulses of said rotation sensor, for in pull instrument control when reverse the tractor the machine is detected signal, low-speed from a preset working speed range, or in which there as a pulse signal of a frequency corresponding to the running speed outer been in the high-speed side.

  According to the above configuration, the advancing direction of the tractor unit can be easily identified on the implement side from the frequency of the signal for controlling the implement. Can do.

According to a third invention, in the first or second invention,
In-pull instrument control signal in a state where the travel of the tractor the machine is stopped, in which the preset working speed range is the frequency of the pulse signal corresponding to the running speed outside the low speed side.

According to the above configuration, since the implementation control signal is a pulse signal having a frequency corresponding to the traveling speed deviating from the working speed range to the low speed side , the tractor can stop traveling and determine the state. Since there is no signal for control of the load, it can be considered that the connector has been forgotten to be connected or broken in the signal transmission system. The repair process can be performed quickly.

  FIG. 1 shows a side view of an agricultural tractor according to the present invention. In this agricultural tractor, a medicine spraying device 5 as an example of an implement is connected to a rear portion of a tractor main unit 1 driven by a front wheel 2 and a rear wheel 3 via a link mechanism 4 that is hydraulically moved up and down. The sprayer specification is configured to drive the drug spraying device 5 with the PTO power extracted from 1.

  FIG. 2 shows an outline of the transmission system of this agricultural tractor. The output of the engine 6 mounted on the front of the machine body is transmitted to a main transmission 8 comprising a hydrostatic continuously variable transmission (HST) via a main clutch 7, and the transmission power from the main transmission 8 is a gear type. After being shifted to a plurality of stages by the auxiliary transmission mechanism 9, it is transmitted to the rear wheel 3 that is the main propulsion wheel and the front wheel 2 for steering. A part of the engine power input to the main transmission 8 is taken out from the PTO shaft 11 as live PTO power via the PTO clutch 10 without being shifted, and transmitted to the feeding mechanism 12 of the medicine spraying device 5. It has become.

  A suitable rotation shaft (for example, the final transmission shaft) located below the transmission of the auxiliary transmission mechanism 9 is equipped with a rotation sensor 15, and as shown in FIG. 3, the rotation speed detected by the rotation sensor 15 is the tractor. It is input to the main controller 16 using a microcomputer provided in the machine 1. The main control device 16 is provided with a reverse detection sensor 17 for detecting the reverse shift state from the shift operation direction of the shift operation tool (pedal or lever) in the main transmission 8 and the wheel size for inputting the outer diameter information of the rear wheel 3. The setting device 18 is connected, and the main control device 16 calculates the traveling speed V of the tractor main unit 1 based on the detected information, and the implementation control signal E is calculated based on the calculated traveling speed V. Is output.

As shown in FIG. 3, the medicine spraying device 5 is equipped with a shutter mechanism 21 that adjusts the feed amount and a control device 22 that uses a microcomputer to adjust the feed amount. The control device 22 includes an electric actuator 23 such as an electric motor that adjusts the opening degree of the shutter mechanism 21, a feedback sensor 24 that detects an actual shutter opening degree, a feed amount setting device 25, an on / off switch 26, an alarm lamp. An alarm control device 28 such as the above is connected, and an implementation control signal E from the tractor main unit 1 is transmitted in a one-line manner via the connector 27 and input to the control device 22.

  The rotation sensor 15 has a specification in which a semiconductor magnetoresistive element is arranged oppositely on the outer periphery of a gear provided on a rotation shaft, and a pulse is output according to the passage of the gear tooth portion. A high-speed pulse having a frequency proportional to the rotational speed of the shaft is output.

  As shown in FIGS. 5 and 6, the implementation control signal E output from the main controller 16 is a low-frequency pulse signal that is directly proportional to the calculated traveling speed V. For example, the traveling speed V is 2 km. A pulse signal is output at 20 Hz at / h and 40 Hz at a traveling speed V of 4 km / h. In this case, the implementation control signal E during forward travel has a small duty d1, whereas the implementation control signal E during reverse travel has a large duty d2. When the tractor main unit 1 is stopped, an impulsive control signal E having an extremely low frequency (for example, 0.002 Hz), which is virtually unpaid, is output (see the flowchart of FIG. 4).

  Accordingly, the control device 22 of the medicine spraying device 5 can recognize the state in which the tractor main unit 1 has stopped running and the state in which the implementation control signal E is not transmitted from the tractor main unit 1. When it is determined that the control signal E is not transmitted, the alarm device 28 is operated to recognize the forgetting to connect the connector 27 and the occurrence of the disconnection in the signal transmission system.

  In the control device 22 that has received the investment control signal E, the target shutter opening for performing the feeding set by the feeding amount setting unit 25 is determined for the unit travel distance, and the actual shutter opening is determined as the target shutter opening. Even if the electric actuator 23 is controlled so as to have the shutter opening degree and the traveling speed V of the tractor main unit 1 is changed, uniform medicine spraying with a predetermined spraying amount is performed. When the reverse of the tractor main unit 1 is determined based on the implementation control signal E, the shutter mechanism 21 is closed and the medicine spraying is stopped.

In tractors brands, models tractor the machine 1, so regardless of the wheel size, the pulse signal of the same low frequency for the same travel speed V is outputted as the in-pull instrument control signal E, the main control Regardless of whether the device 16 is adjusted and shipped and the implement is connected to any tractor main unit 1 of the same manufacturer, it is not necessary to calculate the traveling speed V of the tractor main unit 1 by the control device 22 of the implement 5, The implementation control signal E from the tractor main unit 1 can be used as information indicating the traveling speed V of the tractor main unit 1 as it is.

[Other Examples]
(1) When the forward movement of the tractor main unit 1 is detected, the impulsive control signal E is a low-frequency pulse signal that is directly proportional to the traveling speed V as described above, and the reverse of the tractor main unit 1 is detected. The implementation control signal E may be a pulse signal having a frequency corresponding to a traveling speed that deviates greatly from a preset working speed range to the low speed side or the high speed side.
Since the working speed range of the tractor is usually 0.1 to 30 (km / h), it corresponds to a high speed traveling speed [100 (km / h)] that does not actually appear during reverse travel, for example, as shown in FIG. It is also possible to output the 1000 Hz implementation control signal E so that the reverse side can be recognized on the implementation side and used to change the operation of the implementation between forward and reverse.

(2) When the implement is a mania spreader (compost spreader), the agitation and spraying are performed reliably and sufficiently by constant speed driving, and the shutter opening is controlled based on the signal E for control of the implement and uniform spraying is performed. Ru can be carried out.

  (3) In implementations such as a seeding device, a transplanting device, and lime sowa (lime spraying), the implement is provided with a transmission that receives a constant-speed live PTO power, and the implement control signal E By changing and controlling the operation speed, seeding and transplantation at a uniform pitch in the traveling direction, or uniform spraying can be performed.

(4) FIG. 8 shows an example of an embodiment in which the present invention is developed and modified. In this example, the output port of the main control device 16 is provided with an output interface 30 of an open collector system, and the input port of the control device 22 of the implementation 5 is an input that uses a microcomputer power supply (for example, 5 (V)) as a power source. The interface 31 is connected. According to this, high-speed traveling speed information can be transmitted from the output interface 30 to the implementation 5 side in a single line, and can be converted into low-frequency information by the input interface 31 and sent from the tractor main unit 1 side. the traveling speed information of the higher frequency as compared with the case of directly input to the microcomputer provided in the controller 22 of the in-pull instrument 5, it is possible to reduce the processing load on the microcomputer of the control device 22.

Side view of a tractor configured to spreader specification Block diagram showing transmission system Block diagram of control system Flow diagram A diagram showing the relationship between the running speed and the frequency of the signal for implementation control Diagram showing examples of implementation control signals Flow diagram of another embodiment Block diagram of modification

1 Tractor machine
15 Rotation sensor 16 main control equipment
E Impliment control signal V Traveling speed

Claims (3)

The tractor main body is provided with a rotation sensor for detecting the rotational speed of the rotating shaft of the traveling system, and a calculation means for calculating the traveling speed of the tractor main body based on the output of the rotation sensor in the main controller provided in the tractor main body. Output means for outputting a predetermined implementation control signal corresponding to the determined traveling speed ,
The agricultural tractor , wherein the implementation control signal is a pulse signal having a frequency that is directly proportional to the calculated traveling speed and a frequency lower than a frequency of an output pulse of the rotation sensor . In-pull instrument control signal when the advancing of the tractor the machine is detected, the lower frequency of the pulse signal than the frequency of the output pulses of said rotation sensor, for in pull instrument control when reverse the tractor the machine is detected signals, low-speed from a preset working speed range, or agricultural tractor according to claim 1, wherein in the frequency of the pulse signal corresponding to the outer the running speed to a high speed side. In-pull instrument control signal in a state where the travel of the tractor the machine is stopped, according to claim 1 or 2, wherein there as a frequency of a pulse signal corresponding to the running speed outer is in the low speed side from the preset working speed range Agricultural tractor.

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