JP4568295B2 - 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.

In a farm tractor with a live PTO structure that transmits PTO power at a constant speed regardless of the running speed, when driving an implement that sprays chemicals and fertilizers with live PTO power, in order to perform uniform spraying throughout the field Therefore, the amount of the spread of the implement is changed and controlled according to the traveling speed of the tractor main unit. A configuration is known in which the shutter opening of the implement is controlled based on a detection signal.
JP 2004-329067 A

Conventionally, that have the form of operating control in pull instrument in-Pull Instrument control signal sent from the main controller of the microcomputer utilized with the tractor the machine is taken.

An object of the present invention is to provide an agricultural tractor capable of appropriately controlling the operation of an implement connected to a tractor main body equipped with a main control device in accordance with the traveling speed of the tractor main body.

1st invention is equipped with the rotation sensor which detects the rotational speed of a traveling system in a tractor machine, and calculates the traveling speed of the tractor machine based on the output of the rotation sensor to the main control device with which the tractor machine was equipped. A calculation means; and an output means for outputting a predetermined implementation control signal corresponding to the determined traveling speed to the control device on the implementation side,
The output interface of the rotation sensor and the output interface of the main controller that sends out an implementation control signal are configured to have the same specifications.

  According to the above configuration, the traveling speed of the tractor main unit can be identified by the control device on the implement side that receives the implement control signal. For example, when the implement is a spraying device, the shutter opening degree and the valve opening By controlling the degree or the like in accordance with the traveling speed, uniform spraying can be performed even if the traveling speed changes.

Therefore, according to the present invention, linked to the tractor the machine having a main controller in-pull instrument, Ru can be appropriately controls the operation of the in-pull instrument in response to the running speed of the tractor the machine.

According to a second invention, in the first invention,
The rotation sensor is of a semiconductor magnetoresistive element type.

  According to the above configuration, the rotational speed of the traveling system in the tractor main unit can be accurately detected as a pulse signal having a frequency proportional to the rotational speed, although it is smaller than the coil type rotational sensor.

According to a third invention, in the first or second invention,
The output interface is an open collector system.

  According to the above configuration, it is possible to easily send a one-line signal.

  FIG. 1 shows a side view of an agricultural tractor according to the present invention, and FIG. 2 shows a rear view thereof. In this agricultural tractor, a boom sprayer 5 as an example of an implement is connected to a rear portion of a tractor with a cabin 1 for driving a front wheel 2 and a rear wheel 3 via a link mechanism 4 that is hydraulically moved up and down. The spreader specification is configured to drive the boom sprayer 5 with the PTO power extracted from the machine 1.

  FIG. 3 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 delivery pump 12 of the boom sprayer 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 the rotation speed detected by the rotation sensor 15 is the tractor as shown in FIG. It is input to the main controller 16 using a microcomputer provided in the machine 1. The main control device 16 includes a PTO detection sensor 14 that detects the on / off operation state of the PTO clutch 10, and a reverse detection sensor 17 that detects the reverse shift state from the shift operation direction of the shift operation tool (pedal or lever) in the main transmission 8. , And a wheel size setter 18 for inputting the outer diameter information of the rear wheel 3 is connected, and the main control device 16 calculates the traveling speed V of the tractor main unit 1 based on the detected information. An implementation control signal E is output based on the travel speed V.

  The boom sprayer 5 is equipped with a tank 19 for storing medicine, the delivery pump 12 driven at a constant speed by PTO power, a boom 20 with a spray nozzle, and a valve mechanism 21 for adjusting the spray spread amount. In order to perform the adjustment, a control device 22 using a microcomputer is provided. The control device 22 of the boom sprayer 5 includes an electric actuator 23 such as an electric motor or an electromagnetic solenoid that adjusts the opening degree of the valve mechanism 21, a feedback opening degree detection sensor 24 that detects the actual valve opening degree, and a unit per unit area. A spray amount setting device 25 for artificially adjusting and setting the spray amount, an on / off switch 26, an alarm device 27 such as an alarm lamp and a buzzer, etc. are connected. An implement control signal E from the tractor main unit 1 is a connector. It is transmitted in a one-line manner via 28 and inputted 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. The output interface 15a of the rotation sensor 15 is one that outputs in an open-collector type, and the output interface 16a that sends the implementation control signal E from the main controller 16 is the same as the output interface 15a of the rotation sensor 15. The specification is used.

  The input interface 16b of the main control device 16 that receives the output signal n of the rotation sensor 15 and the input interface 22b of the control device 22 that receives the implementation control signal E have the same specifications, and each input interface 16b. , 22b is shared with the CPU power supply (for example, 5V) of the main control device 16 and the control device 22, respectively.

  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. When the tractor main unit 1 is stopped running, an extremely low frequency (for example, 0.002 Hz) implementation control signal E is output (see the flowchart of FIG. 5).

  As a result, the control device 22 of the boom sprayer 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 service signal E is not transmitted, the alarm device 27 is operated to recognize the forgetting to connect the connector 28 or the occurrence of the disconnection in the signal transmission system.

Here, the implementation control signal E during forward travel has a small duty d1 (duty ratio), whereas the implementation control signal E during reverse travel has a large duty d2 (duty ratio). Yes. The implementation control signal E when the PTO clutch 10 is in the engaged state is the duty d1 or d2 (duty ratio), whereas the implementation control signal E when the PTO clutch 10 is in the disengaged state is It is set so as to be involved in the forward-reverse Razz larger duty d3 (duty ratio).

  In the control device 22 of the boom sprayer 5 that has received the implement control signal E, the target valve opening for performing the spraying set by the spraying amount setting unit 25 for the unit travel distance is determined, and the actual valve opening is performed. Even if the electric actuator 23 is controlled so that the degree becomes the target valve opening, and the traveling speed V of the tractor main unit 1 is changed, uniform spraying of the medicine at a predetermined spraying amount is performed. When it is determined that the PTO clutch 10 is disengaged from the duty variation of the implementation control signal E, the valve mechanism 21 is immediately closed to prevent the medicine from spilling out.

In the manufacturer of agricultural tractors, of type 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 Regardless of whether the control 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 on the implement side. 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.

  The output interface 15a of the rotation sensor 15 is one that outputs in an open collector manner, and the output interface 16a that sends the implementation control signal E from the main controller 16 is the same as the output interface 15a of the rotation sensor 15. The specification is used. The input interface 16b of the main control device 16 that receives the output signal n of the rotation sensor 15 and the input interface 22b of the control device 22 on the implementation side that receives the implementation control signal E have the same specifications. The power sources of the input interfaces 16b and 22b are shared with the CPU power source (for example, 5V) of the main control device 16 and the control device 22 on the implementation side, respectively.

  Thus, the output interface 15a of the rotation sensor 15 and the output interface 16a of the main controller 16 have the same specifications, and correspondingly, the input interface 16b of the main controller 16 and the input interface 22b of the controller 22 are Therefore, the rotation sensor 15 can be directly connected to the control device 22 on the implement side, and the inexpensive tractor main body 1 that does not include the main control device 15 is provided with an implementation (boom sprayer). In the case of using 5) in combination, as shown in FIG. 8, the rotation sensor 15 is provided so as to detect the rotation speed of an appropriate rotation shaft of the traveling transmission system in the tractor main unit 1, and the rotation sensor 15 The output signal n can be directly input to the control device 22 on the implementation side for use.

  However, since the output signal n of the rotation sensor 15 is directly input to the control device 22 on the implementation side without being calculated to a frequency proportional to the actual traveling speed V, the output signal n is scattered by the control device 22 on the implementation side. It is necessary to cope with the tire size change of the tractor main unit 1 by adjusting the amount.

[Other Examples]
(1) The implementation control signal E when the PTO clutch is engaged is a pulse signal having a frequency directly proportional to the traveling speed V as described above, and the implementation control signal E when the PTO clutch disengagement state is detected. Can be a pulse signal having a frequency corresponding to a traveling speed greatly deviating from the preset working speed range to the high speed side. Since the working speed range of agricultural tractors is usually 0.1 to 30 (km / h), when the PTO clutch is disengaged, for example, as shown in FIG. 9 , high speed traveling speed that does not actually appear [100 (km / h)] It is also possible to output the 1000 Hz implementation control signal E corresponding to the above, so that the implement side can recognize the PTO clutch disengaged state, and can be used for the closing control of the valve mechanism 21.

  (2) When the lifting / lowering state of the link mechanism 4 is set as an operating state related to the implement in the tractor main unit 1, when it is detected that the implement is raised above the working height range, the implement is as described above. The control signal E can also be configured to correct the duty (duty ratio) or frequency. According to this, when the tractor main unit 1 reaches the end of the field and changes its direction, the implement control signal E is corrected and sent out when the implement is greatly raised so as not to hit the straw. The closing of the valve mechanism 21 can be controlled by recognizing the operation on the implement side.

  (3) A large body steering state larger than the set angle of the tractor main unit 1 is set as an operation state related to the implementation, and when it is detected that the tractor main unit 1 is largely changed in direction, It can also be configured to correct the duty (duty ratio) or frequency of the load control signal E. According to this, when the tractor main unit 1 reaches the end of the field and changes its direction, it recognizes that the aircraft is changing direction on the implement side from the corrected control signal E, and the valve mechanism 21 Close control can be performed.

  (4) The left-right inclined state of the tractor main unit 1 can be set as an operating state related to the implementation in the tractor main unit 1. When the implement is the boom sprayer 5 as described above, if the tractor main unit 1 tilts to the left or right, the boom 19 may come into contact with the crop or the ground. When detected, the instrument control signal E for transmitting the traveling speed information is corrected and transmitted, and from the corrected instrument control signal E, the right / left inclination of the tractor main unit 1 is determined, and the boom 19 It can be used for undulation swing control.

(5) When a plurality of targets for detecting the operation state related to the implementation are set, for example, when both the on / off state of the PTO clutch 10 and the up / down state of the link mechanism 4 are detected, the corrected implementation control is performed. It is necessary to differentiate the duty (duty ratio) or the frequency so that the detection state can be identified by the signal E.

(6) In the case of a spraying device that handles granular powders such as broad casters (fertilizer spraying) or lime sowa (lime spraying), the implement performs reliable and sufficient stirring and spraying for constant speed drive. perform uniform spraying performs control of the shutter opening based on signals E, Ru can be performed shutter closing control recognizes the corrected in-pull instrument control signal E.

  (7) In an implementation such as a seeding device or a transplanting device, a transmission device that receives constant-speed live PTO power is provided in the implementation, and the operation speed of the implementation is changed and controlled based on the implementation control signal E. Thus, seeding and transplantation can be performed at a uniform pitch in the traveling direction.

Side view of an agricultural tractor configured to spray chemicals Rear view of agricultural tractor configured to spray spray chemicals Block diagram showing transmission system Block diagram of control system Flow chart for controlling the output of the investment control signal 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 Block diagram of control system in other specifications Flow diagram of another embodiment

DESCRIPTION OF SYMBOLS 1 Tractor machine 15 Rotation sensor 15a Output interface 16 Main controller 16a Output interface 22 Controller E Signal for implementation control V Travel speed

Claims (3)

The tractor main body is provided with a rotation sensor for detecting the rotational speed of the traveling system, and the main control device provided in the tractor main body is provided with calculation means for determining the traveling speed of the tractor main body based on the output of the rotation sensor. Output means for outputting a predetermined implementation control signal corresponding to the magnitude of the traveling speed to the control device on the implementation side,
An agricultural tractor characterized in that the output interface of the rotation sensor and the output interface of the main control device for sending an implementation control signal are configured to have the same specifications.   The agricultural tractor according to claim 1, wherein the rotation sensor is of a semiconductor magnetoresistive element type.   The agricultural tractor according to claim 1 or 2, wherein the output interface is an open collector system.

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