JP5239518B2 - Agricultural machine - Google Patents

Description

  The present invention relates to a farm work machine that performs farm work, and particularly to rolling control of a ground work machine such as a rotary tiller mounted on an agricultural tractor.

  The rolling control of the ground working machine of the agricultural working machine is a signal detected by two sensors, an inclination sensor that detects the right and left inclination angle of the traveling machine body and an angular velocity sensor that detects the angular velocity of the traveling machine body in the left and right direction. On the other hand, the ground working machine is driven to roll, and the ground working machine is controlled so as to perform the work while keeping the ground posture in the left-right direction with respect to the ground constant.

For example, Japanese Patent Application Laid-Open No. 2004-113029 describes a technique that includes two sensors, an inclination sensor and an angular velocity sensor, and enables rolling control even when the angular velocity sensor fails.
JP 2004-113029 A

  In the rolling control of the ground work machine, the inclination of the ground work machine with respect to the travel machine body is corrected by the inclination angle with respect to the horizontal of the travel machine body detected by the tilt sensor, and the traveling machine body can be used even when the traveling machine body detects the angular velocity sensor suddenly. The correction of the inclination of the ground work machine with respect to is moderated. However, in the case of the work of leveling the soil dent formed by the turning operation at the time of tilling, the wheel of the agricultural machine is repeatedly dropped into the dent, so that the fluctuation in the horizontal inclination of the traveling machine body is repeated at a fine cycle. In such a case, the gentle inclination correction by the angular velocity sensor causes a response delay, which causes the posture of the ground working machine to be disturbed.

  Therefore, in the present invention, with the configuration in which the ground work machine is mounted on the farm work machine, the posture of the ground work machine is prevented from being disturbed even during farm work in which the horizontal inclination of the machine body is repeated at a fine cycle. Let it be an issue.

The present invention takes the following technical means in order to solve the above-described problems.
That is, in the first aspect of the invention, the ground working machine (18) is mounted on the farm work machine (1) so as to be able to roll, and the inclination sensor (14) and the angular velocity sensor (16) provided on the traveling machine body of the farm work machine (1). When the angular velocity sensor (16) detects an angular velocity greater than or equal to a predetermined value, the rolling control is performed based on the detected value of the angular velocity sensor (16) and the angular velocity is detected. A control selection switch (36) for switching to perform rolling control ignoring the detection signal of the sensor (16) is provided, and if necessary, the control selection switch (36) is switched to perform only the tilt sensor (14). and configured to roll control in the detection signal, the parallel return output the left and right orientation of the working machine is in the parallel state with respect to the machine, at a slower rate than the working attitude change output Further, the parallel return output is configured to increase the speed of the parallel return output when the vehicle speed of the agricultural machine (1) is high, and to decrease the speed of the parallel return output when the vehicle speed of the agricultural machine (1) is low. This is an agricultural machine characterized by that.

  With this configuration, the angular velocity sensor (16) has a feature that the reaction is fast, and the tilt sensor (14) has a feature that the reaction is slow. Normal rolling control is performed by the inclination sensor (14). When the angular velocity sensor (16) detects an angular velocity value equal to or greater than a predetermined value, the ground work machine (18) is subjected to rolling control by a detection signal of the angular velocity sensor (16).

However, when frequent irregularities are repeated, the control selection switch (36) ignores the detection signal of the angular velocity sensor (16) and performs rolling control with the detection signal of only the tilt sensor (14). . In addition, the parallel return output in which the left and right postures of the work machine with respect to the machine are in a parallel state is set to be slower than the work posture change output. The parallel return output increases the speed of the parallel return output when the vehicle speed of the agricultural machine (1) is high, and decreases the speed of the parallel return output when the vehicle speed of the agricultural machine (1) is low.

  According to a second aspect of the present invention, when the detection signal of the angular velocity sensor (16) detects an abnormal value, the rolling control is performed only by the detection signal of the inclination sensor (14) by automatic switching. The agricultural machine according to claim 1, which is characterized by the above.

With this configuration, when the angular velocity sensor (16) is damaged or disconnected, rolling control is automatically performed with a detection signal from only the inclination sensor (14) to prevent the ground work machine from making an abnormal movement. .
According to the third aspect of the present invention, the vibration of the farm work machine (1) traveling on the road and the vibration of the farm work machine (1) traveling on the field are detected by the angular velocity sensor (16) to discriminate between the road running or the field running. The farm work machine according to claim 2, wherein the farm work machine is configured to perform .
With this configuration, the angular velocity sensor (16) determines whether traveling on the road or traveling on the field.

According to the first aspect of the present invention, in the rolling control by the tilt sensor (14) and the angular velocity sensor (16), when the angular velocity sensor (16) detects an angular velocity value equal to or greater than a predetermined value, the detection signal of the angular velocity sensor (16) is used. By performing the rolling control of the ground work machine (18), the ground work machine (18) can be quickly controlled when the aircraft suddenly tilts. Further, the ground work machine (18) capable of performing good work according to the operator's intention by ignoring the detection signal from the angular velocity sensor (16) by the switching operation of the control selection switch (36). It can be held in a stable working posture. In addition, unevenness of work traces can be prevented.

According to the invention described in claim 2, even if the angular velocity sensor (16) is damaged or disconnected, the ground work machine (18) is safe without abnormal movement.
According to the third aspect of the present invention, it is possible to determine whether the vehicle is traveling on the road or on the field with the angular velocity sensor (16).

Next, specific embodiments of the present invention will be described with reference to the drawings.
An embodiment of the agricultural machine is a tractor 1 which is provided with an engine 2 mounted on the front of the machine body. The rotational power of the engine 2 is transmitted to the transmission 4 in the transmission case 3 and is decelerated by the transmission 4. The rotational power is transmitted to the front wheel 5 and the rear wheel 6. A hydraulic cylinder case 7 is mounted on the upper part of the transmission case 3, and lift arms 8, 8 are pivotally mounted on both the left and right sides of the hydraulic cylinder case 7. When hydraulic oil is supplied into the hydraulic cylinder 9 in the hydraulic cylinder case 7, the lift arms 8, 8 are turned up and down, and when the hydraulic oil is discharged, the lift arms 8, 8 are lowered. ing.

  Further, the lift arms 8 and 8 and the left and right lower links 10 and 10 are connected to each other by lift rods 12 and 12. Of these, the lift rod 12a on one side (right side) is constituted by a double-acting hydraulic cylinder. A stroke sensor 13 for detecting the cylinder length is fixed to the side of the hydraulic cylinder 12a. Reference numeral 14 denotes an inclination sensor that detects the inclination angle of the tractor 1 in the left-right direction, and reference numeral 16 denotes an angular velocity sensor that detects the inclination speed of the tractor 1 in the left-right direction. In addition, the tilt control amount of the work implement is calculated from the detection values of the tilt sensor 14 and the angular velocity sensor 16, the detection value of the stroke sensor 13, and the set value of the tilt adjustment dial 15, and the work implement is set according to an instruction from the controller 30. The left and right tilt angles are maintained.

  In this embodiment, the rotary tiller 18 is taken as an example of the working machine, but other than the rotary tiller 18, for example, an agricultural working machine such as a paddy coater or a chemical spreader may be used. The rotary cultivator 18 includes a cultivating claw 20, a rotary cover 22 covering the top of the cultivating claw 20, a rear cover 23 pivotally attached to the rear portion of the rotary cover 22, and the like, and receives power from a PTO shaft on the tractor 1 side. The cultivating shaft 19 is rotated, and the soil is cultivated by a plurality of cultivating claws 20 attached to the cultivating shaft 19.

  Potent left and right depth sensors 37 and 38 for detecting the tilling depth are provided on the left and right of the upper rear portion of the rotary cover 22 of the rotary tiller 18, and the dial adjusting type tilling depth setting device 25 provided on the cockpit side of the tractor 1. The lift arms 8 and 8 are rotated so that the plowing depth set by the above is set, and the rotary tiller 18 as a whole is moved up and down to maintain the set plowing depth.

The position setter 26 is attached to the turning base of the hydraulic operation lever 28, and the lift arm angle sensor 27 is attached to the turning base of the lift arm 8.
Optical displacement sensors 17a and 17b for detecting the distance from the soil surface are provided before and after the frame 21 extending rearward of the rotary tiller 18, and the actual traveling speed is calculated. The front and rear optical displacement sensors 17a and 17b The distance measurement timing due to light emission is slightly shifted to prevent erroneous measurement due to interference.

  Next, the control block diagram shown in FIG. 2 will be described. The position setter 26 and the lift arm angle sensor 27 are connected to the input side of the controller 30 that controls the lifting and tilting control of the work implement, and the left and right depth sensors 37 and 38 and the tilling depth setter 25 are also connected to the controller 30. The plowing depth control is performed so that the plowing depth setting value set by the plowing depth setting device 25 and the values detected by the left and right depth sensors 37 and 38 coincide with each other.

  A tilt mode changeover switch 29 for setting various left and right rolling modes of the work implement, a tilt adjustment dial 15, a tilt sensor 14, a stroke sensor 13, an angular velocity sensor 16, and a control selection switch 36 for changing a rolling control method to be described later are also connected to the controller 30. Is done.

  Further, a horizontal manual switch 35 for manually extending and retracting the hydraulic lift rod 12a and a tilling depth control sensor selection switch 39 for changing tilling depth control to be described later are connected to the input side of the controller 30.

  Connected to the output side of the controller 30 are an ascending solenoid 31 and a descending solenoid 32 for moving the lift arm 8 up and down, and an extending solenoid 33 and a shortening solenoid 34 for expanding and contracting the hydraulic lift rod 12a.

  When the tilt mode changeover switch 29 is set to the “parallel” position, the left and right postures of the work machine with respect to the machine are in a parallel state, that is, the lengths of the left and right lift rods 12 and 12 are in agreement. The "parallel" position can be further set to two positions. When the "fixed position" is set, the work machine is always parallel to the machine, and when the "swing" position is set, the tilt sensor 14 is maintained in a parallel state. The rolling control is applied according to the detection value of the angular velocity sensor 16.

  This rolling control is to provide the hydraulic lift rod 12a with an output in a direction opposite to the tilt direction in order to prevent the work machine from tilting in the same direction when the machine body is tilted. Only when the detected value is large, the change amount is converted into the work implement inclination angle, and the work implement is output so as to be inclined in the reverse direction.

  When the tilt mode changeover switch 29 is set to the “manual” position, the automatic rolling control is cut, and the hydraulic lift rod 12a is controlled to expand and contract only when the horizontal manual switch 35 is pressed. In such a configuration, when a rotary tillage operation is performed, the inclination mode changeover switch 29 is normally set to the “swing” position and the tillage operation is performed. When this mode is set, the rotary tiller 18 behind the tractor 1 is controlled to be always horizontal even if the tractor 1 is swung in the left and right directions. When the upright work is performed, a wrinkle having a horizontal upper surface is formed.

  In addition, when the work machine is mounted on the traveling machine body and the work is performed by parallel control, for example, when the haze is applied, the tilt mode changeover switch 29 is set to the “swing” position. When the traveling machine is moved forward in this state, the work machine is also tilted in the direction in which the traveling machine is tilted. However, when the change is fast, in other words, when the change speed is larger than the set value, the angular velocity sensor 16 detects it. The amount of change is converted into the work machine tilt angle. Then, the work implement posture is corrected to the opposite direction side by the calculated inclination to suppress a change in the work implement that is about to be tilted together with the machine.

  With this parallel control, even if the rear wheel 6 of the tractor 1 enters the concave and convex portions, the posture change on the work machine side is reduced, and in the tilling work, the top surface of the straw is formed horizontally and smoothly, In this case, there is no step on the top surface of the heel before and after the change, and there is no crack, and a beautiful heel can be formed.

  In this embodiment, the traveling machine body parallel return output after the change of the work machine inclination is performed when the change detection value of the angular velocity sensor 16 becomes a certain value or less. If comprised in this way, after a traveling machine body attitude | position will be stabilized, a working machine can be returned in parallel with a traveling machine body, and a work trace will become smooth. In this case, the parallel return output is made slower than the work posture change output. That is, when the attitude of the work implement changes greatly because the traveling machine is tilted in the left-right direction, a quick control output is output to the hydraulic lift rod. A slightly slower control output was output. In this case, the return output when returning to parallel may be changed according to the speed of the tractor 1. If the parallel return output is output early when the vehicle speed is high and the parallel return output is output late when the vehicle speed is low, the work traces will not be uneven.

  Further, in this embodiment, when the cultivated land has many concave portions and the front wheels 5 and the rear wheels 6 fall into the concave portions and the traveling machine body vigorously swings left and right, the control selection switch 36 is turned on as shown in FIG. Then, switch to parallel control using only the tilt sensor.

  That is, the control signals of the sensors and switches are read in step S1, and on / off of the control selection switch 36 is determined in step S2. If the switch is on, horizontal control is performed based on only the detection data of the tilt sensor 14 in S3. If it is off, horizontal control is performed based on the detection data of the inclination sensor 14 and the angular velocity sensor 16 in S4.

  The control switching by turning on / off the control selection switch 36 is performed manually. However, if the detection data of the angular velocity sensor 16 indicates an abnormal value or a disconnection value, only the detection data of the tilt sensor 14 in S3 is used. Automatic switching may be performed so as to perform horizontal control.

  Since the angular velocity sensor 16 detects the vibration of the vehicle body, it detects the vibration caused by the lag wheels, discriminates the high vibration during traveling on the road and the low vibration during traveling on the field. The transmission 4 of the case 3 may be automatically shifted to high speed running and automatically switched to low speed running if it is determined that the field running is being performed. At that time, in the case of a road surface condition in which it is difficult to determine whether traveling on the road or traveling on the field, a release switch for preventing the automatic shift is provided so that the automatic shift is not performed.

  The control of FIG. 4 is the control of the depth of cultivation at the time of tilling work on an inclined land by the rotary tiller 18, and the detection values of the left and right depth sensors 37, 38 used to maintain the tilling depth set by the tilling depth setting device 25 are used. It is limited to the detection data on the mountain side. In the past, control was based on the average value of the detection data on the mountain side and the valley side, but by using the detection data on the mountain side as described above, the influence of the rotation of the cultivated soil was reduced and the unevenness of the ridges was stabilized. To do. This control is performed when the left / right tilt angle detected by the tilt sensor 14 is equal to or greater than a predetermined angle.

  That is, in this control, the control signals of the sensors and switches are read in step S10, and it is determined whether the tilt sensor 14 detects the right tilt value in step S11. If YES, the control of the left depth sensor 37 is performed in S12. Plowing depth control is performed based only on the detection data, and if NO, plowing depth control is performed based on only the detection data of the right depth sensor 38 in S13.

  The tilling depth control is executed by turning on the tilling depth control sensor selection switch 39 that limits the detection values of the left and right depth sensors 37 and 38 to the peak side detection data, so that it can be changed according to the preference of the operator. May be.

  The control in FIG. 5 is a control for leveling the cultivated cultivated land. When the traveling machine body is inclined by the partial recess, the rotary tiller 18 is inclined in the direction opposite to the inclination of the traveling machine body and is lifted from the recessed part. This is leveling control that prevents the phenomenon from being leveled. For this control, the position setter 26 is operated.

  First, in step S20, the control signals of the sensors and switches are read. In step S21, it is determined whether the inclination angle of the traveling machine body detected by the inclination sensor 14 is larger than 5 °. In S22, normal parallel control is performed. If the tilt angle is greater than 5 °, it is determined whether the tilt is to the right in step S23. If YES, the control target for the rotary tiller 18 is tilted to the right by a predetermined angle in step S24. Then, the control target of the rotary tiller 18 for this machine is tilted to the left by a predetermined angle. It should be noted that the predetermined angle for tilting the control target to the left and right can be set by the tilt adjustment dial 15 or automatically set by predetermined calculation according to the tilt angle of the traveling machine body.

It is a whole side view of the tractor of a present Example. It is a block diagram of control. It is a flowchart figure of control. It is a flowchart figure of control. It is a flowchart figure of control.

1 Agricultural equipment (tractor)
14 Inclination sensor 16 Angular velocity sensor 18 Ground working machine (rotary tiller)
36 Control selection switch

Claims (3)

A ground work machine (18) is mounted on the farm work machine (1) so as to be able to roll, and the ground work machine (18) is detected by the detection signals of the inclination sensor (14) and the angular velocity sensor (16) provided on the traveling machine body of the farm work machine (1). When the angular velocity sensor (16) detects an angular velocity greater than a predetermined value, the rolling control is performed based on the detected value of the angular velocity sensor (16) and the detection signal of the angular velocity sensor (16) is ignored. A control selection switch (36) for switching so as to perform the rolling control, and performing the switching operation of the control selection switch (36) as necessary to perform the rolling control with the detection signal of only the tilt sensor (14) ,
The parallel return output in which the left and right postures of the work machine with respect to this machine are in a parallel state is configured at a speed slower than the work posture change output, and the parallel return output is a parallel return output when the farm work machine (1) has a high vehicle speed. A farming machine characterized in that the speed of the parallel return output is slowed down when the speed of the farming machine (1) is slow .   The rolling control according to claim 1, wherein when the detection signal of the angular velocity sensor (16) detects an abnormal value, the rolling control is performed only by the detection signal of the tilt sensor (14) by automatic switching. Farm work machine. The configuration is such that the vibration of the agricultural machine (1) traveling on the road and the vibration of the agricultural machine (1) during the field traveling are detected by the angular velocity sensor (16) and the road traveling or the field traveling is discriminated. The agricultural machine according to claim 2, wherein

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