JP6479488B2 - Agricultural machine - Google Patents

Description

  The present invention relates to a farm work machine, and more particularly to a farm work machine capable of more appropriately controlling a work posture in a front-rear direction using an actuator in a farm work machine that is attached to a tractor and performs farm work.

  In order to perform farm work in an appropriate work posture, farm machines that are attached to a conventional tractor often perform farm work after adjusting the work posture in the front-rear direction of the farm work machine. For this adjustment, it is necessary to adjust the length of the top link used when connecting the tractor and the agricultural machine. There is also a type that cannot change the length of the top link.

  On the other hand, Patent Document 1 describes a configuration in which the vertical height of the hitch frame can be adjusted by extending and contracting the connecting member with the stand attached.

JP 2011-229535 A

  However, when adjusting the length of the top link, the operator needs to get off the tractor. For this reason, when it was desired to change the working posture of the farm work machine depending on the field conditions, the worker had to get off the farm work machine each time. Further, when the length of the top link cannot be changed, the work posture in the front-rear direction cannot be adjusted.

  On the other hand, in patent document 1, it is the structure which rotates a rotation handle for the expansion-contraction of a connection member in order to adjust the up-and-down height of a hitch frame, and is not the structure which controls an operation posture with an actuator.

  In view of the above problems, an object of the present invention is to provide an agricultural machine that can more appropriately control the working posture in the front-rear direction using an actuator in an agricultural machine that is attached to a tractor and performs agricultural work.

In order to achieve the above object, one of the farm work machines according to the present invention is a farm work machine that is attached to a tractor and performs farm work, with respect to the work machine side connecting part that can be attached to the tractor and the work machine side connecting part. A main body unit having a working unit that is coupled so that the angle in the front-rear direction can be changed and performs farming work, and a posture adjustment unit that can change the front-rear direction angle of the main body unit with respect to the work machine side connection unit by operating an actuator; , A work posture detection unit for detecting the posture of the main body in the front-rear direction, a remotely operable operation unit, an operation signal of the operation unit, and the actuator based on information from the work posture detection unit A control unit, wherein the operation unit has a standard work posture switch, and the control unit controls the operation of the main body unit to operate as the standard work posture by operating the actuator. And one condition the operation signal by the operation of the standard working posture switch, further characterized by performing the posture of the main body portion is determined to be in working posture setting range as another criteria.

One agricultural machine of the present invention is to is found, with a work state detection unit, wherein the control unit, the control of the standard working posture the posture of the main body portion, the agricultural machine from the information of the working state detector It is characterized in that it is performed as one condition to determine that is a working state.

One of the agricultural machines according to the present invention is an agricultural machine that is attached to a tractor and performs agricultural work, and a working machine side connecting portion that can be attached to the tractor and an angle in a front-rear direction with respect to the working machine side connecting portion. A main body having a working section that is connected in a changeable manner to perform farming work, a posture adjusting section that can change an angle in a front-rear direction of the main body with respect to the work machine side connecting section by operating an actuator, and front and rear of the main body A work posture detection unit for detecting a posture of a direction, an operation unit that can be remotely operated, and a control unit that controls the actuator based on an operation signal of the operation unit and information from the work posture detection unit, The operation unit includes an arbitrary work posture switch, and the control unit controls the operation of the main unit to operate as an arbitrary work posture by operating the actuator. The operation signal by the operation of the pitch as one condition, further subjected to the posture of the main body portion is determined to be in working posture setting range Another condition, the optional working posture, the operating unit It can be set in advance by the operation of.
One agricultural machine of the present invention is to is found, with a work state detection unit, wherein the control unit, the control of any work posture the posture of the main body portion, the agricultural machine from the information of the working state detector It is characterized in that it is performed as one condition to determine that is a working state.

Moreover , one of the farm work machines of the present invention is a farm work machine that is attached to a tractor and performs farm work.
A work machine side connecting part that can be attached to the tractor, a main body part having a working part connected to the work machine side connecting part so that an angle in the front-rear direction can be changed, and the work of the main body part. An attitude adjustment unit capable of changing an angle in the front-rear direction with respect to the machine-side connecting unit by operation of an actuator, a work posture detection unit for detecting a posture in the front-rear direction of the main body unit, an operation unit capable of remote operation, A control unit that controls the actuator based on an operation signal of the operation unit and information from the work posture detection unit, the operation unit includes an arbitrary work posture switch, and the control unit operates the actuator. The control of setting the posture of the main body to an arbitrary work posture is performed under the condition that an operation signal is input by operating the arbitrary work posture switch of the operation unit. A pre-settable by the operation of the operation section, the working section includes a forward working position for farm work by advancing the tractor, the tractor is reversed in the back-and-forth direction with respect to the forward work position the orientation of the working portion It is possible to change to a reverse work position for carrying out the farm work by reversely moving, and has a work part position detection part for detecting the forward work position and the reverse work position, and the control part is When it is determined that the position is a forward work position based on the information, the control is performed so that the arbitrary work position is determined. When the position is determined to be the reverse work position, the control is performed so that the forward work position and the backward inclination are switched with respect to the arbitrary work position. It is characterized by.
The one agricultural machine of the present invention is the farm machine performing the agricultural work and attached to the tractor, and attachable working machine-side connecting portion to the tractor, the direction of the angle back and forth with respect to the working machine side connecting portion A main body having a working section that is connected in a changeable manner to perform farming work, a posture adjusting section that can change an angle in a front-rear direction of the main body with respect to the work machine side connecting section by operating an actuator, and front and rear of the main body A work posture detection unit for detecting a posture of a direction, an operation unit that can be remotely operated, and a control unit that controls the actuator based on an operation signal of the operation unit and information from the work posture detection unit, The operation unit includes an arbitrary work posture switch, and the control unit controls the operation of the main unit to operate as an arbitrary work posture by operating the actuator. Performs the operation signal by the operation of the pitch as one condition, the optional working posture is be preset by operation of the operation unit, the operation unit includes a plurality of any working position switch, optionally The working posture can be set in advance for each arbitrary working posture switch.

  One of the agricultural machines according to the present invention is an agricultural machine that is attached to a tractor and performs agricultural work, and a working machine side connecting portion that can be attached to the tractor and an angle in a front-rear direction with respect to the working machine side connecting portion. A main body having a working section that is connected in a changeable manner to perform farming work, a posture adjusting section that can change an angle in a front-rear direction of the main body with respect to the work machine side connecting section by operating an actuator, and front and rear of the main body A work posture detection unit for detecting a posture of a direction, a work state detection unit, a movement detection unit, an operation unit that can be remotely operated, an operation signal of the operation unit, the work posture detection unit, and the work state detection And a control unit that controls the actuator based on information from the movement detection unit, the operation unit includes an automatic attitude adjustment switch, and the control unit receives an automatic attitude adjustment switch from the operation unit. When the operation signal is input by the operation of, it is determined that the posture of the main body portion is within the work posture setting range, and further, it is determined from the information of the work state detection unit that the agricultural machine is in a work state, Furthermore, when it is determined from the information of the movement detection unit that the farm work machine has moved a certain distance, the working posture of the main body is set as a standard working posture.

Further, in one of the farm work machines according to the present invention, the work machine side connecting part and the main body part are rotatably attached so that a horizontal direction is a central axis of the rotation, and the posture adjusting part is the work machine side. The length between the attachments can be changed between the connecting portion and the main body portion.
Furthermore, in one of the agricultural machines according to the present invention, the posture adjusting unit can change the length of the attachment by changing the position of the screw connection between the male screw part and the female screw part using rotation of the motor. It is characterized by.
One agricultural machine of the present invention to is found that the orientation adjuster is characterized by an electric hydraulic cylinders.

Furthermore, one of the farm work machines according to the present invention is characterized in that the operation part has a forward tilt switch for tilting the main body part forward with respect to the work machine side connection part and a rear tilt switch for tilting backward. .

  ADVANTAGE OF THE INVENTION According to this invention, in the agricultural machine which mounts | wears with a tractor and performs agricultural work, the working posture of the front-back direction can be controlled more appropriately using an actuator.

The top view in Example 1 of the agricultural machine of this invention is shown. The side view in Example 1 of the agricultural machine of this invention is shown. The block diagram in Example 1 of the agricultural machine of this invention is shown. The top view in the state at the time of the return operation | work of Example 1 of the agricultural working machine of this invention is shown. The expanded side view of the attitude | position adjustment part in Example 1 of the agricultural working machine of this invention is shown. The assembly explanatory drawing of the attitude | position adjustment part in Example 1 of the agricultural machine of this invention is shown. The side view at the time of rearranging the attitude | position adjustment part in Example 1 of the agricultural machine of this invention to a manual type is shown. The front view of the operation box in Example 1 of the agricultural machine of this invention is shown. The flowchart of the whole attitude | position adjustment control in Example 1 of the agricultural machine of this invention is shown. The flowchart of the standard work attitude | position process in Example 1 of the agricultural machine of this invention is shown. The side view of the state which raised the agricultural machine in Example 1 of the agricultural machine of this invention is shown. The flowchart of the automatic attitude | position adjustment process in Example 1 of the agricultural machine of this invention is shown. Explanatory drawing at the time of the operation | work in the agricultural field in Example 1 of the agricultural working machine of this invention is shown. The flowchart of the arbitrary work attitude | position process in Example 1 of the agricultural machine of this invention is shown. The flowchart of the arbitrary work attitude | position process in Example 2 of the agricultural machine of this invention is shown. The side view in Example 3 of the agricultural machine of this invention is shown. The top view in Example 4 of the agricultural working machine of this invention is shown. The front view of the operation box in Example 4 of the agricultural machine of this invention and the operation box for attitude | position adjustment is shown. The block diagram in Example 4 of the agricultural machine of this invention is shown.

  A mode for carrying out the present invention will be described.

  FIG. 1: shows the top view in Example 1 of the agricultural working machine of this invention. FIG. 2: shows the side view in Example 1 of the agricultural working machine of this invention. FIG. 3 shows a block diagram of the first embodiment of the agricultural machine according to the present invention. In FIG. 1, the figure of the agricultural machine 2 with which the tractor 1 was mounted | worn is shown, and the figure of the tractor 1 is a schematic diagram. In FIG. 2, the drawing of the tractor 1 shows a rear half view and schematically shows the attachment of the tractor side connecting portion 8 to the tractor 1.

  The tractor 1 and the farm work machine 2 are attached by attaching the work machine side connection part 30 of the farm work machine 2 to the tractor side connection part 8 (described in FIG. 2) of the tractor 1. Moreover, the structure which attaches the working machine side connection part 30 directly to the top link 5 and the lower link 6 of the tractor 1 not via the tractor side connection part 8 may be sufficient.

  The farm work machine 2 can be rotated around the pivot point of the lower mounting portion 34 with respect to the main body 60 on the front side (tractor 1 side) of the main body 60 and the work unit 61 that performs farm work. And the work machine side connecting part 30 attached to the machine. Furthermore, between the main body part 60 and the work machine side connecting part 30, there is a posture adjusting unit 40 capable of adjusting the length between the attachments, and the length between the attachments of the posture adjusting unit 40 is adjusted. Thereby, the angle of the front-back direction with respect to the working machine side connection part 30 of the main-body part 60 can be adjusted. Thereby, the working posture of the agricultural working machine 2 (the main body 60 having the working unit 61) can be changed with respect to the tractor 1. Note that the posture adjusting unit 40 may be an angle adjusting device that can change the relative angle between the work machine side connecting unit 30 and the main body 60 in addition to the one that is adjusted by changing the length between the attachments.

  In FIG. 2, a tractor side connecting portion 8 is provided on the tractor 1 side, and a work machine side connecting portion 30 to be attached to the tractor side connecting portion 8 is shown. The tractor side connecting portion 8 has engaging portions at a total of three locations, the upper left and right sides and the lower left and right sides, and the upper engaging portion 31 of the work implement side connecting portion 30 and the left and right two The lower engaging portion 32 is engaged. As a result, the agricultural machine 2 is mounted on the tractor 1. Moreover, the tractor side connection part 8 becomes a structure which can attach or detach the working machine side connection part 30. FIG.

  The upper engaging portion 31 of the work machine side connecting portion 30 is formed on the front side of the upper member 36 formed of, for example, two plates or the like by a shaft or the like for connecting these. Further, by providing the upper mounting portion 33 on the rear side of the upper member 36, it is possible to mount the posture adjusting portion 40 on one side. Further, the lower engaging portion 32 of the work machine side connecting portion 30 is provided on the front side of a lower member 37 formed of, for example, a plate or the like, and is formed by a shaft or the like protruding outward in the lateral direction. Further, by providing the lower mounting portion 34 on the rear side of the lower member 37, the work machine side connecting portion 30 can be rotatably attached to the main body portion 60 side of the agricultural work machine 2. The upper member 36 and the two lower members 37 are joined to each other through the frame portion 35 and the like.

  On the upper front side of the main body portion 60 of the farm work machine 2, a support member 71 is provided at a position that becomes the center of the left and right of the tractor 1, and the support member 71 includes a plate portion 71 a coupled to the main body portion 60. It has an attachment part 71c that extends upward and enables attachment to the other of the posture adjustment part 40 in the vicinity of the upper part. The plate part 71a can also be comprised by two plates, and you may couple | bond with the plate coupling | bond part 71b (described in FIG. 6) between them. The attaching part 71c can be formed into a shape by a hole, for example.

  On the lower side in front of the main body 60 of the agricultural machine 2, there are mounting members 72 on both the left and right sides having a fixed distance with respect to the left and right center of the tractor 1, and the mounting member 72 has a plate portion 72 a. Therefore, a mounting portion 72b is provided in front of the lower portion. Here, it can be rotatably attached to the lower attachment portion 34 of the work machine side connection portion 30. Thereby, the main-body part 60 can be rotated with respect to the working machine side connection part 30 centering on the central axis X (described in FIG. 1) extended in the left-right direction. Here, when the distance between the attachments of the posture adjustment unit 40 (the upper attachment part 33 of the work machine side connection part 30 and the attachment part 71c of the support member 71) is shortened, the main body part 60 rotates around the central axis X. When the distance between the attachments of the posture adjustment unit 40 is increased, the main body 60 rotates about the central axis X and tilts backward (a state in which the rear is lowered).

  In the first embodiment, the main body unit 60 of the farm work machine 2 includes a receiving unit 21, a control unit 22, a work posture detection unit 23, a work state detection unit 24, a movement detection unit 25, and an actuator 26. The operation box 10 that can be remotely operated with respect to the farm work machine 2 includes an operation unit 11 and a transmission unit 12, and can be disposed in the vicinity of the driver's seat on the tractor 1 side. Further, the tractor 1 has a battery 3, which serves as a power source for the receiving unit 21, the control unit 22, the work posture detection unit 23, the work state detection unit 24, the movement detection unit 25, and the actuator 26. Can do. Further, a battery or the like can be used as a power source for the operation box 10.

  The operation unit 11 has switches for remote operation such as operation buttons. Specific examples will be described later.

  The transmission unit 12 wirelessly transmits an operation signal generated by an operation on the operation unit 11. If necessary, a signal from the receiving unit 21 may be received to perform display on the operation unit 11 or necessary control on the operation unit 11.

  The receiving unit 21 receives a wireless operation signal from the transmitting unit 12. A signal from the control unit 22 may be transmitted to the transmission unit 12 as necessary.

  The control unit 22 controls the actuator 26 based on the operation signal from the operation box 10 by the operation of the operation unit 11 received by the reception unit 21. The information obtained by the control unit 22 may be transmitted from the receiving unit 21 to the operation unit 11. The control unit 22 can also obtain information from the work posture detection unit 23, the work state detection unit 24, and the movement detection unit 25, and calculate the work posture, the work state, and the movement distance. The control unit 22 is configured by an electronic device or the like necessary for control, and can be stored in the box as a control box and can be made independent. On the other hand, it can be configured integrally with the receiving unit 21.

  The work posture detection unit 23 is for detecting the work posture of the agricultural work machine 2 in the front-rear direction. For example, what can detect the inclination of the front-back direction of the main-body part 60 of the agricultural work machine 2, such as an inclination sensor, a gyro sensor, an acceleration sensor, an angle sensor, and a potentiometer, may be used.

  The work state detection unit 24 is for detecting whether or not the agricultural machine 2 is in a work state. For example, a vibration sensor, an acceleration sensor, a rotation sensor, GPS, or the like can be used. If it is a vibration sensor, the vibration of the farm work machine 2 due to actual farm work or the vibration of the farm work machine 2 due to power transmission from the tractor 1 or the like to the work unit 61 (for example, power transmission by the PTO power of the tractor 1) can be detected. Can be determined to be in a working state. Moreover, if it is an acceleration sensor, it can be judged that it is a working state if it detects that the agricultural machine 2 actually started moving for agricultural work. In the case of a rotation sensor, if the rotation of the transmission mechanism by power transmission from the tractor 1 or the like to the working unit 61 (for example, power transmission by PTO power of the tractor 1) is detected, it can be determined that the working state is present. . If it is GPS, it can be judged that it is a working state if it detects that the farm work machine 2 has actually started moving for farm work due to a change in position. Further, information from the tractor 1 may be acquired as the work state detection unit 24. For example, if information indicating that the PTO of the tractor 1 is rotating can be obtained, it can be determined that the working state is established. Further, if it is possible to obtain information that the tractor 1 such as speed has actually started to move for farm work, it can be determined that the work is being performed. Further, these methods may be used in combination in order to increase the accuracy of determining the working state.

  The movement detection unit 25 is for detecting the movement distance of the farm work machine 2. For example, an acceleration sensor, GPS, or the like can be used. In the case of an acceleration sensor, the moving distance of the agricultural machine 2 can be detected by calculating the speed based on the change in acceleration. If it is GPS, a movement distance can be detected by the change of a position. Further, information from the tractor 1 may be acquired as the movement detection unit 25. If information on the speed of the tractor 1 can be obtained, the moving distance can be detected.

  In the work posture detection unit 23, the work state detection unit 24, and the movement detection unit 25, when the devices to be used are the same, they can be shared as a unit.

  The actuator 26 is a motor, a cylinder, or the like. For example, an electric motor, a hydraulic actuator, a pneumatic actuator, or the like can be applied, and includes at least an actuator used for the attitude adjustment unit 40. A specific example will be described later. In addition to this, actuators (a first cylinder 91 and a second cylinder 92 described later) necessary for the agricultural machine 2 can be installed. The actuator 26 is controlled by the control unit 22.

  The farm work machine 2 shown in FIGS. 1 and 2 shows, as an example, a paddy machine 80 that performs a padding operation. The wrinkle coater 80 has a mounting portion 82 in the front, and has a support member 71 and a mounting member 72 in the mounting portion 82. The support member 71 is provided on the upper portion of the mounting portion 82 at a position that is the center of the left and right sides of the tractor 1, and the mounting member 72 is provided on the left and right lower portions of the mounting portion 82 so as to protrude forward. In addition, the work machine side connecting portion 30 described above is attached in front of the mounting portion 82.

  PTO power from the tractor 1 is input to the hull coater 80 through a joint (not shown). The input power is sent to the hulling work unit 85 via a transmission mechanism in the intermediate frame 83 that connects the mounting part 82 and the hulling work part 85 or a joint below the intermediate frame 83. The padding work unit 85 performs pre-processing in the pre-processing unit 86, and sends the soil of the old paddle to the disk unit 88 which is a paddle forming unit by the rotation of the tilling unit 87 (having the tilling claws). This is a configuration for forming into a new bowl shape. Further, in the state of FIG. 1, the tractor 1 is advanced to perform the smearing operation. After the operation, the first cylinder 91 is contracted to rotate the intermediate frame 83 and the smearing operation portion 85 with respect to the mounting portion 82. It can be set in the retracted state by offsetting the haze application unit 85 to the center. Further, by extending the second cylinder 92 from the retracted state, the glazing operation portion 85 is rotated with respect to the intermediate frame 83 to enable a return operation by a reverse operation. This state is shown in FIG.

  FIG. 4: shows the top view in the state at the time of the return operation | work of Example 1 of the agricultural working machine of this invention. When returning work comes to the end of the field, it is not possible to form a ridge by the length of the tractor 1. For this reason, the first cylinder 91 and the second cylinder 92 are operated to obtain the state shown in FIG. Here, the tractor is reversely moved, and the tractor 1 is backed at the end of the field to perform the reverse operation. At this time, the arrangement order of the pre-processing unit 86, the tilling unit 87, and the disk unit 88 is reversed as compared with the forward operation in FIG. 1, and the disk unit 88, the tilling unit 87, and the pre-processing unit 86 from the front direction (tractor 1 side). It becomes the order of.

  Here, in the coater 80, the coater main body 81 corresponding to the above-described main body 60 includes a mounting unit 82, an intermediate frame 83, a coater working unit 85 (a preprocessing unit 86, a tilling unit 87, a disk unit). 88), a first cylinder 91 and a second cylinder 92 are included. The receiving unit 21, the control unit 22, and the work posture detection unit 23 are provided on the mounting unit 82, and the work state detection unit 24 and the movement detection unit 25 are illustrated as being provided on the intermediate frame 83. . The actuator 26 corresponds to the motor 41, the first cylinder 91, and the second cylinder 92.

  FIG. 5: shows the expanded side view of the attitude | position adjustment part 40 in Example 1 of the agricultural working machine of this invention. FIG. 6 is an assembly explanatory diagram of the posture adjustment unit 40 in the first embodiment of the agricultural machine according to the present invention.

  The posture adjustment unit 40 includes a motor 41, a motor cover 42, a relay 43, a motor mounting member 44, a rotation stopper plate 45, a first rotation shaft 46, a mounting shaft 47, a male screw cover 48, a male screw member 49, a female screw member 50, It has two rotating shafts 51 and the like. The posture adjustment unit 40 rotates the male screw member 49 connected to the motor 41 by rotating the motor 41 provided on the rear side (farm work machine 2 side) than the mounting portion 71c of the support member 71. The length between the attachments is changed by moving the female screw member 50 connected to the screw.

  The first rotation shaft 46 is rotatably inserted into attachment holes that form attachment portions 72b respectively provided so as to penetrate the two parallel plate portions 71a of the support member 71 in the left-right direction. The first rotation shaft 46 has an insertion hole 46a at the center. Further, the first rotating shaft 46 is coupled to the retaining ring 52 outside the two plate portions 71a to prevent the both sides from coming off. Furthermore, the first rotation shaft 46 is inserted into a first hole 45 a formed on the front side of the rotation stopper plate 45 at both outer ends. On the rear side of the rotation stop plate 45, a second hole 45 b is provided, and a screw 54 is passed through the second hole 45 b to be fixed to the boss portion 44 c of the motor attachment member 44 disposed between the two rotation stop plates 45. Has been. The boss portion 44c has a hole 44d. A bush 58 is attached to the boss portion 44c, and an attachment shaft 47 passes through the inside. The boss portion 44c and the attachment portion 44a of the motor attachment member 44 are formed via a coupling portion 44b. The attachment portion 44a positions the motor 41 in the motor cover 42 and the motor cover 42 is fixed. Has been. The motor cover 42 covers the motor 41, and a relay 43 is fixed to the rear part.

  The motor rotation shaft 41 a output via the speed reduction mechanism of the motor 41 is attached to the motor attachment hole 47 a provided on one of the attachment shafts 47 via the key 55. The other of the attachment shafts 47 has a male screw member attachment hole 47b. The mounting shaft 49b provided on one side of the male screw member 49 passes through the insertion hole 46a of the first rotation shaft 46 and is inserted into the male screw member mounting hole 47b of the mounting shaft 47, and is also rolled by the roll pin 53 (of the mounting shaft 47). Both the roll pin hole 47c and the roll pin hole 49c of the male screw member 49 are fixed together. The other of the male screw members 49 is a male screw portion 49a, and is screw-connected to the female screw portion 50a provided on one side of the female screw member 50. The other side of the female screw member 50 is, for example, a pipe-shaped attachment portion 50b formed in the left-right direction, and the second rotation shaft 51 is rotatably attached thereto. The second rotation shaft 51 is rotatably attached to an attachment hole that forms the upper attachment portion 33 of the work machine side connection portion 30, and is prevented from being detached by a retaining ring or the like. A stopper 49d is provided in the middle of the attachment shaft 49b of the male screw member 49, and an attachment end portion 48a provided at one end of the male screw cover 48 and having a hole in the center is inserted and locked therein. Then, the male screw portion 49 a of the male screw member 49 is covered with the main body portion 48 b of the male screw cover 48.

  Thus, when the motor 41 is rotated via the relay 43 under the control of the control unit 22, the motor rotation shaft 41a, the mounting shaft 47, and the male screw member 49 are rotated together. On the other hand, since the female screw member 50 is attached to the upper attachment portion 33 of the work machine side connection portion 30, it does not rotate. For this reason, the position of the internal thread member 50 with respect to the external thread member 49 can be changed through the engagement with a screw. Further, the rotation of the motor 41 itself is prevented via the motor cover 42, the motor attachment member 44, the rotation stop plate 45, the first rotation shaft 46, and the support member 71.

  FIG. 7: shows the side view at the time of rearranging the attitude | position adjustment part in Example 1 of the agricultural working machine of this invention to a manual type. The posture adjustment unit 40 described above with reference to FIGS. 5 and 6 can be manually reconfigured using many parts in common. This enables a product supplied manually to be replaced with the posture adjustment unit 40 of the present invention at a low cost.

  Specifically, the motor 41, the motor cover 42, the relay 43, the motor mounting member 44, the rotation stop plate 45, and the mounting shaft 47 are removed from the attitude adjustment unit 40 of FIGS. This removal can be performed by removing the screw 54 of the rotation stopper plate 45 and the roll pin 53 of the mounting shaft 47. Then, the boss portion 56a of the adjustment handle 56 is inserted into the mounting shaft 49b of the male screw member 49, and is passed by the roll pin 53 (through the roll pin hole 49c provided in the male screw member 49 and the boss portion 56a of the adjustment handle 56. To fix). Furthermore, the fixing nut 57 is fixed to a screw portion 49e provided at the tip of the mounting shaft 49b, so that a reliable mounting is possible.

  When the operator turns the handle portion 56c of the adjustment handle 56, the male screw member 49 rotates with respect to the female screw member 50, and the length between attachments (adjustment of the working posture) can be manually adjusted.

  FIG. 8: shows the front view of the operation box 10 in Example 1 of the agricultural machine of this invention. An operation unit 11 is provided on the surface of the operation box 10, and the operation unit 11 includes a power switch 11a, a front work switch 11b, a storage switch 11c, a rear work switch 11d, a forward tilt switch 11e, a rear tilt switch 11f, and a standard work. Posture switch 11g, automatic posture adjustment switch 11h, first arbitrary work posture switch 11i, second arbitrary work posture switch 11j, third arbitrary work posture switch 11k, power supply display 11p, inoperable display 11q, operable display 11r Has been. These switches can employ push button switches. The transmission unit 12 is built in the operation box 10.

  The power switch 11a is a switch that turns on the power of the operation box 10. The power may be turned on by pressing for a certain time. Press again to turn the power off.

  The pre-work switch 11b is a switch that switches to the forward work position shown in FIG. For example, when this switch is pressed, the first cylinder 91 can be extended to the state shown in FIG.

  The storage switch 11c is a switch that puts the haze application unit 85 into the storage state. For example, when this switch is pressed, the first cylinder 91 is contracted if the forward operation position is shown in FIG. 1, and the second cylinder 92 is contracted if the return state (reverse operation position) is shown in FIG. The storage state can be established.

  The reverse work switch 11d is a switch for setting the reverse work position shown in FIG. For example, when this switch is pressed, the second cylinder 92 can be extended to the state shown in FIG. 4 in the retracted state.

  The forward tilt switch 11e is a switch for causing the motor 41 to act to tilt the wrinkle coater body 81 forward. For example, the motor 41 is operated in a direction that shortens the posture adjustment unit 40 only while the switch is pressed. Thereby, the wrinkle coater main body 81 can be rotated in a direction inclined about the central axis X toward the front side.

  The backward tilt switch 11f is a switch for causing the motor 41 to act so as to tilt the hull coater main body 81 backward. For example, the motor 41 is operated in a direction in which the posture adjustment unit 40 becomes longer only while this switch is pressed. Thereby, the wrinkle coater main body 81 can be rotated in a direction inclined about the central axis X toward the rear side.

  The standard work posture switch 11g is a switch for setting a standard posture described later.

  The automatic posture adjustment switch 11h is a switch for performing automatic posture adjustment described later.

  The first arbitrary work posture switch 11i, the second arbitrary work posture switch 11j, and the third arbitrary work posture switch 11k are switches for setting an arbitrary work posture described later.

  The setting switch 11m is a switch provided as necessary to set an arbitrary work posture corresponding to each of the first arbitrary work posture switch 11i, the second arbitrary work posture switch 11j, and the third arbitrary work posture switch 11k.

  The power display 11p is a display unit that informs whether the power is on or off, and can be informed by turning on / off the LED or changing the color.

  The operable display 11r and the inoperable display 11q notify whether there is an operable state from the operation box 10 by turning on / off LEDs, changing colors, or the like.

  FIG. 9 shows an overall flowchart of posture adjustment control in the first embodiment of the agricultural machine according to the present invention. The processing here is performed by the control unit 22. Whether or not there is a switch operation is determined by whether or not a signal is received from the operation box 10 by a switch operation.

  First, when the power switch 11a of the operation box 10 is pressed, the power is turned on to start up the system, and the other switches are not turned on (S101 to S105). The power source here can be the power source of the operation box 10 or the control unit 22. If the switch is operated after the power is turned on (S106), if the switch is the power switch 11a, the power is turned off again (S107, S115). The process proceeds to S108.

  In S108, input determination 2 is performed, and if it is an actuator drive switch, the operated switch operation is started (S108, S110), and the operation continues while the switch operation continues, and the switch operation continues. Is stopped, the operated switch operation is interrupted (S111, S112), and the process proceeds to S113. Here, the actuator drive switch is a switch for driving the actuator. In the case of the operation box 10 described in FIG. 8, the front work switch 11b, the storage switch 11c, the rear work switch 11d, the forward tilt switch 11e, and the rear The tilt switch 11f is applicable. Further, the switch operation can be continued, for example, while the switch is being pressed.

  If it is determined in S108 that the posture adjustment switch is selected, the process proceeds to input determination 3 in S109. Here, the posture adjustment switch is a switch for performing posture adjustment control. If the operation box 10 has been described with reference to FIG. 8, the standard work posture switch 11g, the automatic posture adjustment switch 11h, and the first arbitrary work posture switch 11i. The second arbitrary work posture switch 11j and the third arbitrary work posture switch 11k correspond to this.

  When the standard work posture switch is operated (pressed) in the input determination 3 of S109, the standard work posture processing of S200 is performed, and the automatic posture adjustment “ON / OFF” switch is operated (pressed) Performs the automatic posture adjustment process of S300, and when the arbitrary work posture switch is operated (pressed), performs the arbitrary work posture processing of S400, and proceeds to S113. These processes will be described later. In the case of the operation box 10 described with reference to FIG. 8, the standard work posture switch corresponds to the standard work posture switch 11g, and the automatic posture adjustment “ON / OFF” switch corresponds to the automatic posture adjustment switch 11h. The posture switch corresponds to the first arbitrary work posture switch 11i, the second arbitrary work posture switch 11j, and the third arbitrary work posture switch 11k.

  If there is a switch operation in S113, input determination 1 is performed (S114). If the switch is a power switch, the power supply is turned off. If any other switch, the process returns to S108.

  FIG. 10: shows the flowchart of the standard work attitude | position process in Example 1 of the agricultural machine of this invention. FIG. 11: shows the side view of the state which raised the agricultural working machine 2 in Example 1 of the agricultural working machine of this invention. FIG. 10 corresponds to the standard work posture process of S200 of FIG. 9, and the description of processes corresponding to other parts of FIG. 9 is omitted.

  First, when the operation of the standard work posture switch is selected in S109, posture detection in S201 is performed. In the state of FIG. 2 described above, the farm work machine 2 is lowered to perform the farm work. However, when the farm work is not performed, the farm work machine 2 is moved as shown in FIG. 11 to move the tractor 1 and the farm work machine 2. Lift and move. In this case, the worker can lift the agricultural machine 2 by an operation of raising the lower link 6 on the tractor 1 side. However, in this state, the agricultural machine 2 is inclined forward compared to the time of work. For this reason, if posture control at the time of working is performed in this non-working state, the posture adjusting unit 40 performs erroneous control.

  Therefore, the posture detection in S201 is determined based on whether the posture is within the working posture setting range or outside the working posture setting range. The work posture setting range is set in advance and stored in the control unit 22 or the like. Then, as shown in FIG. 2, the range of the posture assumed when the farm work machine 2 is lowered and farming is set as the work posture setting range. Further, when the farm work machine 2 is lifted as shown in FIG. 11, it is not working and is out of the work posture setting range. Here, as an example within the work posture setting range, it is forward tilt of 15 ° or less (a range on the backward tilt side from the forward tilt of 15 °) or forward tilt of 10 ° or less (a forward tilt of 10 ° is also a range on the backward tilt side). can give. This determination is made by determining the angle in the front-rear direction by detection by the work posture detection unit 23. If the posture detection in S201 is within the work posture setting range, the process proceeds to S202. If it is outside the work posture setting range, adjustment to the standard work posture is not performed until the work posture setting range is entered.

  In S202, work state detection is performed. This work state detection is to detect whether or not there is a condition that is a work state. If it is determined that the agricultural machine 2 is in the work state based on the information detected by the work state detection unit 24 described above, the process proceeds to S203. The work state detection process here is added as necessary. If this determination is made, it is not necessary to adjust to the standard working posture when not working.

  In S203, the adjustment to the standard working posture is started. The standard work posture is set in advance as a standard work posture when the farm work machine 2 is working. Here, if the standard work posture is, for example, the coater 80 of the first embodiment, 0 ° (horizontal state) can be set as the standard work posture. The adjustment to the standard work posture is performed by adjusting the length between the attachments of the posture adjustment unit 40. In the first embodiment, the motor 41 is controlled by the control unit 22.

  After starting the adjustment to the standard work posture in S203, if there is no switch operation in S204, posture detection is performed using the work posture detection unit 23 until the standard work posture is reached. The adjustment to the posture is finished (S205, S206), and the process proceeds to S113.

  On the other hand, after starting the adjustment to the standard work posture in S203, if there is a switch operation from the operation box 10 (S204), the adjustment to the standard work posture is interrupted. (S207) The input content is determined (S208), and if it is the actuator drive switch described in S108, the operated switch operation is started (S209), and the operation continues while the switch operation is continued. If the switch operation is stopped (S210), the operated switch operation is interrupted (S210, S211), and the process proceeds to S113. This is the same as S110 to S112 of FIG. If it is determined in S208 that the switch is another switch, the process directly proceeds to S113.

  In the standard work posture process, for example, the farm work machine 2 can be set to the standard work posture by the standard work posture switch 11g, so that the farm work by the farm work machine 2 can be performed in an appropriate work posture. For example, even when the work posture is changed by operating the forward tilt switch 11e or the like in the middle of the work depending on the work conditions or the like, the standard work posture switch 11g can be used to return to the standard work posture, and appropriate remote operation is possible. It becomes. In addition, by adding the work posture setting range and the work state conditions, it is possible to more accurately determine the work time and perform the standard work posture adjustment.

  FIG. 12: shows the flowchart of the automatic attitude | position adjustment process in Example 1 of the agricultural machine of this invention. FIG. 13: shows explanatory drawing at the time of the work in the agricultural field in Example 1 of the agricultural working machine of this invention. FIG. 12 corresponds to the automatic posture adjustment process of S300 of FIG. 9, and the description of the processes corresponding to other parts of FIG. 9 is omitted.

  First, when the automatic posture adjustment “ON / OFF” switch operation is selected in S109, posture detection in S301 and work state detection in S302 are performed. This is the same as the posture detection in S201 and the work state detection in S202 described in FIG. Note that it is assumed that the work state detection in S302 is performed in the automatic posture adjustment process. If it is determined by the posture detection in S301 that the agricultural machine 2 is within the work posture setting range and the work state is detected in S303, the process proceeds to S303.

  In S303, the automatic posture adjustment mode is started. If there is a switch operation after the automatic attitude adjustment mode is started, the process proceeds to S315, but if there is no switch operation in S304, the movement distance is detected in S305.

  The movement distance detection in S305 is performed by the movement detection unit 25 described above. The movement distance is detected when it is determined in the posture detection (S312) that it is within the work posture setting range, and when it is determined that the working state is detected in the work state detection (S313). The posture detection (S312) here is the same as the posture detection in S301, and the work state detection (S313) is the same as the work state detection in S302. If it is outside the work posture setting range or out of the work state during the movement distance detection, the automatic posture adjustment mode is interrupted (S314), and the automatic posture adjustment mode is terminated (S311).

  When the farm work machine 2 starts farming work on the field, the tractor 1 starts moving forward, but is initially in a state of being lowered to the ground surface of the field, and may be different from the working posture at the time of actual work. There are many (for example, it leans forward rather than an actual working posture). Then, when the tractor 1 is moved forward while performing farming work and proceeds a certain distance, a stable working posture is obtained. In the case of the paddy coater 80, when starting the work from the end of the field, the tiller 87 is rotated and the work is performed while the tiller 102 is fed to the disk 88. As shown, for example, a distance of L along the ridge 101 is required. In this movement distance detection, a distance at which a stable work posture is set is set in advance, and after determining that the distance is reached, the work posture is adjusted. The set distance can be set to 2 m or more or 3 m or more, for example, in the case of a coater.

  If it is determined in S305 that the set distance has been moved, if there is no switch operation in S306, adjustment to the standard work posture is executed in S307. The standard work posture and the adjustment method here are the same as the standard work posture described in S203 of FIG. After starting the adjustment to the standard work posture in S307, if there is no switch operation in S308, posture detection is performed using the work posture detection unit 23 until the standard work posture is reached. Is finished (S309, S310), the automatic posture adjustment mode is finished (S311), and the process proceeds to S113.

  If there is a switch operation of the operation box 10 in S304, S306, S308, the adjustment to the standard work posture is interrupted (S315), and the automatic posture adjustment mode is interrupted (S316). Then, the input content is determined (S317), and if it is the actuator drive switch described in S108, the operated switch operation is started (S318), and the operation continues while the switch operation continues ( S319) When the continuation of the switch operation is stopped, the operated switch operation is interrupted (S319, S320), and the process proceeds to S113. This is the same as S110 to S112 of FIG. If it is determined in S317 that the switch is another switch, the automatic posture adjustment mode is terminated (S311), and the process proceeds to S113.

  In the automatic posture adjustment process, the standard work posture can be set more accurately by taking into account a certain movement distance during work and then using the standard work posture.

  FIG. 14: shows the flowchart of the arbitrary work attitude | position process in Example 1 of the agricultural machine of this invention. FIG. 14 corresponds to the arbitrary work posture process of S400 of FIG. 9, and a description of processes corresponding to other parts of FIG. 9 is omitted.

  Here, the arbitrary work posture processing shown in S401 to S411 is basically the standard work posture processing shown in S201 to S211 in which the adjustment to the standard posture is changed to the adjustment to the arbitrary work posture. .

  First, when the arbitrary work posture switch operation is selected in S109, posture detection in S401 is performed. This is the same as the posture detection in S201. Next, work state detection in S402 is performed. This is the same as the work state detection in S202. The process of detecting the work state in S402 is added as necessary.

  In S403, the adjustment to the arbitrary work posture corresponding to the operated arbitrary work posture switch is started. The arbitrary work posture is set in advance by an operator as an arbitrary work posture during the work of the agricultural work machine 2. This assumes the case where the adjustment of the work posture in the front-rear direction of the agricultural work machine 2 is set separately from the standard work posture according to the conditions of the farm field. For example, in the case of the paddle coater 80, if the forward tilting side is set with respect to the standard working posture, it can be expected that the tilling portion 87 becomes deeper than the disc portion 88 and the amount of soil can be increased accordingly, which is higher than the standard working posture. If the rearward tilt side is set, it can be expected that the tillage portion 87 becomes shallower than the disc portion 88 and the amount of soil can be reduced.

  The arbitrary work posture can be set for each arbitrary work posture switch. The operation box 10 has a first arbitrary work posture switch 11i, a second arbitrary work posture switch 11j, and a third arbitrary work posture switch 11k. An arbitrary work posture can be set for each of these three switches. it can. For example, when the farming machine 2 is brought into a desired working posture by pressing the forward tilt switch 11e or the backward tilt switch 11f, for example, the first optional work posture switch 11i is pushed while pushing the setting switch 11m. The work posture can be stored in the control unit 22 or the like as the work posture adjusted when the first arbitrary work posture switch 11i is pressed. The same applies to the other arbitrary work posture switches (11j, 11k). In addition to this, after pressing the setting switch 11m to enter the setting mode, the work posture when any one of the arbitrary work posture switches (11i, 11j, 11k) is pushed is an arbitrary corresponding to the pushed arbitrary work posture switch. The configuration in which the work posture is stored, or the work posture when any arbitrary work posture switch (11i, 11j, 11k) to be stored is long pressed without providing the setting switch 11m is used as the pushed arbitrary work posture switch. It is good also as a structure memorize | stored as a corresponding arbitrary work attitude | position.

  The adjustment to the arbitrary work posture is performed by adjusting the length between the attachments of the posture adjustment unit 40. In the first embodiment, the motor 41 is controlled by the control unit 22.

  After starting the adjustment to the arbitrary work posture in S403, if there is no switch operation of the operation box 10 in S404, the posture detection is performed using the work posture detection unit 23 until the arbitrary work posture is obtained, and the arbitrary work posture is obtained. Then, the adjustment to the arbitrary work posture is finished (S405, S406), and the process proceeds to S113.

  On the other hand, the control (S407 to S411) when the switch operation of the operation box 10 is performed after the adjustment to the arbitrary work posture in S404 is started is the same as S207 to S211 in FIG.

  In the arbitrary work posture processing, a variety of posture control according to the conditions of the field and the like is made possible by setting a predetermined arbitrary work posture.

  FIG. 15: shows the flowchart of the arbitrary work attitude | position process in Example 2 of the agricultural machine of this invention. In the second embodiment, what corresponds to the arbitrary work posture processing in S400 of FIG. 9 is configured as shown in FIG. 15 instead of FIG. 14 described in the first embodiment, and other configurations are the same as those in the first embodiment. It is the same. In the second embodiment, the present invention can be applied to an agricultural machine that is mounted on a tractor that performs forward work and reverse work by changing the front-rear direction of the working unit.

  The wrinkle coater 80 can be set to the forward work position shown in FIG. 1 and the reverse work position according to the return state shown in FIG. At this time, in the forward work position of FIG. 1, the front processing unit 86, the tilling unit 87, and the disk unit 88 are arranged in this order from the front side (tractor 1 side). On the other hand, in the reverse operation position of FIG. 4, the disk portion 88, the tilling portion 87, and the pretreatment portion 86 are arranged in this order from the front side (tractor 1 side). When the angle of the huller body 81 is changed with respect to the work machine side connecting part 30, the working posture of the tillage part 87 with respect to the disk part 88 is changed between the forward work position and the reverse work position. Become. For this reason, in the second embodiment, a process of reversing the work posture at the reverse work position with a forward / backward inclination with respect to the forward work position is performed, and the work posture is substantially the same as or close to the forward work direction of the coater 80. It is possible to carry out the lacquering work.

  First, when the arbitrary work posture switch operation is selected in S109, posture detection in S501 is performed. This is the same as the posture detection in S401. Next, the work state is detected in S502. This is the same as the work state detection in S402. The process of detecting the work state in S502 is added as necessary.

  In step S503, the working unit position is detected. In this case, a work unit position detection unit is provided on the side of the coater 80, and it is determined whether the coater 80 is in the forward work position or the reverse work position based on the information. Examples of the working unit position detection unit include a limit switch and a potentiometer.

  If it is determined in S503 that the position is the forward work position, the processes in S504 to S507 are the same as those in S403 to S406 in the first embodiment, and the adjustment to the arbitrary work posture corresponding to the arbitrarily set arbitrary work posture switch is performed. Do. Further, the processing of S505 and S508 to S512 when there is a switch operation in the middle is the same as S404 and S407 to S411 of the first embodiment.

  If it is determined in S503 that the current position is the reverse work position, the work posture setting value set and stored in advance in S513 is reversed forward and backward. For example, when the work posture setting value stored in correspondence with the first arbitrary work posture switch 11i is 2 ° forward tilt, the back tilt is 2 °.

  In S514, adjustment to the arbitrary work posture is performed based on the reversed work posture setting. The specific adjustment method is the same as S504 to S507, and the processing of S515 and S518 to S522 when a switch operation is performed in the middle is the same as S505 and S508 to S512.

  FIG. 16: shows the side view in Example 3 of the agricultural working machine of this invention. The third embodiment is a configuration of a wrinkle coater 80 ′ in which the posture adjustment unit 40 is replaced with the posture adjustment unit 40 ′ with respect to the first embodiment described above, and the other configurations are the same. Moreover, the same code | symbol is attached | subjected to the location same as Example 1. FIG. This configuration can also be applied to the second embodiment.

  The posture adjustment unit 40 ′ has a configuration using an electric hydraulic cylinder. One end of the electric hydraulic cylinder is rotatably attached to the upper attachment portion 33 of the work machine side connecting portion 30, and the other end of the electric hydraulic cylinder is rotatable to the attachment portion 71c of the support member 71 on the side of the coater main body 81. It is attached to. By controlling the electrohydraulic cylinder, which is the posture adjustment unit 40 ′, by the control unit 22, the working posture can be changed by changing the length between mountings (similar to the control of the motor 41 of the first embodiment). can do.

  FIG. 17: shows the top view in Example 4 of the agricultural working machine of this invention. FIG. 18 is a front view of the operation box 10 ′ and the posture adjustment operation box 15 in the embodiment 4 of the agricultural machine according to the present invention. FIG. 19: shows the block diagram in Example 4 of the agricultural working machine of this invention.

  In the fourth embodiment, instead of the operation box 10 of the first embodiment, the configuration is changed to a configuration having an operation box 10 ′ and a posture adjustment operation box 15. The following mainly describes the changed contents. The same portions as those in the first embodiment are denoted by the same reference numerals. This configuration can also be applied to the second and third embodiments.

  The operation box 10 'includes the power switch 11a, the front work switch 11b, the storage switch 11c, the rear work switch 11d, the power display 11p, the inoperable display 11q, and the operable display 11r. It is the same as the box 10 in that the transmitter 12 is built in and a signal by a switch operation can be transmitted. On the other hand, other switches are provided in the posture adjustment operation box 15.

  The posture adjustment operation box 15 is provided in the operation unit 16 with the forward tilt switch 11e, the rear tilt switch 11f, the standard work posture switch 11g, the automatic posture adjustment switch 11h, and the first feature that the operation box 10 of the first embodiment has. An arbitrary work posture switch 11i, a second arbitrary work posture switch 11j, a third arbitrary work posture switch 11k, and a setting switch 11m are provided. These can be operated in the same manner as in the first embodiment by a switch operation. The posture adjustment operation box 15 includes a power switch 16 a for turning on the power and a display unit 17. The posture adjustment operation box 15 is configured to be connected to the agricultural machine 2 side (the main body 60 side) by wire, and the power supply can also be obtained by wire connection to the battery 3.

  The display unit 17 can display, for example, seven segments using LEDs, and can display values set in the current tilt or arbitrary work posture. It is also possible to display liquid crystal or the like other than 7 segments.

  The attitude adjustment operation box 15 may include a control unit 22 ′ that performs the same control as the control unit 22 described in the first embodiment. This can be realized by a wired connection. In this case, the receiving unit 21 described in the first embodiment is built in the attitude adjustment operation box 15 and can receive an operation signal from the operation box 10 '. It is also possible to arrange the control unit 22 ′ on the farm work machine 2 side (main body unit 60 side) as in the first embodiment.

  In the fourth embodiment, since the posture adjustment switch is disposed in the posture adjustment operation box 15, the operation box 10 'can use a conventional operation box having no posture adjustment function.

  As described above, the embodiment of the present invention has been specifically described by using a coater. However, the present invention is not limited to this, and it is necessary to adjust the work posture with the farm work machine that is attached to the tractor and performs the farm work. It can be applied to all agricultural machines. In addition, a part of the configuration of each embodiment described above may be replaced with a part of the configuration of another embodiment, or may be used in combination with another configuration as necessary.

DESCRIPTION OF SYMBOLS 1 Tractor 2 Agricultural work machine 8 Tractor side connection part 10, 10 'Operation box 11g Standard work posture switch 11h Automatic posture adjustment switch 11i First arbitrary work posture switch 11j Second arbitrary work posture switch 11k Third arbitrary work posture switch 15 Posture adjustment Operation box 17 Display unit 22, 22 ′ Control unit 23 Work posture detection unit 24 Work state detection unit 25 Movement detection unit 26 Actuator 30 Work machine side connection unit 40, 40 ′ Posture adjustment unit 41 Motor 49 Male screw member 50 Female screw member 60 Main unit 61 Working unit 71 Support member 72 Mounting member 80 Coat machine 81 Coat machine main unit 82 Mounting unit 83 Intermediate frame 85 Coat operation unit 86 Pretreatment unit 87 Tilling unit 88 Disk unit

Claims (11)

Agricultural work machines that are attached to tractors and perform farm work.
A work machine side connecting part that can be attached to the tractor, a main body part having a working part connected to the work machine side connecting part so that an angle in the front-rear direction can be changed, and the work of the main body part. An attitude adjustment unit capable of changing an angle in the front-rear direction with respect to the machine-side connecting unit by operation of an actuator, a work posture detection unit for detecting a posture in the front-rear direction of the main body unit, an operation unit capable of remote operation, A control unit for controlling the actuator based on an operation signal of the operation unit and information from the work posture detection unit,
The operation unit has a standard work posture switch. The control unit operates the actuator to operate the actuator so as to set the posture of the main body to the standard work posture. The agricultural machine is characterized in that it is determined that one of the inputs is one condition and that the posture of the main body is determined to be within the work posture setting range as another condition . The agricultural machine according to claim 1,
With a working state detector
The control unit performs control to set the posture of the main body unit as a standard work posture as a condition that it is determined from the information of the work state detection unit that the agricultural machine is in a work state. Agricultural machine. Agricultural work machines that are attached to tractors and perform farm work.
A work machine side connecting part that can be attached to the tractor, a main body part having a working part connected to the work machine side connecting part so that an angle in the front-rear direction can be changed, and the work of the main body part. An attitude adjustment unit capable of changing an angle in the front-rear direction with respect to the machine-side connecting unit by operation of an actuator, a work posture detection unit for detecting a posture in the front-rear direction of the main body unit, an operation unit capable of remote operation, A control unit for controlling the actuator based on an operation signal of the operation unit and information from the work posture detection unit,
The operation unit has an optional work posture switch,
The control unit is configured to control the operation of the main body to be an arbitrary work posture by operating the actuator, and to input an operation signal by operating an arbitrary work posture switch of the operation unit as one condition. Is determined to be within the work posture setting range as another condition,
The farm work machine , wherein the arbitrary work posture can be set in advance by operating the operation unit . In the agricultural machine according to claim 3,
With a working state detector
The control unit performs the control of setting the posture of the main body unit as an arbitrary work posture, based on information obtained from the work state detection unit, determining that the agricultural machine is in a work state as one condition. Agricultural machine. Agricultural work machines that are attached to tractors and perform farm work.
A work machine side connecting part that can be attached to the tractor, a main body part having a working part connected to the work machine side connecting part so that an angle in the front-rear direction can be changed, and the work of the main body part. An attitude adjustment unit capable of changing an angle in the front-rear direction with respect to the machine-side connecting unit by operation of an actuator, a work posture detection unit for detecting a posture in the front-rear direction of the main body unit, an operation unit capable of remote operation, A control unit for controlling the actuator based on an operation signal of the operation unit and information from the work posture detection unit,
The operation unit has an optional work posture switch,
The control unit controls the operation of the main body unit by operating the actuator to perform an arbitrary work posture, and inputs an operation signal by operating an arbitrary work posture switch of the operation unit as one condition,
The arbitrary work posture can be set in advance by operating the operation unit,
The working unit has a forward working position in which the tractor is moved forward to perform agricultural work, and a reverse working position in which the direction of the working unit is reversed in the front-rear direction with respect to the forward working position and the tractor is moved backward to perform agricultural work. Can be changed,
Having a working part position detector for detecting the forward working position and the backward working position;
The control unit performs control to set the arbitrary work posture when it is determined as a forward work position based on information from the work unit position detection unit, and when it is determined as a reverse work position, the control unit is inclined forward with respect to the arbitrary work posture. A farm working machine characterized by performing control to change the work posture with the rear tilt changed . Agricultural work machines that are attached to tractors and perform farm work.
A work machine side connecting part that can be attached to the tractor, a main body part having a working part connected to the work machine side connecting part so that an angle in the front-rear direction can be changed, and the work of the main body part. An attitude adjustment unit capable of changing an angle in the front-rear direction with respect to the machine-side connecting unit by operation of an actuator, a work posture detection unit for detecting a posture in the front-rear direction of the main body unit, an operation unit capable of remote operation, A control unit for controlling the actuator based on an operation signal of the operation unit and information from the work posture detection unit,
The operation unit has an optional work posture switch,
The control unit controls the operation of the main body unit by operating the actuator to perform an arbitrary work posture, and inputs an operation signal by operating an arbitrary work posture switch of the operation unit as one condition,
The arbitrary work posture can be set in advance by operating the operation unit,
The operation unit includes a plurality of arbitrary work posture switches, and an arbitrary work posture can be set in advance for each arbitrary work posture switch . Agricultural work machines that are attached to tractors and perform farm work.
A work machine side connecting part that can be attached to the tractor, a main body part having a working part connected to the work machine side connecting part so that an angle in the front-rear direction can be changed, and the work of the main body part. A posture adjusting unit capable of changing a front-rear direction angle with respect to the machine-side connecting unit by operation of an actuator, a work posture detecting unit for detecting a front-back direction posture of the main body unit, a work state detecting unit, and a movement detecting unit; And an operation unit that can be remotely operated, and a control unit that controls the actuator based on information from the operation signal of the operation unit, the work posture detection unit, the work state detection unit, and the movement detection unit,
The operation unit has an automatic posture adjustment switch,
The control unit determines that the posture of the main body is within a work posture setting range when an operation signal is input from the operation unit by operating an automatic posture adjustment switch, and further information on the work state detection unit When the agricultural machine is determined to be in a working state, and when it is determined that the agricultural machine has moved a certain distance from the information of the movement detection unit, the working posture of the main body unit is set as a standard working posture. Agricultural working machine. In agricultural machine according to any one of claims 1 to 7,
The work implement side connecting portion and the main body portion are rotatably attached so that the horizontal direction is a central axis of rotation, and the posture adjusting portion is mounted between the work implement side connecting portion and the main body portion. Agricultural machine characterized in that it can be changed in length . The agricultural machine according to claim 8,
The farm work machine characterized in that the posture adjusting unit can change the length between the attachments by changing the screw connection position between the male screw part and the female screw part using rotation of a motor . The agricultural machine according to claim 8 ,
The farm work machine , wherein the posture adjusting unit is an electric hydraulic cylinder . In the agricultural machine according to any one of claims 1 to 10 ,
The farm machine according to claim 1, wherein the operation unit includes a forward tilt switch that tilts the main body portion forward with respect to the work machine side connection portion and a rear tilt switch that tilts the main body portion backward .

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