JP6644255B2 - Tractor - Google Patents

Description

  The present invention relates to rotation control of a rotary working machine mounted on a tractor.

  A configuration in which a rotary work machine is attached to the rear of the tractor.When the rotary work machine is raised for turning or moving during tillage work, the drive of the tillage claw is stopped and mud adhering to the tillage claw is not scattered around. The disclosed technique is described in Japanese Patent Application Laid-Open No. 2004-57151 (Patent Document 1).

JP-A-2004-57151

  In the above-described known technology, when the detection angle of the lift arm angle sensor that detects the vertical rotation angle of the lift arm that moves the rotary work machine up and down is equal to or greater than a predetermined value, it is determined that the tilling claw of the rotary work machine has risen from the field scene. However, the PTO drive shaft, which is the drive shaft of the rotary working machine, is turned off to stop the rotation of the tilling claw. However, when the field is soft and the front and rear running wheels are submerged in the field, the lift arm rotates to a predetermined angle. If the tillage claw remains in the field even when it moves, the rotation of the tillage claw is stopped, and when the vehicle travels, the tillage claw is dragged while remaining in the soil. When rotated, the tilling claw rises greatly from the field scene, and mud adhering to the tilling claw that has risen is scattered around before the rotation of the tilling claw stops.

  Therefore, an object of the present invention is to provide a tractor capable of stopping driving of a tilling claw and suppressing scattering of mud as soon as the tilling nail rises from a field scene in view of the problems of the above-described conventional apparatus. I do.

  The object of the present invention is solved by the following technical means.

The first invention is
A rotary work machine (30) having a rotary cover (31) covering the top and periphery of the tilling claw (29) is mounted so as to be able to move up and down.
The rotary cover (31) is provided so as to rotate downward in a grounded state with the rise of the rotary work machine (30), and the rotary cover (31) rotates when the rotary work machine (30) is raised. When the cover rotation sensor (33) detects that the downward rotation of the rotary cover (31) has stopped, the drive of the rotary work machine (30) is stopped,
A work mode changeover switch (52) for switching a work mode,
A lift arm (27) for raising and lowering the rotary working machine (30) by rotating;
A lift arm sensor (27S) for detecting an angle of the lift arm (27);
When starting to drive the rotary work machine (30) which is stopped with the lowering of the rotary work machine (30),
When the scraping mode is selected by the work mode changeover switch (52), the drive of the rotary work machine (30) is started when the cover rotation sensor (33) detects the grounding,
A tractor characterized in that when a mode other than the substitute scraping mode is selected, when the lift arm sensor (27S) detects a predetermined angle, the drive of the rotary working machine (30) is started.
The second invention provides
Rotation of a lift arm (27) for raising and lowering the rotary work machine (30) is controlled by a detection value of the cover rotation sensor (33) to keep the plowing depth of the plow (29) constant. At the time of control, when the cover rotation sensor (33) detects that the downward rotation has stopped after the rotary cover (31) has rotated by a predetermined angle or more, the drive of the rotary work machine (30) is stopped. 1 is a tractor according to a first aspect of the present invention.
The third present invention provides:
The lift arm sensor (27S) detects the rotation of the lift arm (27) by a predetermined angle or more and stops the drive of the rotary work machine (30). 33) The second aspect of the present invention wherein the rotary cover (31) is set to be higher than the working machine lifting height for detecting that the downward rotation of the rotary cover (31) has stopped and the rotary cover (31) has been lifted to stop driving the rotary working machine. Tractor.
The fourth invention is:
In the case where the mulching mode is selected by the work mode changeover switch (52) and mulling control for rotating the tilling claw (29) in the reverse direction is performed, the drive stop by the cover rotation sensor (33) and the lift arm sensor (27S) are performed. 3) The tractor according to the third aspect of the present invention, wherein the drive of the rotary working machine (30) is stopped at an ascending position higher than the stop due to the drive.
A first invention related to the present invention relates to a tractor in which a rotary work machine 30 in which an upper part and a periphery of a tilling claw 29 are covered with a rotary cover 31 is mounted so as to be able to move up and down. Is provided so that the rotary cover 31 is rotated downward when the rotary work machine 30 is lifted, and the cover rotation sensor 33 that detects the rotation of the rotary cover 31 when the rotary work machine 30 is lifted stops the downward rotation of the rotary cover 31 and rises. The tractor is characterized in that upon detection, the driving of the rotary work machine 30 is stopped.

A second invention related to the present invention is to control the rotation of the lift arm 27 for raising and lowering the rotary work machine 30 with the detection value of the cover rotation sensor 33 to keep the plowing depth of the tillage claw 29 constant. during control, related to the present invention, characterized in that the rotary cover 31 with a cover rotation sensor 33 is stopped upon detecting the driving of the rotary working machine 30 that lifted stands still downward rotation after a predetermined angle or more rotating The tractor according to the first invention .

According to a third invention related to the present invention, the work implement lift height at which the drive of the rotary work machine 30 is stopped by the rotation of the lift arm 27 by a predetermined angle or more, is determined by the cover rotation sensor 33 when the rotary cover 31 rotates downward. A tractor according to a second invention related to the present invention, wherein the tractor is set to be higher than the height of the work implement ascending which stops the movement and stops the drive of the rotary work implement upon detection of floating.

A fourth invention related to the present invention is that the rotary work machine 30 is set at a higher position than the drive stop by the cover rotation sensor 33 or the drive stop by the rotation of the lift arm 27 at the time of crushing control in which the tilling claw 29 is rotated in the reverse direction. A tractor according to any one of the first to third aspects of the present invention, which is characterized by stopping driving.

According to the present invention, mud splashing can be reduced by setting the detection of the ground contact by the cover during the scraping as a condition for starting the operation of the work machine.
In the first invention related to the present invention, when the tilling claw 29 rises from the field scene, the downward rotation of the rotary cover 31 stops and floats, so that when the rotary work machine 30 is lifted, the cover pivots. The sensor 33 can reliably detect that the tilling claw 29 has risen from the field scene, and stops driving the rotary work machine 30. Therefore, regardless of how much the running wheel of the tractor is submerged in the field, tilling is performed. As soon as the claw 29 rises from the field scene, the drive of the tilling claw 29 is stopped and the mud is not scattered.

In the second invention related to the present invention, at the time of plowing depth control in which the rotation of the rotary cover 31 is detected to control the plowing depth of the tilling claw 29, the cover rotation sensor 33 rotates the rotary cover 31 by a predetermined angle or more. When the rotation of the rotary work machine 30 is stopped after the downward rotation has been stopped after the movement, the drive of the rotary work machine 30 is stopped. Therefore, when the rotary work machine 30 is intentionally raised while controlling the cultivation depth, the tilling claw 29 is raised from the field scene. Is detected, the driving of the rotary work machine 30 is stopped, and the mud is not scattered.

In the third invention related to the present invention, in addition to the effect of the second invention related to the present invention, when the plowing depth control is performed, the cover rotation sensor 33 fails or the rotary cover 31 is fixed. If the rotary work machine 30 is raised to a predetermined height or more by the rotation of the lift arm 27, the driving of the tillage claw 29 is stopped, and it is safe.

In a fourth invention related to the present invention, in addition to the effects of any one of the first to third inventions related to the present invention , the tilling claw 29 is rotated in reverse to level the soil raised in the field. The mulching work may be performed in a state where the tillage claw 29 is raised high. In that case, if the rotary work machine 30 is raised higher than usual, the cultivating work is stopped, so that the mulling work can be performed without any trouble.

It is a right view of a tractor. It is a top view of a tractor. It is a power transmission path diagram. It is a control block diagram. It is a top view of a work mode change switch.

  Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. In the present specification, the left and right directions in the forward direction of the work vehicle are referred to as left and right, respectively, the forward direction is referred to as front, and the backward direction is referred to as rear.

  The tractor shown in FIGS. 1 and 2 is provided with front wheels 2 and 2 and rear wheels 3 and 3 at the front and rear portions of a traveling vehicle body 1, and uses a hydrostatic stepless continuously variable rotational power of an engine 5 mounted in a hood 22 at a front portion of the vehicle body 1. The transmission (HST) 34 and the transmission in the transmission case 4 are appropriately decelerated and transmitted to the front wheels 2, 2 and the rear wheels 3, 3.

  A steering handle 7 is supported by a handle post 6 at the center of the vehicle body 1, and a seat 9 is provided behind the steering handle 7.

  A forward / reverse lever 10 for switching the traveling direction of the vehicle body 1 between the front and rear directions is provided below the steering handle 7. When the forward / reverse lever 10 is moved forward, the vehicle body 1 moves forward, and when it is moved backward, the vehicle body 1 moves backward. A throttle lever 11 for changing the engine speed is provided on the opposite side of the forward / reverse lever 10 with the handle post 6 interposed therebetween. However, a clutch pedal 14 is arranged at the left corner of the floor 13. An emergency stop switch 12 is provided in front of the forward / reverse lever 10.

  The accelerator pedal 15 is basically used when traveling on the road. The engine speed increases in accordance with the amount of depression, and the amount of depression of the accelerator pedal 15 is detected by the accelerator pedal potentiometer. The rotation angle of the trunnion shaft of the HST 34 can be changed according to the value. The output rotation of the HST can be changed steplessly by changing the inclination angle of the swash plate according to the rotation angle of the trunnion shaft.

  The throttle lever 11 is used to change the number of revolutions of the engine. The throttle lever 11 is used at the time of work traveling, and the position is maintained even when the hand is released at the operated position.

  On the left side of the cockpit 9, a main shift lever 20 for shifting the HST 34 and a sub shift lever 21 for selecting a shift position in the transmission case 4 from among low speed, medium speed, high speed, and neutral are arranged. On its side, a PTO shift lever 23 for turning on and off the PTO shaft 19 of a working machine (mower, rotary, snowplow, etc.) mounted on the rear of the machine and for shifting is provided. A work implement link 18 for connecting the work implement 30 is provided behind the vehicle body 1.

  On the right side of the cockpit 9, a position lever 24 for raising and lowering the work machine 30, a plow depth adjustment lever 25, and the like are arranged.

  The machine frame 26 of the rotary work machine 30 is pivotally attached to the work machine link 18 at the rear of the machine body, and the lift arm 27 which rotates vertically by a work machine elevating cylinder 48 (FIG. 4) provided at the upper part of the transmission case 4 and the machine. The frame 26 is connected by a connection link 28. The rotation angle of the lift arm 27 is detected by a lift arc sensor 27S.

  The rotary work machine 30 rotates the tilling claw 29 by driving rotation of the PTO shaft 19 to cultivate the field. The upper part of the plurality of tilling claws 29 arranged laterally on the tilling shaft is covered with the upper cover 35, and the left and right sides are covered. A rotary cover 31 including a side cover 31 a and a rear back cover 31 b is pivotally supported on an upper cover 35 by a pivot shaft 32. The lower end of the back cover 31b is in contact with the field scene to prevent the earth from scattering backward. Further, the vertical rotation of the rotary cover 31 is detected by a cover rotation angle sensor 33 provided near the pivot shaft 32. Numeral 34 denotes a damper for reducing the rotation speed of the rotary cover 31.

  A power transmission mechanism from the engine 5 to the front wheels 2, 2 and the rear wheels 3, 3 and the PTO shaft 19 will be described with reference to FIG.

  The rotational power of the engine 5 is transmitted from the HST input shaft 37 to the HST 34. Further, the hydraulic pump 34a is operated by the power introduced from the HST input shaft 37, and pressure oil corresponding to the inclination angle of the swash plate provided on the hydraulic pump 34a is supplied from the hydraulic closed circuit 34b to the hydraulic motor 34c, The traveling output shaft 38 is driven by the hydraulic motor 34c to transmit power to the meshing transmission 39, and the rotation of the transmission shaft 40 drives the rear wheel 3 via the differential device 41.

  On the other hand, the power input from the HST input shaft 37 to the variable displacement hydraulic pump 34a is transmitted from the pump output shaft 42 via a PTO hydraulic clutch 43 which is a wet multi-plate clutch to a PTO transmission 45 connected to a PTO intermediate shaft 44. To the PTO shaft 19.

  Further, the front wheels 2 are driven via the front wheel speed increasing device 47 by the rotation of the front wheel output shaft 46 which is branched and transmitted from the transmission 39.

  FIG. 4 is a block diagram of the automatic control, and the flow of the control signal is as follows.

  On the input side of the control device 50 built in the tractor of this embodiment, the rotation angle of the lift arm 27 is input as the ascending position of the rotary working machine 30 from the lift arm sensor 27S, The rotation angle of the rotary cover 31 is input, the respective shift positions are input from the main shift lever position sensor 20S, the auxiliary shift lever position sensor 21S, and the PTO shift lever position sensor 23S, and the traveling speed is input from the vehicle speed sensor 49, The position on the map of the tractor is input from the GPS receiver 54, the trunnion position of the HST 34 is input from the trunnion position detection sensor 55, and The switching position is input.

  As a control signal output from the control device 50, a control signal is output to the forward solenoid 34FS and the reverse solenoid 34BS of the HST operation valve 34V, and the trunnion shaft operating cylinder 34S is controlled.

  Further, a control signal is output to the main lifting solenoid 30US and the main lowering solenoid 30DS of the work implement lift valve 30V, and the work implement lift cylinder 48 is controlled.

  Further, a control signal is output to the PTO clutch solenoid 43S, and the PTO hydraulic clutch 43 is on / off controlled.

  FIG. 5 shows a work mode changeover switch 52, which can be switched to road running, 4WD, sticking work, tilling work, and mulching work.

  When traveling on the road, the rotary work machine 30 is moved up at the highest speed while the rotary work machine 30 is moved up at the highest speed. However, in the case of 4WD, discerning work and tilling work, the rotary work is performed under the condition that the cultivation depth control mode switch 51 is switched to the cultivation depth control mode. The tilling claw 29 is rotated by lowering the machine 30, but the rotary work machine 30 is raised when turning or moving a short distance. When the rotary working machine 30 moves upward, the tilling claw 29 first rises from the field scene. This rising is detected by a cover rotation angle sensor 33 that detects the rotation of the rotary cover 31, and the tilling claw 29 is lifted from the field. When the rotation of the rotary cover 31 is detected to stop rising downward from the surface, the control output is output to the PTO clutch solenoid 43S to disengage the PTO hydraulic clutch 43, thereby stopping the drive of the PTO shaft 19, and the tilling claw. The rotation of 29 is stopped so that the mud adhering to the tilling nail 29 is not scattered in the field.

  Furthermore, when the rotary working machine 30 is raised, the rotation of the lift arm 27 is detected by the lift arm sensor 27S, and when the rotary work machine 30 is raised to a predetermined angle or more, the PTO clutch solenoid 43S outputs a control to disconnect the PTO hydraulic clutch 43 again. If the rotary cover 31 is fixed or the cover rotation angle sensor 33 is out of order, the control for disconnecting the PTO hydraulic clutch 43 becomes effective.

  When the work mode changeover switch 52 is switched to the burying, the PTO hydraulic clutch 43 is disengaged at the second detection position where the lift arm 27 is rotated more than the angle at which the PTO hydraulic clutch 43 is disengaged. By doing so, it is possible to carry out a soil collecting operation in which the tillage claw 29 is rotated at a high position.

  When the rotary work machine 30 descends after turning or short-distance movement, when the lift arm sensor 27S detects a predetermined angle immediately before the tilling claw 29 comes into contact with the ground, the PTO hydraulic clutch 43 is switched to ON and the tilling claw 29 is turned on. By starting the drive, the tilling starts immediately. Further, when the tillage depth control mode changeover switch 51 is in the scraping mode, the cover rotation angle sensor 33 detects the grounding of the rotary cover 31 and starts driving the tillage claw 29, so that mud splash can be reduced. .

  The timing at which the PTO hydraulic clutch 43 is switched to ON is early if the transmission position of the transmission lever position sensor 20S or the vehicle speed sensor 49 is a high transmission position or a high speed, and if the transmission position is a low transmission position or a low speed, it is delayed. The vehicle speed may be determined based on the trunnion position of the trunnion position detection sensor 55.

  In addition, when the PTO shift lever position sensor 23S detects the reverse rotation position, the timing of switching the PTO hydraulic clutch 43 to the ON position is made faster than usual, thereby making it possible to satisfactorily carry out the soil closing work for leveling the raised soil.

  If the sub-shift lever position sensor 21S is in the high-speed position and / or the work mode changeover switch 52 is traveling on the road and the vehicle speed sensor 49 indicates high-speed traveling, the vehicle is traveling on the road. Even at such an angle, the PTO hydraulic clutch 43 is not engaged. However, even in this case, when the lift arm 27 turns on the PTO connection mode switch 53 at a predetermined angle or less, the PTO hydraulic clutch 43 can be turned on.

  When the PTO connection mode switch 53 is turned on, the engagement of the PTO hydraulic clutch 43 is maintained until the engine 5 is stopped. In this case, when the engine 5 is restarted and the PTO connection mode switch 53 is turned on, the PTO hydraulic clutch 43 is engaged.

  Alternatively, the PTO hydraulic clutch 43 may not be able to be engaged when the position of the tractor detected by the GPS receiver 54 on the map is outside the field or when the moving speed measured by the GPS receiver 54 is high. Even in this case, it is preferable to provide a switch that can turn on the PTO hydraulic clutch 43 for maintenance and inspection.

27 lift arm 29 tillage claw 30 rotary work machine 31 rotary cover 33 cover rotation angle sensor

Claims (4)

A rotary work machine (30) having a rotary cover (31) covering the top and periphery of the tilling claw (29) is mounted so as to be able to move up and down.
The rotary cover (31) is provided so as to rotate downward in a grounded state with the rise of the rotary work machine (30), and the rotary cover (31) rotates when the rotary work machine (30) is raised. When the cover rotation sensor (33) detects that the downward rotation of the rotary cover (31) has stopped, the drive of the rotary work machine (30) is stopped,
A work mode changeover switch (52) for switching a work mode,
A lift arm (27) for raising and lowering the rotary working machine (30) by rotating;
A lift arm sensor (27S) for detecting an angle of the lift arm (27);
When starting to drive the rotary work machine (30) which is stopped with the lowering of the rotary work machine (30),
When the scraping mode is selected by the work mode changeover switch (52), the drive of the rotary work machine (30) is started when the cover rotation sensor (33) detects the grounding,
When a mode other than the substitute scraping mode is selected, when the lift arm sensor (27S) detects a predetermined angle, driving of the rotary working machine (30) is started . Rotation of a lift arm (27) for raising and lowering the rotary work machine (30) is controlled by a detection value of the cover rotation sensor (33) to keep the plowing depth of the plow (29) constant. At the time of control, when the cover rotation sensor (33) detects that the downward rotation has stopped after the rotary cover (31) has rotated by a predetermined angle or more, the drive of the rotary work machine (30) is stopped. The tractor according to claim 1, characterized in that: The lift arm sensor (27S) detects the rotation of the lift arm (27) by a predetermined angle or more, and stops the drive of the rotary work machine (30). 33. The apparatus according to claim 2, wherein a height of the work implement is set to be higher than a height at which the rotary work machine stops driving the rotary work machine upon detecting that the rotary cover has stopped rotating downward and has come up. Tractor. In the case where the mulching mode is selected by the work mode changeover switch (52) and mulling control for rotating the tilling claw (29) in the reverse direction is performed, the drive stop by the cover rotation sensor (33) and the lift arm sensor (27S) are performed. 4) The tractor according to claim 3 , wherein the drive of the rotary working machine (30) is stopped at a higher position than when the drive is stopped.

Images