JP7216035B2 - 作業車両 - Google Patents
作業車両 Download PDFInfo
- Publication number
- JP7216035B2 JP7216035B2 JP2020030388A JP2020030388A JP7216035B2 JP 7216035 B2 JP7216035 B2 JP 7216035B2 JP 2020030388 A JP2020030388 A JP 2020030388A JP 2020030388 A JP2020030388 A JP 2020030388A JP 7216035 B2 JP7216035 B2 JP 7216035B2
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- oil
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- hydraulic drive
- oil temperature
- drive device
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/1006—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means the hydraulic or pneumatic means structurally belonging to the tractor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
- A01B59/06—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
- A01B59/066—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors of the type comprising at least two lower arms and one upper arm generally arranged in a triangle (e.g. three-point hitches)
- A01B59/067—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors of the type comprising at least two lower arms and one upper arm generally arranged in a triangle (e.g. three-point hitches) the lower arms being lifted or lowered by power actuator means internally incorporated in the tractor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/118—Mounting implements on power-lift linkages
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/045—Compensating for variations in viscosity or temperature
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6343—Electronic controllers using input signals representing a temperature
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7052—Single-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/68—Inputs being a function of gearing status
- F16H59/72—Inputs being a function of gearing status dependent on oil characteristics, e.g. temperature, viscosity
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Zoology (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Vehicle Body Suspensions (AREA)
- Fluid-Pressure Circuits (AREA)
Description
〔概要〕
まず、図1を参照して、本実施形態に係るトラクタ(作業車両)1の概要について説明する。図1は、トラクタ1の概要を示す図である。図1に示すように、トラクタ1は、3点リンク機構(昇降機構)30を介して作業機2と接続されており、作業機2は、3点リンク機構30により昇降可能となっている。また3点リンク機構30は、油圧式昇降装置(油圧駆動装置)15(図2)により昇降される。図1の上側は、作業機2が下げられた状態を示し、図1の下側は、作業機2が上げられた状態を示す。
次に、図2を参照してトラクタ1の要部構成について説明する。図2は、トラクタ1の要部構成を示すブロック図である。なお、上述したように、トラクタ1のトラクタとしての通常の機能は公知の技術を用いて実現可能であるので、ここでは、本発明の内容に関わる点について説明する。
次に、図5を参照して、トラクタ1が作業機2の昇降させる場合の処理の流れについて説明する。図5は、作業機2の昇降の処理の流れを示すフローチャートである。
本発明の他の実施形態について、以下に説明する。なお、説明の便宜上、上記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を繰り返さない。
次に、昇降制御部12は、「精度優先モード」となっているか否かを判断する(S202)。精度優先モードとは、作業機2を移動させる目標位置の精度を移動にかかる時間よりも優先させるモードであり、予め作業者により設定されているものである。
トラクタ1の制御ブロック(特に昇降制御部12)は、集積回路(ICチップ)等に形成された論理回路(ハードウェア)によって実現してもよいし、ソフトウェアによって実現してもよい。
2 作業機
10 記憶部
11 指示受付部
12 昇降制御部(油温取得部)
13 油温センサ
14 制御バルブ(供給弁)
15 油圧式昇降装置(油圧駆動装置)
16 油圧シリンダ
21 最大流量設定部(最大油量設定部)
22 バルブ制御部(油圧駆動装置制御部)
30 3点リンク機構(昇降機構)
31 トップリンク
32 ロアリンク
34 リフトアーム
Claims (5)
- 接続された作業機の高さおよび姿勢の少なくとも何れかを制御可能な昇降機構を備えた作業車両であって、
前記昇降機構は、油圧駆動装置により前記高さおよび前記姿勢の少なくとも何れかを制御可能なものであり、
前記油圧駆動装置に用いる油温を取得する油温取得部と、
前記油温取得部が取得した前記油温に応じて、前記油圧駆動装置の駆動に用いる油の供給量の最大値である最大油量を設定する最大油量設定部と、
前記最大油量設定部が設定した前記最大油量以下で、前記油圧駆動装置を制御する油圧駆動装置制御部と、を備え、
前記作業機を移動させる目標位置の精度を優先させる精度優先とするか、または前記作業機を目標位置まで移動させる時間を優先させる時間優先とするかを選択可能であり、
前記最大油量設定部は、
前記精度優先が選択された場合、前記油温に応じて、前記最大油量を設定することを特徴とする作業車両。 - 前記油温を検出する油温センサを前記油圧駆動装置に油を供給する供給弁の近傍に設け、前記油温取得部は、前記油温センサが検出した油温を取得することを特徴とする請求項1に記載の作業車両。
- 前記油温センサは、前記油圧駆動装置を駆動するための油圧回路内に配置されていることを特徴とする請求項2に記載の作業車両。
- 前記最大油量設定部は、前記作業機を上昇させる場合と下降させる場合とで、前記油温に対応する前記最大油量を異ならせることを特徴とする請求項1~3のいずれか1項に記載の作業車両。
- 前記最大油量設定部は、
前記時間優先が選択された場合、前記目標位置から許容可能な許容範囲を設定し、
前記油圧駆動装置制御部は、
前記精度優先が選択された場合、前記最大油量設定部が設定した前記最大油量以下で、前記油圧駆動装置を制御し、
前記時間優先が選択された場合、通常の油量で前記許容範囲内に前記作業機が移動するように前記油圧駆動装置を制御する、ことを特徴とする請求項1~4のいずれか1項に記載の作業車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020030388A JP7216035B2 (ja) | 2020-02-26 | 2020-02-26 | 作業車両 |
US17/173,227 US11730074B2 (en) | 2020-02-26 | 2021-02-11 | Work vehicle |
EP21159320.7A EP3872269A3 (en) | 2020-02-26 | 2021-02-25 | Work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020030388A JP7216035B2 (ja) | 2020-02-26 | 2020-02-26 | 作業車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021132560A JP2021132560A (ja) | 2021-09-13 |
JP7216035B2 true JP7216035B2 (ja) | 2023-01-31 |
Family
ID=74758662
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020030388A Active JP7216035B2 (ja) | 2020-02-26 | 2020-02-26 | 作業車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11730074B2 (ja) |
EP (1) | EP3872269A3 (ja) |
JP (1) | JP7216035B2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7317757B2 (ja) * | 2020-03-24 | 2023-07-31 | 株式会社クボタ | 作業車両 |
US20230295901A1 (en) * | 2022-03-15 | 2023-09-21 | Caterpillar Inc. | Controlling an implement based on determining a target position of the implement |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001169620A (ja) | 1999-12-17 | 2001-06-26 | Yanmar Agricult Equip Co Ltd | 田植機 |
JP2006340621A (ja) | 2005-06-07 | 2006-12-21 | Yanmar Co Ltd | 農作業機の耕耘制御装置 |
JP2010268755A (ja) | 2009-05-22 | 2010-12-02 | Mitsubishi Agricult Mach Co Ltd | 作業車輌の傾斜制御装置 |
WO2011027759A1 (ja) | 2009-09-03 | 2011-03-10 | 株式会社小松製作所 | 作業車両 |
US20140202566A1 (en) | 2013-01-24 | 2014-07-24 | Claas Saulgau Gmbh | Auxiliary device for an agricultural working machine |
JP2018075958A (ja) | 2016-11-09 | 2018-05-17 | 日立建機株式会社 | ハイブリッド建設機械 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH076729Y2 (ja) * | 1987-11-12 | 1995-02-22 | セイレイ工業株式会社 | 対地作業機の昇降速度制御装置 |
US10451094B2 (en) * | 2015-09-28 | 2019-10-22 | Kubota Corporation | Hydraulic system of work machine |
-
2020
- 2020-02-26 JP JP2020030388A patent/JP7216035B2/ja active Active
-
2021
- 2021-02-11 US US17/173,227 patent/US11730074B2/en active Active
- 2021-02-25 EP EP21159320.7A patent/EP3872269A3/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001169620A (ja) | 1999-12-17 | 2001-06-26 | Yanmar Agricult Equip Co Ltd | 田植機 |
JP2006340621A (ja) | 2005-06-07 | 2006-12-21 | Yanmar Co Ltd | 農作業機の耕耘制御装置 |
JP2010268755A (ja) | 2009-05-22 | 2010-12-02 | Mitsubishi Agricult Mach Co Ltd | 作業車輌の傾斜制御装置 |
WO2011027759A1 (ja) | 2009-09-03 | 2011-03-10 | 株式会社小松製作所 | 作業車両 |
US20140202566A1 (en) | 2013-01-24 | 2014-07-24 | Claas Saulgau Gmbh | Auxiliary device for an agricultural working machine |
JP2018075958A (ja) | 2016-11-09 | 2018-05-17 | 日立建機株式会社 | ハイブリッド建設機械 |
Also Published As
Publication number | Publication date |
---|---|
US11730074B2 (en) | 2023-08-22 |
JP2021132560A (ja) | 2021-09-13 |
EP3872269A3 (en) | 2021-09-08 |
EP3872269A2 (en) | 2021-09-01 |
US20210259147A1 (en) | 2021-08-26 |
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