JP7249908B2 - work vehicle - Google Patents

Description

TECHNICAL FIELD The present invention relates to a working vehicle that performs puddling work.

A working vehicle is known that automatically raises a working machine to a non-working height during headland turning (see, for example, Patent Document 1). With such a work vehicle, the work machine does not need to be lifted when turning on the headland, so the operator's operational burden can be reduced.

JP 2010-163129 A

By the way, in this type of work vehicle, when performing puddling work, headland turning may be performed while the working machine is lowered from the viewpoint of work efficiency. However, if the headland turns while the work machine is lowered, the work machine may collect soil on the outer side of the turn, which may reduce work accuracy.

The present invention has been made in view of the actual situation as described above for the purpose of solving these problems. and a control section for controlling the lifting and lowering of the work machine, wherein the control section has a puddling mode that is executed during puddling work, and the control section in the puddling mode includes the A turn determination means for determining whether or not the traveling machine body is turning, and a minute rise during turning for raising the working machine by a predetermined amount within a height range where the puddling work can be continued when the traveling machine body is turning. and a control means.
According to a second aspect of the invention, there is provided the work vehicle according to the first aspect, wherein the predetermined amount is adjustable during puddling work.
Further, the invention of claim 3 is the work vehicle according to claim 1 or 2, wherein the controller in the puddling mode enables the work machine to continue the puddling work when the traveling machine body is turning. It is characterized by comprising a turning work continuation notification means for notifying that it is at a high height.

According to the invention of claim 1, the control unit in the puddling mode raises the working machine by a predetermined amount within a height range where the puddling work can be continued while the traveling body is turning, so that the puddling work can be continued. It is possible to suppress the deterioration of the work accuracy by reducing the earthing while reducing the work accuracy. In addition, compared with the case where the operator performs the minute lifting operation, the operator's operation burden can be reduced.
Further, according to the invention of claim 2, since the predetermined amount can be adjusted during the puddling work, the working accuracy can be improved by adjusting the predetermined amount appropriately according to the field conditions.
Further, according to the third aspect of the invention, the control unit in the puddling mode notifies that the working machine is at a height at which the puddling work can be continued while the traveling machine body is turning. It is possible to prevent the work machine from contacting a ridge or the like due to misidentification.

1 is a side view of a tractor according to an embodiment of the invention; FIG. 1 is a plan view of a tractor; FIG. It is the perspective view which looked at the inside of the control part from the driver's seat side. It is a block diagram which shows a control structure. FIG. 5 is an explanatory diagram showing settings and operations of automatic plowing depth control, swing-up control, and swing-time minute rise control; 4 is a flow chart showing a processing procedure of a control unit; 4 is a flow chart showing a processing procedure for confirming a work mode; FIG. 11 is a flow chart showing a processing procedure of minute rise control during turning; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. In FIGS. 1 and 2, reference numeral 1 denotes a traveling body of a tractor T (an example of a working vehicle). there is The lifting link mechanism 2 is suspended by a lift arm (not shown) provided at the rear part of the machine body, and is interlocked with the vertical rotation of the lift arm according to the hydraulic expansion and contraction operation of the lift cylinder (not shown). Lift the machine 3.

The working machine 3 is a tilling machine capable of tillage work and puddling work. a rear cover 7 connected to the rear end of the main cover 6 so as to rotate up and down according to the plowing depth of the working machine 3; and a plowing depth sensor 8 (see FIG. 4).

The traveling body 1 includes an engine mounting portion 9 on which an engine (not shown) is mounted, a transmission case 10 for shifting engine power, and a steering handle 11 (see FIG. 3), a rear wheel 13 driven to rotate by power transmitted from the transmission case 10, and a control section 14 on which a worker rides.

As shown in FIG. 3, the control unit 14 includes a driver's seat 15 on which an operator sits, a steering handle 11 described above, a main gear shift lever 16 and an auxiliary gear shift lever 17 for shifting traveling power and working power, Operating tools such as a forward/reverse switching lever 18 for switching, an engine control lever 19 for setting the engine speed, and a position lever 20 for setting the elevation position of the working machine 3 are arranged.

As shown in FIG. 4, the traveling machine body 1 is provided with a control unit 21 that realizes automatic control such as automatic tillage depth control, which will be described later. On the input side of the control unit 21, in addition to the plowing depth sensor 8 described above, there are a lift arm angle sensor 22 for detecting the vertical rotation angle of the lift arm and a front wheel turning angle sensor 23 for detecting the turning angle of the front wheels 12. , a position sensor 24 for detecting the operating position of the position lever 20, a puddling switch 25 for detecting or setting whether or not the working machine 3 is in the puddling work state, and a plowing depth for turning on/off automatic plowing depth control, which will be described later. An automatic switch 26, a turn-up switch 27 for turning on/off turn-up control, which will be described later, a depth adjustment dial 28 for setting a target plowing depth for automatic plowing depth control, and a rise amount for a micro-lifting operation, which will be described later. While the micro-lift adjustment dial 29 is connected, on the output side of the control unit 21 are a lift electromagnetic valve 30 for lifting the lift cylinder, a downward electromagnetic valve 31 for downward movement of the lift cylinder, and a swing-up state. is connected to a turn-up lamp 32 that informs of the

The control unit 21 has automatic tillage depth control, swing-up control, and swing-time minute rise control as automatic control functions realized by cooperation of hardware and software.

As shown in FIG. 5, the automatic plowing depth control is an automatic control function that is executed when the automatic plowing depth switch 26 is ON and the position lever 20 is at its lowest position. The working machine 3 is automatically raised and lowered according to the detection value of the plowing depth sensor 8 so as to maintain the depth. The automatic plowing depth control is executed in both the plowing mode in which the plowing switch 25 is turned off and the plowing mode in which the plowing switch 25 is turned on.

The turn-up control is an automatic control function that is executed when the turn-up switch 27 is ON and the position lever 20 is at its lowest position. The machine 3 is automatically raised to the highest position and the turn-up lamp 32 is flashed. In turn-up control, when the angle detected by the front wheel steering angle sensor 23 changes from the turning position to the straight-ahead position, the working machine 3 is moved to the set height (the set height of the position lever 20 or the set depth of the depth adjustment dial 28). ), and turn-up lamp 32 is turned off.

The turning minute rise control is an automatic control function that is executed when the automatic plowing depth switch 26 and the plowing switch 25 are ON and the position lever 20 is at its lowest position. When the turning position is reached, the working machine 3 is raised by a predetermined amount within a height range where the puddling work can be continued, and the turn-up lamp 32 is flashed. In addition, when the angle detected by the front wheel steering angle sensor 23 changes from the turning position to the straight position, the minute rise control during turning automatically lowers the working machine 3 to the set height (the set depth of the depth adjustment dial 28). At the same time, turn-up lamp 32 is turned off. According to such a minute rise control during turning, when the traveling machine body 1 is turning, the working machine 3 is raised by a predetermined amount within the height range where the puddling work can be continued. It is possible to suppress the deterioration of work accuracy by reducing In addition, compared with the case where the operator performs the minute lifting operation, the operator's operation burden can be reduced.

In addition, the amount of minute rise by the turning-time minute rise control can be adjusted by operating the minute rise adjustment dial 29 even during puddling work. According to such turning-time minute rise control, since the amount of minute rise can be adjusted during puddling work, the working accuracy can be improved by adjusting the amount of minute rise appropriately according to the field conditions and the like.

Further, according to the minute rise control during turning, when the traveling machine body 1 is turning, the turning-up lamp 32 blinks to notify that the working machine 3 is at a height at which the puddling work can be continued. It is possible to prevent the working machine 3 from contacting a ridge or the like due to misidentification of the height.

Next, a processing procedure of the control unit 21 that realizes the automatic control function as described above will be described with reference to FIGS. 6 to 8. FIG.

As shown in FIG. 6, after setting the initial values (S1), the control unit 21 performs subroutines such as work mode confirmation (S2), turn-up control (S3), automatic plowing depth control (S4), and turn-up control (S4). The minute rise control (S5) is repeatedly executed. Since the swing-up control and the automatic plowing depth control have little relevance to the present invention, illustration and description of the flow charts are omitted.

As shown in FIG. 7, the control unit 21 determines whether or not the work mode is the paddling mode (S21). ). By confirming the work mode in this way, even if the turn-up switch 27 is erroneously turned on during puddling work, the work machine 3 is prevented from being raised to the highest position during turning by the turn-up control. can.

As shown in FIG. 8, in the turning minute rise control, the control unit 21 first determines whether or not turning is being performed (S51: an example of turning determination means). Turning determination), after blinking the turn-up lamp 32 to notify the minute rising operation (S52: an example of work continuation notification means during turning), it is determined whether or not the minute rising adjustment dial 29 has been operated (S53). If the determination result in step S53 is NO, the control unit 21 raises the work implement 3 by the initial minute rise amount or the previously adjusted minute rise amount (S54: an example of turning minute rise control means). If the determination result in step S53 is YES, the control unit 21 acquires the set value of the fine rise adjustment dial 29 (S55), and then raises the work implement 3 using the set value as a fine rise amount (S54). . If the determination result in step S51 is NO (straight forward determination), the control unit 21 cancels (turns off) the notification by the turn-up lamp 32 (S56), cancels the minute rise, and moves the working machine 3 to the set depth. (S57).

According to the present embodiment configured as described above, the tractor T includes the traveling machine body 1, the working machine 3 connected to the rear part of the traveling machine body 1 so as to be able to move up and down, and the control unit 21 that controls the movement of the working machine 3. The control unit 21 has a puddling mode that is executed during the puddling work, and the control unit 21 in the puddling mode moves the work machine within a height range where the puddling work can be continued while the traveling body 1 is turning. 3 is raised by a predetermined amount (slightly raising operation), it is possible to reduce the amount of shoveling while continuing the puddling work, thereby suppressing deterioration in work accuracy. In addition, compared with the case where the operator performs the minute lifting operation, the operator's operation burden can be reduced.

In addition, since the amount of minute upward motion can be adjusted during the puddling work, the work accuracy can be improved by adjusting the amount to an appropriate predetermined amount according to the field conditions.

Further, the controller 21 in the puddling mode notifies that the working machine 3 is at a height at which the puddling work can be continued while the traveling machine body 1 is turning. It is possible to prevent contact with a ridge or the like.

T Tractor 1 Traveling machine body 3 Work machine 21 Control unit 23 Front wheel turning angle sensor 25 Puddling switch 29 Minute rise adjustment dial 30 Lifting electromagnetic valve 31 Lowering electromagnetic valve 32 Turn-up ramp

Claims (3)

a running body,
a working machine connected to the rear part of the traveling machine body so as to be able to move up and down;
A work vehicle comprising a control unit that controls elevation of the work machine,
The control unit has a puddling mode that is executed during puddling work,
The control unit in the puddling mode,
turning determination means for determining whether or not the traveling machine body is turning;
A working vehicle, comprising: turning-time minute rise control means for raising the working machine by a predetermined amount within a height range where the puddling work can be continued when the traveling machine body is turning. The work vehicle according to claim 1, wherein the predetermined amount is adjustable during puddling work. The controller in the puddling mode is provided with work continuation notification means during turning for informing that the working machine is at a height at which the puddling work can be continued while the traveling machine body is turning. Item 3. The work vehicle according to Item 1 or 2.

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