JP7369072B2 - tractor - Google Patents

Description

The present invention relates to a tractor capable of performing plowing work.

an engine mounted on the traveling aircraft; and a rotating shaft that outputs power to a rotary tilling device that is provided on the traveling aircraft so as to be rotationally driven by the power transmitted from the engine and that is connected to the traveling aircraft so that it can be raised and lowered. Conventionally, there is a tractor including a forward/reverse switching operation means for switching the rotational direction of the rotary shaft between forward and reverse directions.

According to the tractor having this configuration, soil that has been piled up intensively in the four corners or a predetermined area of a field due to tillage work performed by driving the rotary tilling device in the forward direction can be removed by driving the rotary tilling device in the reverse direction. While it is easier to level the soil by mulching the soil, the tilling claws of rotary tillers are usually only designed to be driven in the forward direction. If it is driven, it may cause malfunctions such as breakdowns.

In order to prevent such problems, when the speed change mechanism of the rotary shaft is switched to high speed, the tractor shown in Patent Document 1 (for example, see Patent Document 1) or the A tractor shown in Patent Document 2 has been developed and is publicly known, which allows reverse drive of a rotary tiller by a forward/reverse switching operation means only under limited conditions.

According to the tractors shown in Patent Documents 1 and 2, while it is possible to reliably prevent the rotary tilling device from being driven in reverse at high speed, it is necessary to switch the rotary tilling device to a state that allows the rotary tilling device to be driven in reverse, which is troublesome. increases.

Japanese Patent Application Publication No. 10-217783

The present invention is a tractor capable of performing tillage work, which efficiently prevents a rotary tiller from being driven in reverse at high speed unintentionally, and allows the rotary tiller to be operated under appropriate conditions. An object of the present invention is to provide a tractor that can easily and quickly drive the tractor in reverse.

In order to solve the above-mentioned problems, the present invention provides a tractor capable of performing plowing work, which includes an engine mounted on a traveling body, and a rotating body such that the traveling body is rotatably driven by the power transmitted from the engine. a rotary shaft that outputs power to a rotary tilling device that is provided on the vehicle and is connected to the traveling machine so as to be able to move up and down; and a control section capable of controlling the engine rotation speed , and when it is confirmed that a starting condition, which is a predetermined condition, is satisfied, the control section is configured to perform the forward/reverse switching to control the engine rotation speed. a predetermined value or a predetermined value that is lower than a normal rotation speed, which is an engine rotation speed within a predetermined value or range when the rotary tilling device is driven in reverse rotation and the engine rotation speed is driven in forward rotation; It is characterized by switching to a low speed mode in which the engine speed is set to a low speed within a range of engine speeds.

Second, the control unit includes an elevation detection means for detecting the elevation of the rotary tiller, and a travel detection means for detecting whether or not the traveling machine is traveling and whether it is moving forward or backward, and the control unit is configured to detect whether the rotary tiller is moving or not during switching to the low speed mode. If it is confirmed that a predetermined termination condition is satisfied, the rotary tilling device is driven in normal rotation and the engine speed is switched to a normal mode in which the engine speed is set to a normal speed. After the lowering of the rotary tilling device is detected by the elevation detecting means and the forward traveling of the traveling machine body is detected by the traveling detecting means, the traveling stop of the traveling machine body is detected by the traveling detecting means. The present invention is characterized in that it is made at least part of the termination condition.

Thirdly, the control unit includes an elevation detection means for detecting elevation of the rotary tillage device, and a travel detection means for detecting whether or not the traveling body is traveling and forward/backward movement, and the control unit is configured to control the rotary tillage device in a correct manner. During switching to the normal mode in which the engine is rotated and the engine rotational speed is set to the normal rotational speed, if it is confirmed that a predetermined starting condition, which is a predetermined condition, is satisfied, the switching to the low speed mode is performed. characterized in that at least a part of the start condition is that the ascent of the rotary tilling device is detected by the ascent/descent detecting means and the backward traveling of the traveling machine is detected by the traveling detecting means. There is.

Fourthly, a mode switching operation tool capable of being turned on and off is provided, and the control section switches from the low speed mode to the normal mode, or from the low speed mode to the normal mode only when an on operation by the mode switching operation tool is detected. It is characterized in that it is configured to allow switching from the normal mode to the low speed mode.

Fifth, the vehicle is characterized in that it includes a notification means, and when the control section switches to the low speed mode, the notification means gives a notification.

The rotary tilling device is switched to a low speed mode when a predetermined condition is met, and thereby the rotary tilling device is driven in reverse and the engine speed is switched to a low speed. It is an object of the present invention to provide a tractor that can efficiently prevent the rotary tiller from being driven and can easily and quickly drive a rotary tiller in reverse under appropriate conditions.

The control section includes a lift detection means for detecting the rise and fall of the rotary tiller, and a travel detection means for detecting whether or not the traveling machine is traveling and whether it is moving forward or backward. When it is confirmed that a predetermined termination condition is satisfied, the rotary tilling device is configured to drive the rotary tiller in normal rotation and switch to a normal mode in which the engine rotation speed is set to a normal rotation speed, After the lowering of the rotary cultivating device is detected by the lifting/lowering detecting means and the forward traveling of the traveling machine body is detected by the traveling detecting means, the traveling stop of the traveling machine body is detected by the traveling detecting means; According to at least a part of the termination conditions, there is a natural flow of lowering the rotary tiller and causing the traveling body to travel forward, and then stopping the traveling body, without performing a separate switching operation. This makes it possible to smoothly and quickly switch from the low speed mode to the normal mode.

The control unit includes an elevation detection means for detecting the elevation of the rotary tillage device, and a travel detection means for detecting whether or not the traveling machine is traveling and whether it is moving forward or backward, and the control unit drives the rotary tillage device in forward rotation. During the switching to the normal mode in which the engine rotational speed is the normal rotational speed, if it is confirmed that a predetermined starting condition, which is a predetermined condition, is satisfied, the engine is configured to switch to the low-speed mode, After the ascent of the rotary tilling device has been detected by the lift detection means and the backward movement of the traveling machine body has been detected by the traveling detecting means, the traveling stop of the traveling machine body has been detected by the traveling detecting means; According to at least a part of the starting conditions, the natural flow of raising the rotary tiller and causing the traveling machine to travel backwards, and then stopping the traveling machine, without performing a separate switching operation. This makes it possible to smoothly and quickly switch from the normal mode to the low speed mode.

The controller includes a mode switching operation tool that can be turned on and off, and the control section switches from the low speed mode to the normal mode, or from the normal mode to the normal mode, only when an on operation by the mode switching tool is detected. If the rotary tiller is configured to allow switching to the low speed mode, it becomes possible to intentionally drive the rotary tiller in reverse at high speed by switching the mode switching operation tool, improving versatility. .

The rotary tiller is provided with a notification means, and when the control unit switches to the low-speed mode, according to the notification by the notification means, the rotary tiller is switched to a low-speed mode in which the rotary tiller is driven in reverse at a low speed. Since this is notified, not only is it possible to avoid unnecessary work during that time, but also it is possible to prevent the rotary tiller from being driven in reverse at a low speed unintentionally.

1 is an overall side view showing an agricultural tractor to which the present invention is applied. FIG. 3 is a plan view of the main parts showing the control section. (A) is a main part front view showing the control section, and (B) is a plan view showing the operation panel. FIG. 2 is a side view of the main parts showing the working state of the rotary tilling device. (A) is a diagram showing a working route for mulching work during plowing work, and (B) is a diagram showing a working route for mulching work after puddling work. It is a block diagram of a control part. FIG. 3 is a processing flow diagram of damming control. FIG. 12 is a processing flow diagram of swarming control according to another embodiment.

FIG. 1 is an overall side view showing an agricultural tractor to which the present invention is applied, FIG. 2 is a plan view of main parts showing a steering section, and FIG. 3(A) is a main part showing a steering section. FIG. 3(B) is a plan view showing the operation panel. This tractor, which is a type of work vehicle, has a pair of left and right front wheels 1, 1 and rear wheels 2, 2, a traveling body 3 supported by the front and rear wheels 1, 2, and a lifting link 4 connected to the rear of the traveling body 3. By driving the rotary tilling device 6 in a state where the rotary tilling device 6 is raised and lowered to the working height on the field side. , can perform field tillage work.

The traveling body 3 includes a body frame 7 supported by a traveling device consisting of a pair of left and right front wheels 1, 1 and rear wheels 2, 2 and extending in the front-rear direction, and an engine mounted and fixed on the front part of the body frame 7. (not shown) A bonnet 8 that can be opened and closed, a control section 9 placed behind the bonnet 8 and into which an operator rides, and an inverted U-shaped safety frame supported on the rear side of the control section 9. 10.

The control unit 9 includes a seat 11 on which an operator is seated, a steering handle 12 disposed in front of the seat 11 and capable of being steered around a steering axis, and a steering handle 12 disposed below the steering handle 12. A PTO speed change lever (forward/reverse switching operating means) 13 is arranged to operate the drive speed of the rotary tiller 6, and a PTO gear lever 13 is disposed directly below the steering handle 12 to operate the lifting/lowering operation of the rotary tiller 6. A work equipment lift lever (quick up lever) 14, a front panel 16 disposed in front of the steering handle 12, and a side operation panel 17 disposed on the left and right sides (right in the illustrated example) of the seat 11. and a floor step 18 formed between the steering handle 12 and the seat 11, and a brake operating tool (brake pedal) for braking the traveling aircraft 3 is provided on the floor step 18 side. 15 (see FIGS. 1 to 3(A)).

The PTO shift lever 13 is configured to be able to swing in the vertical (front and rear) direction from a state in which it swings from a neutral position to one side to the left or right by means of an H-shaped lever guide (not shown). Specifically, the PTO shift lever 13 is configured to be able to shift between a low speed position, a medium speed position, and a high speed position (1st speed, 2nd speed, and 3rd speed), thereby changing the driving speed of the PTO shaft by 3. In addition to being configured to be able to perform a speed change operation in steps, it is also configured to be able to perform a switching operation to a reverse drive position where the PTO shaft is driven in reverse.

The side operation panel 17 is provided on its front side with a main shift lever 19 that performs a traveling shift operation by swinging back and forth. A work equipment lifting lever (position control lever) 21 is provided to manually operate the work equipment. Further, a fine adjustment switch 22 for slightly raising the rotary tilling device 6 is provided on the rear end side of the work equipment lifting lever 21, and a fine adjustment switch 22 for slightly raising the rotary tilling device 6 is provided on the rear side of the main shift lever 19. A plowing depth adjustment dial 23 is arranged to set the depth at which the field is plowed (see FIG. 3(B)).

Further, on the left and right outer sides of the rear part of the side operation panel 17, there is a PTO switch 24 for turning on/off power to the rotary tilling device 6, and a PTO switch 24 for switching to a mulching mode for performing mulching control by a control section to be described later. A mode changeover switch (mode changeover operation tool) 26 is provided near the mode changeover switch 26, and a notification lamp ( A notification means) 51 is provided. Incidentally, armrests 27 are provided on the rear left and right inner sides of the side operation panel 17.

Next, the rotary tilling device will be explained based on FIG. 4. FIG. 4 is a side view of the main parts showing the working state of the rotary tilling device.

The rotary tilling device 6 is connected to the lift link 4 via a hitch mechanism 31 at the center of the front so as to be able to rise and fall, and is provided at the rear of the traveling machine body 3 so as to be able to rise and fall by expanding and contracting the lift cylinder (not shown). ing. Furthermore, the rotary tilling device 6 is connected via a universal joint to a PTO shaft 32 that protrudes rearward from the rear end side of the traveling machine body 3, so that the rotary tilling device 6 can be connected to the PTO shaft 32, which projects from the rear end side of the traveling machine body 3, through a universal joint. It is configured so that transmitted power is input.

The rotary tillage device 6 includes a rotary 35, which is a tilling work unit, including a tilling claw 34 etc. supported by a rotary shaft 33, and a vertical direction for transmitting power transmitted from the PTO shaft 32 to the tilling claw 34 side. A transmission case 36 , a side cover 37 supported on the left and right sides of the rotary 35 so as to be able to swing back and forth (up and down), and a side cover 37 disposed between the pair of left and right side covers 37 and 37 from above the rotary 35 . It has a rear cover 38 that covers the rear area (see FIG. 4).

The rotary 35 rotates (forward rotation) along the traveling direction when the traveling body 3 moves forward while being in contact with the field, in other words, the tilling claws are rotated from above at the front part of the rotary 35. The downward rotation direction (counterclockwise in the example shown in FIG. 4) is the normal rotation direction, and the rotary 35 can also be rotated in the reverse direction according to the operation of the PTO shift lever 13. It is configured as follows.

Further, the tilling claws 34 constituting the rotary 35 extend in a radial direction from the rotary shaft 33 side toward the tip side, and the tilling claws 34 are curved toward the reverse direction of the rotary 35. (See FIGS. 1 and 4).

According to this configuration, when the rotary 35 (rotary tilling device 6) is rotationally driven in the normal rotation direction while the traveling machine body 3 is traveling forward to perform tilling work in the field (see FIG. 4), the tilling claws Since the tilling claws 34 are curved in the direction of escape from the direction of insertion into the field, the tilling claws 34 are less likely to be damaged.

As described above, the rotary tillage device 6 described above is capable of plowing the soil of a field and sending the tilled soil of the field backward by driving the rotary 35 to rotate in the normal rotation direction and moving the traveling machine body 3 forward. It is possible to (serve). At this time, the soil tilled by the rotary 35 of the rotary tilling device 6 is prevented from scattering to the left and right outside of the rotary tilling device 6 by the pair of side covers 37, and is kept behind the rotary tilling device 6. The structure is such that the piled up soil can be leveled by the rear cover 38.

The above-mentioned rotary tillage device 6 can carry out soil mulching work in which the rotary tiller 35 moves while holding soil in the rotary 35 by moving forward while being driven in reverse at a predetermined timing during tilling work or after puddling work (Fig. (see 5). Thereby, the entire field can be leveled by moving the soil that tends to accumulate on the edge of the field during plowing and plowing. The details will be described later.

At this time, the rotary tilling device 6 is controlled by a control unit 50, which will be described in detail later, to perform a soil-harvesting control (low-speed rotation control) is configured to be executable. Details of the control section will also be described later.

Next, based on FIG. 5, a description will be given of an earth mulching operation during tilling operation using the rotary tillage device 6, and an earth mulching operation after the plowing operation. FIG. 5(A) is a diagram showing a work route for mulching work during plowing work, and FIG. 5(B) is a diagram showing a work route for mulching work during plowing work.

First, based on FIG. 5(A), the tilling work of a field scene using the rotary tilling device 6 will be explained. The working tractor runs forward along the ridge (field edge) toward the opposing field edge while performing tillage work using the rotary tillage device 6, and also turns around the edge of the field (as shown in the figure). In the example, the driver makes a left turn (Fig. 5 (A) 1). Thereafter, with the rotary tilling device 6 raised to the non-working position, the rotary tilling device 6 travels backward to the position at the edge of the field (tilling work restart position X) (FIG. 5(A) 2 ), then the rotary tillage device 6 is lowered to the working height and switched to reverse drive to perform soil mulching work to level the soil accumulated in the corners of the field (FIG. 5(A) 3). After the soil has been moved to a predetermined position, the traveling machine body 3 is stopped and the rotary tilling device 6 is switched to normal rotation to resume normal tilling work (see FIG. 5(A)).

When plowing is performed along the above-mentioned route, a large amount of soil from the field tends to accumulate around the corner (the plowing restart position X) by turning around and then turning back to the edge of the field. For this reason, when restarting the tilling work from the tilling work restart position X (Fig. 5 (A) 3), the rotary tilling device 6 is driven in reverse to carry out a mulching operation to send forward a large amount of soil that has accumulated at the edge of the field. By doing this, it is possible to maintain a more uniform field after plowing.

Next, based on FIG. 5(B), a description will be given of the soil mulching work after the plowing work using the rotary tilling device 6. The puddling operation using the rotary tillage device 6 is performed by stirring the soil in the water in the field (paddy field) that has been filled with water after the tilling operation when planting rice, turning it into colloidal mud, and making the field surface uniform (flattened). This work facilitates rice planting work, etc., and is carried out along the same work route as the above-mentioned plowing work.

When plowing work is performed using the rotary tillage device 6, soil tends to accumulate at the edges of the field, similar to during tilling work, so as shown in FIG. 5(B), the soil at the edges of the field is Work is being done to move the earth closer to the center.

The soil gathering work after the plowing work is carried out by driving straight ahead while rotating the rotary tilling device in the opposite direction from the starting position A on the field end side to the turning position B with the rotary tilling device 6 lowered to the working height. After carrying out the earth-harvesting work (FIG. 5 (B) 1), the rotary tilling device 6 is raised to a non-working height, and the vehicle moves backward from the turning position B to the starting position A by one step to the left and right outside. (FIG. 5 (B) 2), and then, with the rotary tilling device 6 being lowered to the working height, the rotary tilling device 6 is moved straight from the start position A to the turning position B while rotating in the reverse direction. Carry out earth-filling work (Figure 5 (B) 1). By repeating this process, it is possible to perform soil mulching work without leaving any traces of the front and rear wheels on the entire field after puddling work.

On the other hand, when a switching operation for driving the rotary tilling device 6 in the reverse direction (reverse switching operation of the PTO shift lever 13) is detected, the control section controls the The rotary 35 is driven in reverse, and the engine speed output from the engine (side drive shaft) is automatically reduced to a low rotation state (low speed mode) in which the engine speed output from the engine (side drive shaft) is reduced to a preset range from the normal state. The structure is such that it is possible to perform swarming control (low rotation control).

According to this configuration, when performing the above-mentioned earth mulling work, the driving speed of the rotary 35 in the reverse direction is also automatically switched to a low speed, so that the load on the rotary 35 (tilting claws 34) during the earth mulling work is reduced. Not only can safety be improved, but also it is possible to suppress the scattering of field mud and the like toward the operator side of the control section when the earth is moved toward the front of the rotary 35.

Further, the mulching control by the control unit 50 is for stopping the forward traveling of the traveling body 7 after the mulching work in which the engine is moved forward while being switched to a low-speed rotation state (low-speed mode) is executed. When a depressing operation of the brake operating tool is detected, the engine is automatically switched to the normal mode in which the low speed rotation state (low speed mode) is canceled, and the driving direction of the rotary tilling device 6 is also changed to the correct direction. It is configured to be able to automatically switch in the direction of rotation.

According to this configuration, the worker does not have to perform a normal rotation switching operation of the PTO speed change lever 13, but the silting control ( Since the low-speed rotation control) can be terminated, the operation procedure during the above-mentioned earth-moving work can be simplified and the work can be performed more smoothly. Hereinafter, a specific configuration of the swarming control (low rotation control) will be explained.

Next, details of the swarming control by the above-mentioned control section will be explained based on FIGS. 6 and 7. FIG. 6 is a block diagram of the control section. On the input side of the control unit 50, there is a vehicle speed sensor 41 that detects the vehicle speed of the traveling body 3, a PTO position sensor 42 that detects the operation position of the PTO gear shift lever 13, the mode changeover switch 26, and an engine switch. An engine rotation sensor 43 that detects the rotation speed, a PTO rotation sensor 44 that detects the rotation speed (rotation direction) of the PTO shaft, and a lift arm sensor (lift arm sensor) that detects the lifting position of the rotary tilling device 6 (working machine). A position detection sensor) 46 and a brake sensor 47 that detects the operating state of the brake operating tool 15 are connected.

On the output side of the control section 50, an engine rotation output means 48 for adjusting (decelerating) the rotational output (speed) of the engine, and a PTO shift output means for adjusting (shifting) the rotational output (speed) of the PTO shaft. 52, a notification buzzer (buzzer, notification means) 49 for notifying the worker, and the notification lamp (display lamp, notification means) 51 are connected.

FIG. 7 is a processing flow diagram of the swarming control. When the processing flow of the damming control is started, the control section proceeds to step S1. In step S1, the engine rotation speed is detected by the engine rotation sensor 43, and the process proceeds to step S2. In step S2, the PTO rotation sensor 44 (or the engine rotation sensor and the PTO position sensor) detects rotation information (rotation speed, rotation direction, etc.) of the PTO shaft, and the process proceeds to step S3. In step S3, the operation status of the brake operating tool is detected by the brake sensor 47, and the process proceeds to step S4. In step S4, the lift arm sensor 46 acquires the vertical position of the rotary tiller 6, and then the process proceeds to step S5.

In step S5, it is checked by the mode changeover switch 26 whether or not the control section (tractor) is switched to the mulching mode. If it is detected that the controller is in the mulching mode, the process proceeds to step S6. move on. Incidentally, if it is not detected in step S5 that the mode has been switched to the sloughing mode, then the process returns.

That is, if the mode changeover switch 26 has not switched to the mulching mode in which mulching control is executed, even if the rotary tiller 6 is driven in reverse, the engine speed will be decelerated and the engine will automatically switch to a low-speed rotation state. The structure is such that the mulch control that switches over automatically is not executed.

In step S6, the PTO shift lever 13 has already been operated to the reverse drive position by the PTO position sensor 42 and the lift arm sensor 46, and the rotary tillage device 6 has been raised and lowered to the working height for carrying out the earth-harvesting work. In other words, it is checked whether or not the earth-moving work is in progress, and if it is not detected that the earth-moving work is in progress, the process advances to step S7.

In step S7, the PTO position sensor 42 checks whether there is a shift operation of the PTO shift lever 13 to the reverse drive position, and if a shift operation of the PTO shift lever 13 to the reverse drive position is detected, step Proceed to S8.

In step S8, the PTO shaft is reversely driven based on the speed change operation of the PTO speed change lever 13, and the process proceeds to step S9. In step S9, the engine rotation output means automatically switches the engine rotation speed to a low rotation (low output) state in which the engine rotation speed is lower than normal, and the process proceeds to step S10.

That is, a shift operation is performed by an operator in which the PTO shift lever 13 drives the rotary 35 in the forward rotation from any one of the low speed position, medium speed position, high speed position, and neutral position to the reverse drive position (reverse rotation switching operation). When this is detected, the engine speed output from the engine is automatically switched to a low speed rotation state in which the engine speed is reduced from normal speed. As a result, the reverse drive speed of the rotary tilling device 6 and the backward traveling speed of the traveling machine are further suppressed during the mulching work, and the load on the rotary tilling device 6 (tilling claws 34) during the mulching work is reliably and efficiently reduced. can be reduced to

Note that when the engine is switched to a low-speed rotation state (low-speed mode), the notification buzzer 49 and the notification lamp 51 notify the operator that the engine rotation speed is decreasing due to the soil control. It is configured so that it can reliably notify that it is. This can prevent the engine speed from decelerating unintentionally by the operator.

In step S10, the presence or absence of a depression operation of the brake operating tool is confirmed by the brake sensor 47, and if the depression operation of the brake operating tool is detected, the process proceeds to step S11.

In step S11, the PTO shift output means 52 automatically switches the PTO shaft from a state in which it is driven in reverse rotation to a state in which it is driven in forward rotation, and the process proceeds to step S12. In step S12, the engine rotation output means switches to a normal mode in which the engine rotation speed is output at a normal rotation speed according to the operation position of the engine control lever. In other words, the low rotation state is released, and then the process returns.

That is, by setting the brake pedal depression operation, which is always executed at the end of the earth-moving work, as a condition for ending the low-speed rotation state (low-speed mode) of the engine, the operator does not have to operate the PTO shift lever 13. The PTO shaft can be switched to normal rotation. For this reason, the above-mentioned operating procedure at the end of the earth-moving work is reduced and simplified, and the earth-moving work can be performed more smoothly and safely. At this time, the PTO shift lever 13 may also be configured to be automatically returned to the operating position immediately before the reverse drive.

Separately from the PTO speed change lever 13, a PTO reversal switch (not shown) for starting reverse drive of the PTO shaft is provided on the control unit side, and the control unit 50 controls the , the engine is switched to a low rotational speed state, and if a depression of the front brake pedal is detected, the PTO reversal switch is automatically turned off, and the low rotational speed of the engine is canceled. It may be configured so that

Incidentally, the condition for ending the low speed rotation state (low speed mode) of the engine is changed to detecting that the traveling body 3 has stopped by the vehicle speed sensor 41 instead of whether or not the brake operating tool 15 is depressed. Also good.

Further, if the depression operation of the brake operating tool 15 is not detected in step S10, then the process returns.

Further, in step S7, if a reverse switching operation in which the PTO shift lever 13 is shifted from the operating position for driving the PTO shaft in the normal rotation to the reverse driving position is not detected, the process proceeds to step S10. In this case, the process goes through step S10 and then returns.

Similarly, if it is detected in step S6 that the rotary tillage device 6 is in the mulching operation state, the process proceeds to step S10.

Next, based on FIG. 8, another embodiment of the control by the control unit 50 will be described. In the above-mentioned swarming control (low-speed rotation control), the engine is switched to the low-speed mode on the condition that a predetermined start operation, specifically, a shift operation of the PTO shift lever 13 to the reverse drive position is detected. However, the rotary tiller 6 is configured to be driven in reverse and the engine is switched to a low speed mode automatically at the timing of the earth-filling work. It's okay.

According to this configuration, when carrying out soil mulching work during tilling work in the field scene shown in FIG. The mulching control is automatically executed at the timing when the mulching work is started, and the mulching control is automatically terminated at the timing when the mulching work is finished, so that the labor of operation by the worker is greatly reduced. Ru. Hereinafter, the flow of the swarming control in this configuration will be explained.

FIG. 8 is a processing flowchart of swarming control according to another embodiment. When the processing flow of damming control is started, the control section proceeds to step S21. In step S21, the engine rotation speed is detected by the engine rotation sensor 43, and the process proceeds to step S22. In step S22, the PTO rotation sensor 44 (or the engine rotation sensor and the PTO position sensor) detects rotation information (rotation speed, rotation direction, etc.) of the PTO shaft, and the process proceeds to step S23. In step S23, the operation status of the brake operating tool is detected by the brake sensor 47, and the process proceeds to step S24. In step S24, the lift arm sensor 46 acquires the vertical position of the rotary tiller 6, and then the process proceeds to step S25.

In step S25, it is checked by the mode changeover switch 26 whether or not the control section (tractor) is switched to the mulching mode. If it is detected that the controller is in the mulching mode, the process proceeds to step S26. move on. It should be noted that if it is not detected in step S25 that the mode has been switched to the sloughing mode, then the process returns.

That is, if the mode changeover switch 26 has not switched to the sloughing mode in which sloughing control is executed, the sloughing control that decelerates the engine speed and automatically switches to a low-speed rotation state is not executed. ing.

In step S26, the PTO shift lever 13 is operated to the reverse drive position by the vehicle speed sensor 41, the PTO position sensor 42, and the lift arm sensor 46, and the working height at which the rotary tilling device 6 performs the mulching operation is set. It is checked whether the vehicle is moving forward while being operated to raise and lower the ground, in other words, whether or not it is in the middle of burying work. If it is not detected that the burying work is in progress, the process advances to step S27. .

In step S27, the vehicle speed sensor 41 and the like determine whether the traveling machine body 3 is traveling backwards, and the lift arm sensor 46 determines whether the rotary tilling device 6 has been raised to a non-working height. If this is confirmed and the backward traveling of the traveling machine body 3 and the upward operation of the rotary tilling device 6 are detected, the process advances to step S28.

In step S28, the PTO shift output means 52 drives the PTO shaft in the reverse direction, and the process proceeds to step S29. In step S29, the engine rotation output means 48 automatically switches the engine rotation speed to a low rotation state (low speed mode) in which the engine rotation speed is lowered than normal, and the process proceeds to step S30.

That is, by detecting the backward operation of the traveling machine and the upward operation of the rotary tilling device 6 as the conditions for starting execution of the mulching control (low-speed rotation control) (see FIGS. 5(A) 2 and 5(B) 2), the PTO shaft is automatically driven in the reverse direction and the engine is switched to the low speed mode without the operator operating the PTO speed change lever 13 in the reverse direction. It is configured as follows.

At this time, in step S27, after detecting a backward operation of the traveling machine body and a rising operation of the rotary tilling device 6, as a condition for starting execution of the mulching control (low-speed rotation control), the traveling machine body 3 is stopped (or the brake is applied). (brake operation using an operating tool) may be added to the conditions.

In step S30, the presence or absence of a lowering operation of the rotary tiller 6 is confirmed by the lift arm sensor 46, and if the lowering operation of the rotary tiller 6 is detected, the process proceeds to step S31.

That is, since the rotary 35 can be automatically switched to reverse drive at the timing of moving backward while raising the rotary tilling device 6 to a non-working height, the rotary tilling device 6 can be automatically switched to reverse drive at the timing when the rotary tilling device 6 is raised to a non-working height. 6 to the working height and resume forward travel, the worker can carry out the burying work without operating the drive switch of the PTO shaft (see Figures 5 (A) and (B)). .

In step S31, the brake sensor 47 confirms whether or not the brake operating tool 15 is depressed, and if the depression operation of the brake operating tool 15 is detected, the process advances to step S32.

In step S32, the PTO shift output means 52 automatically switches the PTO shaft from a state in which it is driven in reverse rotation to a state in which it is driven in forward rotation, and the process proceeds to step S33. In step S33, the engine rotation output means 48 switches the engine rotation speed to a normal mode in which the engine rotation speed is outputted at a normal rotation speed according to the operation position of the engine control lever. In other words, the low rotation state is released and then the process returns.

That is, by setting the brake pedal depression operation, which is always executed at the end of the earth-moving work, as a condition for ending the low-speed rotation state (low-speed mode) of the engine, the operator does not have to operate the PTO shift lever 13. Since the PTO shaft can be switched to normal rotation, the above-mentioned operating procedure at the end of the mulching work can be reduced and simplified, and the mulching work can be performed more smoothly and safely.

Incidentally, the condition for ending the low speed rotation state (low speed mode) of the engine is changed to detecting that the traveling body 3 has stopped by the vehicle speed sensor 41 instead of whether or not the brake operating tool 15 is depressed. Also good.

Further, in step S31, if the depression operation of the brake operating tool is not detected, then the process returns.

Further, if the lowering operation of the rotary tilling device 6 is not detected in step 30, then the process returns.

Further, in step S27, if the backward traveling of the traveling machine and the raising operation of the rotary tilling device 6 are not detected, the process proceeds to step S30.

If it is detected in step S26 that the rotary tilling device 6 is in the mulching operation state, the process proceeds to step S31.

According to the mulching control by the control unit 50 described above, during the plowing operation (after the puddling operation), the PTO shaft is switched to reverse drive when starting the mulching operation, and the engine is switched to a low speed mode during reverse drive. The forward rotation drive switching of the PTO shaft at the end of the earth raising work can be automatically performed without the operator operating the PTO speed change lever 13.

Furthermore, in the above-described embodiment, the forward/reverse switching operation of the PTO shaft is performed by gear shifting via the shifting operation of the PTO shift lever 13; It may be constructed so that the speed can be changed by a clutch or the like, and may be operated by a switch operating tool, a dial operating tool, or the like. In this case, the PTO rotation sensor 44 may be configured to detect switching between forward and reverse directions of the PTO shaft.

3 Traveling machine body 6 Rotary tilling device 13 PTO gear shift lever (forward/reverse switching operation means)
26 Mode changeover switch (mode changeover operation tool)
32 PTO axis (rotating axis)
49 Notification buzzer (notification means)
50 Control unit 51 Notification lamp (notification means)

Claims (4)

A tractor capable of carrying out plowing work,
The engine mounted on the traveling aircraft,
a rotary shaft that outputs power to a rotary tilling device that is provided on the traveling machine body so as to be rotationally driven by the power transmitted from the engine and that is connected to the traveling machine body so as to be able to rise and fall;
Lifting detection means for detecting the lifting and lowering of the rotary tiller;
Traveling detection means for detecting whether or not the traveling aircraft is traveling and whether it is moving forward or backward;
a control unit capable of switching the rotational direction of the rotating shaft between forward and reverse directions and controlling an engine rotational speed that is the rotational speed of the engine ,
When it is confirmed that a start condition, which is a predetermined condition, is satisfied, the control unit causes the rotary tilling device to be driven in the reverse direction by the forward/reverse switching, and changes the engine speed to the rotary tilling device. Switching to a low speed mode where the engine speed is a low speed rotation speed that is a predetermined value or range of engine rotation speeds that is lower than the normal rotation speed that is a predetermined value or range of engine rotation speeds when the engine is driven in normal rotation. configured to do
During switching to the low-speed mode, if it is confirmed that a predetermined termination condition is satisfied, the control unit drives the rotary tiller in the normal rotation and changes the engine speed to normal rotation. configured to switch to normal mode with a number of
After the lowering of the rotary tilling device is detected by the lift detection means and the forward travel of the traveling machine body is detected by the traveling detecting means, the traveling stop of the traveling machine body is detected by the traveling detecting means; be at least part of the above termination conditions.
A tractor that is characterized by: A tractor capable of carrying out plowing work,
The engine mounted on the traveling aircraft,
a rotary shaft that outputs power to a rotary tilling device that is provided on the traveling machine body so as to be rotationally driven by the power transmitted from the engine and that is connected to the traveling machine body so as to be able to rise and fall;
Lifting detection means for detecting the lifting and lowering of the rotary tiller;
Traveling detection means for detecting whether or not the traveling aircraft is traveling and whether it is moving forward or backward ;
A control unit capable of switching the rotational direction of the rotating shaft between forward and reverse directions and controlling an engine rotational speed that is the rotational speed of the engine,
When it is confirmed that a start condition, which is a predetermined condition, is satisfied, the control unit causes the rotary tilling device to be driven in the reverse direction by the forward/reverse switching, and changes the engine speed to the rotary tilling device. Switching to a low speed mode where the engine speed is a low speed rotation speed that is a predetermined value or range of engine rotation speeds that is lower than the normal rotation speed that is a predetermined value or range of engine rotation speeds when the engine is driven in normal rotation. configured to do
The control unit is configured to confirm that a start condition, which is a predetermined condition, is satisfied during switching to a normal mode in which the rotary tilling device is driven in normal rotation and the engine rotation speed is set to a normal rotation speed. is configured to switch to low speed mode if
After the ascent of the rotary tilling device has been detected by the lift detection means and the backward movement of the traveling machine body has been detected by the traveling detecting means, the traveling stop of the traveling machine body has been detected by the traveling detecting means; be at least part of the starting conditions.
A tractor characterized by : Equipped with a mode switching operation tool that can be turned on and off.
The control unit is configured to allow switching from the low speed mode to the normal mode or from the normal mode to the low speed mode only when an input operation by the mode switching operation tool is detected. The tractor according to claim 1 or 2 . Equipped with notification means,
The tractor according to any one of claims 1 and 2 , wherein the control section provides notification by the notification means when switching to the low speed mode.

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