JPH0811003B2 - Straight direction control device for mobile agricultural machinery - Google Patents

Description

TECHNICAL FIELD The present invention relates to a straight-ahead direction control device for a mobile agricultural machine, and can be used for a seedling planting machine, a combine harvester, and other tractor working machines.

[Conventional technology and its problems]

Automatic straight-ahead direction control, which is provided with a direction sensor to control the straight-ahead direction of the vehicle body, is necessary only when the work device is in a working state. Dangerous when done. For this reason, the present invention intends to execute the automatic straight-ahead direction control only when the work device is reliably in the work posture position.

[Means for solving problems]

In order to solve the above-mentioned problems of the prior art, the present invention is a mobile agricultural machine in which a working device 1 is mounted on a traveling vehicle body 3 and a work clutch 18 is provided on a power transmission path from the traveling vehicle body 3 to the working device 1. This is a straight-ahead direction control device for a mobile agricultural machine, which is provided with control means for executing the straight-ahead direction control of the traveling vehicle body 3 by the direction sensor 5 only when the work clutch 18 is turned on when the switch 6 is turned on. .

[Effects of the Invention]

The work is performed by the work device 1 by the traveling of the traveling vehicle body 3. In the automatic straight traveling direction control, the traveling direction is detected by the direction sensor 5, the steering output is controlled, and the straight traveling steering is maintained. The straight-ahead direction control is executed by turning on the automatic straight-ahead switch 6, but even if the automatic straight-ahead switch 6 is turned on, it is not executed when the work clutch 18 is not engaged and operated.

As described above, according to the present invention, the straight traveling direction control of the traveling vehicle body 3 by the direction sensor 5 is executed only when the work clutch 18 is engaged and operated when the automatic straight traveling switch 6 is turned on. Will be executed only when the vehicle is in a working state, and the danger of automatic straight direction control being performed during non-working such as when driving on general roads is avoided, and safe and proper work can be performed. Therefore, the problems of the prior art can be solved with a simple configuration.

〔Example〕

In the illustrated example, when a seedling planting machine is taken as an example of a mobile agricultural machine, the four-wheeled traveling vehicle body 3 has a front wheel 7 and a rear wheel 8 which can be steered by a steering handle 17, and is provided under a cockpit 9. These wheels 7 and 8 are transmitted by an engine 10, and a seedling planting device, which is a working device 1 provided with a power take-off shaft and connected to the rear side of the traveling vehicle body, is transmitted. The automatic straight switch 6 is provided on the steering wheel 17.

The lifting device for connecting the seedling planting device 1 is a lift link 11
And a hydraulic cylinder 12 that raises and lowers the lift cylinder 11 by the expansion and contraction of the hydraulic cylinder 12 so as to raise and lower the seedling planting apparatus to a non-working posture position and to lower it to a working posture position. The control is configured. The lift sensor 4 is configured to detect the vertical angle of the lift link 11 with respect to the traveling vehicle body 3 to detect the work posture position of the seedling planting device.

The seedling planting device is a seedling planting machine body 13 connected to the rear end of the lift link 11, a seedling tank 14 for storing and supplying seedlings, and a seedling planting device 15 for separating and inserting seedlings supplied from the seedling tank 14. , And a plurality of floats 16 and the like that support them and can slide vertically on the soil surface and can freely swing up and down. The floats 16 at the left and right ends are used as the ground sensor 2. The ground contact sensor 2 is pivotally supported with respect to the seedling planting machine 13 so that its front end can be vertically swung, and is in a ground contact state, that is, in a working posture position when it is within a range of a certain angle α downward from the horizontal plane. Shall be detected.

A direction sensor 5, a lift sensor 4, which controls the straight traveling direction,
By inputting the right and left ground sensors 2 and the like and turning on the automatic rectilinear movement switch 6, the left and right manipulating handles, such as the steering handle 17 or the steering clutch, are operated through the automatic rectilinear control device (CPU) having a microcomputer. The output system L and R are configured to output. In this steering output system L, R,
For example, a solenoid valve or the like is used.

The control of the straight traveling direction is based on the direction angle of the direction sensor 5 or the like, and outputs the steering output system L or R so that the detection of the direction sensor 5 is within the reference region, and the straight traveling direction of the traveling vehicle body 3 is controlled. To control.

To start the automatic straight-ahead direction control by the automatic straight-ahead switch 6, the working clutch 18 is provided on the seedling planting device or the power take-out shaft, and the automatic straight-ahead direction control is started on condition that the working clutch 18 is engaged. Also, as shown in FIG.
When the seedling planting device is lowered, the lift sensor 4 may detect the work posture position, and at the same time, the left and right ground sensors 2 may both start detecting the work posture position.

In addition, the direction sensor 5 is configured to detect the relative direction angle by performing an integrated value based on the angular velocity of the sensor and perform automatic straight-ahead direction control. When is turned ON, an alarm output 19 may be output, or the monitor lamp of the automatic straight ahead control load may be turned on within this fixed time (Fig. 5).

As shown in FIG. 6, in the relationship between the angular velocity output voltage V of the direction sensor 5 and the output time T, the time of stop is the reference level C.
As a result, a constant output in the left direction outputs aV with respect to the reference level C, and a reverse rotation outputs bV. When the areas A and B obtained by integration obtained by the voltage V and the time T are equal, the point P1 and the point P2 are the same point.

When the angular velocity is used as the direction sensor 5, a slight output voltage difference may result in a large relative azimuth difference when the integrated value is obtained in this way. Therefore, control is required until the direction sensor 5 itself stabilizes. By executing the alarm output 19 and the like when executing, it is possible to reduce the control with a large error and stabilize the control.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view, FIG. 2 is a partial side view thereof, FIG. 3 is a control block diagram, and FIGS. FIG. 6 shows an output graph of the direction sensor. In the figure, reference numeral 1 is a work device, 3 is a traveling vehicle body, 5 is a direction sensor, 6 is an automatic straight-ahead switch, and 18 is a work clutch.

Claims (1)

[Claims] 1. A working device 1 is mounted on a traveling vehicle body 3, and a working clutch 18 is provided on a power transmission path from the traveling vehicle body 3 to the working device 1.
In the mobile agricultural machine provided with, the control means for executing the straight traveling direction control of the traveling vehicle body 3 by the direction sensor 5 is provided only when the work clutch 18 is engaged and operated when the automatic straight traveling switch 6 is turned on. Straight direction control device.