JPH09107713A - Device for connecting working machine to tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a device for connecting a working machine to a tractor, effective for decreasing a visual confirmation work and preventing misoperation and having improved labor-saving effect by generating a signal from a signal generator when a metering device detects the approach of the tractor to the working machine to a prescribed distance. SOLUTION: A tractor 1 is driven toward a stationary working machine 2. The tractor 1 is provided with a signal generator and a metering device 37 to measure the distance between the tractor 1 and the working machine 2. The signal generator generates a signal when the metering device 37 detects that the distance D between the tractor 1 and the working machine 2 reaches a prescribed distance D2 , the closest distance D1 or the approached distance D0 . The tractor is preferably further provided with a travel controller to approach the tractor 1 to the working machine 2 by the signal transmitted from the metering device 37 to detect the position of the working machine 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for a tractor in which a working device such as a rotary device or a plow is detachably connected to a front portion or a rear portion.

[0002]

2. Description of the Related Art A three-point link composed of a pair of left and right lower links and a single top link is provided so as to project rearward or forward from the body of a tractor, and a pin of a working machine is attached to the projecting end of the tractor. Work equipment is connected to (manual type). Also, it is called a quick hitch or auto hitch, and a triangular mounting frame is provided at the projecting end of the three-point link, and the working device is brought into contact with a stationary working device (or the mounting frame is slightly moved after the contact is made). When lifted), the work equipment is automatically connected to the mounting frame.

[0003]

When connecting the working equipment to the tractor, the operator lowers the end of the link, which has been lifted by the lift arm for safety, so that the longitudinal axis of the working equipment acts in the longitudinal direction of the tractor. Align the axes and decelerate them so that they approach each other. Here, when the work equipment is connected to the rear portion of the tractor, the tractor is moved backward, so that the driving posture is bad and there is a possibility that an erroneous operation may be performed due to a distance between the two.

According to the present invention, when the tractor is brought close to a stationary work device, a signal is issued to the operator to prompt the operator to operate when the distance between them becomes a predetermined distance, and the operator visually recognizes the distance between them. It is intended to reduce the work and prevent an erroneous operation.

[0005]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a working machine 2 in which a tractor 1 is stationary.
And a signal generator 39 for measuring the distance between the tractor 1 and the work equipment 2 provided so as to travel toward
Is provided on the tractor 1, and when the measuring device 37 measures that the distance D between the tractor 1 and the work equipment 2 reaches the predetermined fixed distance D ₂ , the close distance D ₁ and the approach distance D ₀ , the signal generator 39 Is a connection device of a working machine in a tractor provided so as to generate a signal.

[0006]

When the tractor 1 configured as described above is advanced toward the stationary work equipment 2, the distance D between the two is fixed to a fixed distance D ₂ , a close distance D ₁ and an approach distance D _0. Signal generator 39 emits a signal. The operator lowers the lift arm 18 at the first signal to lower the end of the link 17 to a predetermined position, decelerates the vehicle speed of the tractor 1 at the next signal, and stops the traveling of the tractor 1 at the third signal.

[0007]

[Effect] To connect the work equipment 2 to the tractor 1, the former is advanced toward the stationary latter.
The operator driving the vehicle visually recognizes the constant distance D ₂ , the closest distance D ₁ and the approach distance D ₀ , lowers the lift arm 18 at each position, decelerates the vehicle speed, and stops its progress. According to the present invention, since the signal generator 39 informs that the respective positions have been reached, it is not necessary to visually recognize the respective distances D ₂ , D ₁ and D _0, and the visual inspection work is reduced. It can be expected to prevent erroneous operation for the operation.

[0008]

Next, an embodiment of the present invention will be described. FIG.
As described above, the rotary device (working equipment) 2 is detachably connected to the rear portion of the tractor 1. Note that the rotary device 2 of FIG.
It is drawn a little smaller than.

The tractor 1 is provided with a pair of front wheels 4L, 4R and rear wheels 5L, 5R in front of and behind the body 3, respectively. A steering handle 7 is provided in front of the seat 6,
When this is operated, the front wheels 4L, 4R are steered to change the traveling direction of the tractor 1. An engine is provided in the hood 8, and its rotation is transmitted to the rear wheels 5L, 5R via a clutch (not shown). When the clutch petal 9 (FIG. 3) is stepped on, the above-mentioned clutch is made to operate "disengaged". A bell crank 10 is provided in the clutch petal 9 and the operating path of the clutch. When the clutch SOL 11 (FIG. 8) is operated and oil from the pump is sent to the clutch cylinder 12, the bell crank 10 is
Rotates to disengage the clutch.

A pair of brakes 13L and 13R (FIG. 8) are provided corresponding to the rear wheels 5R and 5L, respectively, and when the half pressure brakes SOL14L and 14R (FIG. 4) are activated, the brake cylinders 15L and 15R are respectively activated. Rear wheel 5L,
When the vehicle speed of the traveling tractor 1 is decelerated by applying half braking to 5R and the full pressure brakes SOL16L and 16R operate, the respective brake cylinders 15L and 15R apply full braking to the rear wheels 5L and 5R. ing. In addition,
The brakes 13L and 13R are also operated by the operator stepping on the respective brake petals (not shown). The braking direction of the tractor 1 changes when the brakes 13L and 13R are controlled only on one side or when the left and right braking forces are different from each other.

The three-point link 17 is a pair of left and right lower links 1.
7L, 17R and a top link 17T at the upper center, and are arranged so as to project rearward from the machine body 3.
The lift arms 18L and 18R project rearward from the body 3,
The lift cylinder 20 is activated by the operation of the lift SOL19 (FIG. 8).
It is designed to rock when oil is supplied to or discharged from. The tip of each lift arm 18L, 18R and the lower link 17
The middle of L and 17R is connected by lift rods 21L and 21R, and the rear ends of the lower links 17L and 17R move up and down by the above swing of the lift arms 18L and 18R. In addition,
A rotating cylinder 22 is provided on the lift rod 21L on one side, and the lift rod 21L is configured to expand and contract when oil is supplied and discharged by the rotating SOL 22a (FIG. 17). The rotating cylinder 22 is usually provided on the right lift rod 21R, but is attached to the left rod 21L in the drawing in the drawing.

A receiving plate 24 is fixed to the upper end of a "mountain" -shaped mounting frame 23, and a hook 24a opened upward is provided on this. A pair of fixed plates 25a, 25a and rotating plates 25b, 25
The hooks 25L and 25R that open and close the rearward mouth at b are configured,
The respective fixing plates 25a, 25a are fixed to the lower end portions on both sides of the mountain-shaped mounting frame 23. When the receiving plate 24 is rotatably attached to the projecting end of the top link 17T, the respective fixing plates 25a, 25a are fixed to the projecting ends of the lower links 17L, 17R, and the lower links 17L, 17R move up and down,
The mounting frame 23 is adapted to move up and down while maintaining substantially the same posture. The cup 26 is attached to the attachment frame 28,
The input shaft 2 is attached to the tip of the output shaft (not shown) in the center.
It is designed so that the tips of 7 are engaged.

The rotary device 2 is constructed as follows. The transmission case 29L and the support plate 2 are provided on the left and right sides of the cover 28.
9R are provided, and each lower end supports both ends of the tiller shaft 30. The upper end of each of them is connected by a supporting frame 31, the input shaft 27 projects forward from this, and when the rotation of the output shaft of the tractor 1 is transmitted to this, the tilling claw 32 attached to the tilling shaft 30.
Is rotated and the field is plowed. A pair of left and right support plates 33, 33 project forward from the upper part of the support plate 31,
The tip supports both ends of the pin 34. A pair of mounting plates 35
L and 35R project forward from the left and right of the supporting frame 31, and pins 36L and 36R are fixed to the outside of the respective projecting ends.
Then, when the hook 24a is hung under the pin 34 and lifted, the front part of the rotary device 2 floats up and the pin 34a is lifted.
The pins 36L and 36R are rotated around the left side to engage with the open hooks 25L and 25R afterward, and the input shaft 27 is engaged with the output shaft in the cup 26.

When the measuring device 37, the control device 38 and the buzzer (signal generator) 39 are attached to the tractor and the tractor 1 is moving backward toward the stationary rotary device 2, the distance D between them is determined. When the measuring device 37 measures that the fixed distance D ₂ is short, the closest distance D ₁ is shorter than this, and that the hook 24a reaches the approaching distance D ₀ below the pin 34 by further approaching, the controller 38 issues a command. Then, the buzzer 39 gives an alarm. The sound quality and sound intensity of the alarm at each position can be changed and may be continuous sound.

When the operator seated in the seat 6 knows from the above-mentioned alarm that the tractor 1 has reached a certain distance D ₂ , the lift arms 18L and 18R are operated to lower the mounting frame 23 to a predetermined position. Down to the next position and the next closest distance D
_{When the} alarm indicates that ₁ has been reached, the engine speed is reduced to reduce the continuous speed, and when the alarm reaches that the final approach distance D ₀ has been reached, the clutch is disengaged and the brake 13L, 13R is operated to stop the reverse movement. Subsequently, the lift arms 18L and 18R are operated to be raised. Then, the hook 24a hangs under the pin 34 and lifts the front part of the rotary device 2, which pivots around the pin 34 and the pins 36L and 36R respectively hook 25L and 2L.
5R, its mouth is automatically closed and the cup 26
The input shaft 27 meshes with the inner output shaft.

In the manual connection device, the lower link 17 is manually operated after the reverse movement of the tractor 1 is stopped.
The rear ends of L and 17R are attached to the pins 36L and 36R, respectively, and the rear end of the top link 17T is attached to the projecting end of the support plate 33 with the pin 34. The measuring device 37 is provided with an ultrasonic wave transmitter and a receiver, and measures the time required for the sound waves reflected by the rotary device 2 (or its reflection plate) to be sent back and forth by the transmitter, and the control device 38. Can be configured to be replaced by a distance. Further, it may be constituted by a photoelectric tube, and further, a magnetic force sensor attached to the tractor 1 may measure a magnetic force of a magnet attached to the rotary device 2 and the distance between the two may be measured depending on its strength. .

When the tractor 1 reaches a certain distance D ₂ , the lift SOL 19 is operated by a command from the control device 38, the oil in the lift cylinder 20 returns to the tank, and the lift arms 18L and 18R are lowered, so that the attachment is completed. The frame 23 is configured to descend to a predetermined position. When the shortest distance D ₁ is reached, a half pressure brake SOL14L,
14R is operated, oil is sent to the brake cylinders 15L and 15R, the brakes 13L and 13R are half-braked, and the reverse speed of the tractor 1 is reduced. Further, when the approach distance D ₀ is reached, the clutch SOL11 is operated by the command of the control device 38 to send oil to the clutch cylinder 12, the clutch is “disengaged”, and the power transmission to the rear wheels 5L, 5R is cut off, and The pressure brakes SOL16L, 16R actuate, and the brake cylinders 15L, 15R fully brake the respective brakes 13L, 13R to stop the reverse movement of the tractor 1, and subsequently the lift SOL19 actuates to apply oil to the lift cylinders 20. The feed, lift arms 18L and 18R pull up the mounting frame 23, the hooks 24a lift up the pins 34, and the pins 36
The L and 36R can be configured to engage with the hooks 25L and 25R, and the output shaft 27 can be engaged with the input shaft.

As shown in FIG. 5, a push button switch 40 is provided below the hook 24a, and when the distance becomes the approach distance D ₀ ,
A part of the rotary device 2 pushes this, and the rearward movement of the tractor 1 can be stopped by the signal in the same manner as described above, and the stop device and the stop device can be provided together. As shown in FIG. 6, a force sensor 41 such as a strain gauge is provided on the top link 17T, or a contact sensor 42 such as a pressure sensitive switch is provided on the hook 24a to detect a change in load when the hook 24a is lifted. It is possible to determine whether or not the pin 34 is properly hooked on the hook 24a, and when it is not hooked, the lift arms 18L and 18R are once lowered, and then lifted again.

As shown in FIG. 7, a push button switch or other contact sensor 43 is provided on the cup 26 so that the output is outputted when the plate 44 of the rotary device 2 is pushed. Whether the input shaft 27 is engaged with the output shaft or not. Whether or not it is determined based on the output, and when not interlocked, the lift arms 18L and 18R can be once lowered and then lifted again.

FIGS. 10 and 11 show a device for assisting the operation of the steering wheel 7 performed by the operator when the tractor 1 is brought close to the work equipment 2. That is,
A transmitter 45 (or a reflector) that emits a directional wave (ultrasonic wave, light, electromagnetic wave, etc.) is provided at the tip of the work device 2, and the measuring device 37 receives this and transmits the value to the control device 38. It is like this. If this is smaller than the reference value, the control device 38 determines that the traveling direction of the tractor 1 is deviated from the axis of the working device 2 in the forward direction, and the half pressure brake SOL14L (or full pressure). Brake SOL16
L) or the half-pressure brake SOL14R (or the full-pressure brake SOL16R) is actuated, the rear wheel 5L or the rear wheel 5R is braked by the brake 13L or the brake 13R, and the traveling direction of the tractor 1 is corrected. At this time,
The rear wheels 5L and 5R can be configured to be braked in a predetermined amount according to the turning angle of the steering wheel 7.

As shown in FIGS. 12 and 14, the rotary device 2
A pair of left and right markers 46, 46 are attached to the, and the measuring device 37 of the tractor 1 is composed of an image input device 37a. Sign 4
6 and 46 have two Vs for white (A) and red (B), respectively.
Two surfaces intersecting with the letter shape and horizontal lines 46a, 46a are provided (FIG. 13). Then, the distances D ₂ , D ₁ and D ₀ are measured by the size of the image taken in by the image input device 37a, that is, the number of pixels of the images of the markers 46, 46, and the same output as described above is obtained at each point. It is designed to be performed (Fig. 1
5).

Further, the image input device 37a has white A and red B
The number of pixels is read, and according to the difference, it is determined that the longitudinal axis of the work equipment 2 is inclined to the right or left with respect to the backward direction of the tractor 1. Then, as shown in FIG. 16, the operating direction of the steering wheel 7 is instructed, and the half pressure brake SOL14L (full pressure brake SOL
16L) or a half pressure brake SOL14R (full pressure brake SOL16R).

Further, the image input device 37a is the tractor 1
The horizontal inclination of the horizontal line 46a relative to the horizontal axis is read, and the control device 38 operates the rotation SOL 22a according to the inclination, and the rotation cylinder 22 expands and contracts the lift rod 21R to change the left and right inclination of the mounting frame 23. The slope sensor provided on the mounting frame 23 (or the stroke sensor provided on the rotating cylinder 22) transmits the changed inclination to the control device 38, and when the inclinations of both are coincident with each other, the operation of the rotating SOL 22a is stopped, and the state is maintained. The working device 2 is connected to the mounting frame 23 (FIG. 17).

As shown in FIG. 18, the positions of the pins 34, 36L and 36R in the work equipment 2 are arranged at the vertices of an isosceles triangle having a standardized and constant size. Therefore, the image input device 37a attached to the tractor 1
Can read the area of the triangle and determine the distance between the tractor 1 and the working machine 2 by its size. Also,
If the read triangle contracts to the left and right with respect to the reference triangle when both reach a certain distance (for example, D ₁ ), the traveling direction of the tractor 1 with respect to the longitudinal axis of the work equipment 2 It can be seen that it is tilted and this can be corrected as before. When the read triangle is tilted with respect to the reference triangle, the control device 38 rotates the SOL.
22a, the rotation cylinder 22 rotates the attachment frame 23, and they can be configured to coincide with each other as described above. In addition, the image of the triangle taken in by the image input device 37a is displayed on the monitor TV, and the operator
The various devices of the tractor 1 can be configured to be properly operated while viewing the image.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor and a working device according to the present invention.

FIG. 2 is a side view showing the positional relationship.

FIG. 3 is a side view of a part thereof.

FIG. 4 is a side view of a part thereof.

FIG. 5 is a side view of a part thereof.

FIG. 6 is a side view of a part thereof.

FIG. 7 is a side view of a part thereof.

FIG. 8 is a block diagram of a control unit thereof.

FIG. 9 is a flowchart thereof.

FIG. 10 is a plan view of another tractor and working equipment.

FIG. 11 is a block diagram of the control device.

FIG. 12 is a front view of another working device.

FIG. 13 is a perspective view of the sign.

FIG. 14 is a side view of the work equipment and the tractor.

FIG. 15 is a flowchart thereof.

FIG. 16 is a flowchart thereof.

FIG. 17 is a flowchart thereof.

FIG. 18 is a front view of a part of the work equipment.

[Explanation of symbols]

1 tractor 2 working equipment 37 measuring device 39 signal generator D distance between tractor and working equipment D ₂ constant distance D ₁ close distance D ₀ approach distance

Claims (2)

[Claims] 1. A tractor 1 is provided so as to move toward a stationary work equipment 2, and a measuring device 37 for measuring a distance between the tractor 1 and the work equipment 2 and a signal generator 39 are provided on the tractor 1. When the measuring device 37 measures that the distance D between the tractor 1 and the work equipment 2 reaches the predetermined fixed distance D ₂ , the close distance D ₁ and the approach distance D ₀ , the signal generator 39 generates a signal. Connection device for work equipment in tractors that are installed as. 2. A tractor provided with traveling control for causing a tractor to approach the working equipment 2 by a signal from a measuring device 37 for detecting the position of the working equipment 2 provided on the tractor 1.