JPH0923702A - Backup device for tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a backup device for a tractor having a wide backward view, capable of preventing from bumping against a ridge and improved in steering ability by installing a backup sensor which detects the ground height of a working vehicle in case of backward traveling of a tractor body and keep the working machine at a constant level by bringing up and down the working machine. SOLUTION: In a working machine 2 connected with a tractor vehicle body 1 to be liftable, a backup sensor 3 capable of keeping a working machine 2 at a constant level by detecting a ground height of the working machine 2 and bringing up and down the working machine 2 is installed. The back up sensor 3 is installed on the external end of a tilling shaft 13 and detects the height H from the ground or the ridge. A contact sensor or an ultrasonic sensor can preferably be used as the backup sensor 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a backup device for a tractor which, when the tractor is moving backward, raises a connected working machine to maintain the ground height at a constant low position as low as possible. It can be used as a working machine such as a rotary tiller.

[0002]

2. Description of the Related Art In order to make it easier to perform work on the edge of a tractor work, when a vehicle body is moved backward, a work machine connected to the rear portion of the vehicle body is automatically operated at a constant speed. A backup type configuration is adopted in which the height is raised to the working position. In this form, the work is raised to a considerable height so as not to collide with the ridges. In such a form, since the working machine is high, the operator is likely to obstruct the rear view with the working machine, and it is difficult for the operator to perform the ridge work operation.

[0003]

SUMMARY OF THE INVENTION According to the present invention, a working machine 2 connected to a tractor vehicle body 1 so as to be able to move up and down detects the ground height of the working machine 2 when the vehicle body 1 moves backward, and this working machine 2 is detected. The backup device for the tractor is provided with a backup sensor 3 for maintaining the same while moving up and down.

[0004]

When the traveling is switched to the reverse position during the operation of the tractor, the ground work implement 2 is maintained at a certain height from the soil surface or the ridge surface by the detection of the backup sensor 3. Therefore, when the working machine 2 is too high, the height is controlled so that it is lowered by the detection of the backup sensor 3 and when it is too low, the height is controlled so as to always work on the soil surface or the ridge surface. Keep machine 2 constant.

As described above, when the tractor body 1 is moving backward, the ground height of the working machine 2 is maintained constant under the detection of the backup sensor 3, so that the ground height of the working machine 2 is The minimum height for not touching the ground is sufficient, the rear view can be widened, and the operability can be improved.

[0006]

[Example] A tractor body 1 has a steering handle 4
It has a front wheel 5 which is interlocked with the steering of the vehicle and a rear wheel 7 which is mounted at the rear of the cockpit 6 and has a four-wheel drive traveling mode in which the engine E mounted on the front portion drives the vehicle to rotate. Link 8
A working machine 2 such as a rotary tiller can be connected via a three-point link mechanism that has a lower link 9 and a lower link 9 and is rotated up and down by a lift arm 10. 11 is a safety frame.

The rotary tiller, which is the working machine 2, has a lateral tiller shaft 13 axially supported below the tiller frame 12,
It is rotationally driven by interlocking with the PTO shaft 14 on the vehicle body 1 side, and is cultivated by the cultivating claw 15 arranged on the cultivating shaft 13.
At the rear of this tiller, a tiller cover 16 is provided for the handle 1.
7, a flat plate 18 is provided at the rear end of the tilling cover 16 so that it can be repelled by a spring 19, so that the surface of the tilled soil can be flattened by the flat plate 18.

The backup sensor 3 is the tiller shaft 13 described above.
Is provided at the outer end of the to detect the height H with the ground and the ridge surface. A contact sensor, an ultrasonic sensor, or the like is used as the backup sensor 3. A lift control valve 20 of a hydraulic circuit that hydraulically operates the lift arm 10 is operated by an output from a controller CPU having a microcomputer. On the input side of the controller CPU, the backup sensor 3 and the reverse sensor 21 for detecting the reverse R position operation of the reverser lever or the speed change lever are provided, and the lifting control of the working machine 2 is performed through a certain program processing in the controller CPU. Is done.

When the reverse sensor 21 detects the reverse R position of the work traveling, the lift control valve 20 is switched to the raised position, and the lift arm 10 is operated to raise the tiller from the working position. PTO clutch 22
It also cuts off. This rising height is determined by the backup sensor 3
The height is calculated by the controller CPU based on the detection of. This height is H + h higher than the detection value H of the backup sensor 3 by a certain height h (for example, the minimum ground height of the rotary tilling claw 15 is h, and this is set to 40 to 50 mm). Set to be. Moreover, when the height H + h is used as the reference height region and the backup sensor 3 is located above this, the lift control valve 20 is output to the lower side to lower the working machine 2, and conversely to the lower backup. When the sensor 3 is positioned, it is output to the raising side to raise the working machine 2 and
Is controlled to always be maintained in the area of the reference height H + h.

Therefore, even if the reverse R has unevenness on the soil surface A or the ridge B, etc.
Is always maintained at a constant height H + h, and the minimum height is h
Is maintained. By always maintaining this minimum ground clearance h, the plowing claws 15 almost never come into contact with the ridges B or the like when retreating. The backup control is canceled by the controller CPU by switching the traveling of the tractor body 1 to the forward F position. For this reason, the work implement 2 is maintained in the raised posture at the current non-working position.
When the working machine 2 is lowered and returned to the working height during the forward movement F, it is lowered by operating the lifting lever or the like. Also, the PTO clutch 22 is manually operated.

In FIG. 2, the difference from the above example is that the back-up sensor 3 is provided on the tilling cover 16. The backup sensor 3 may be in the form of an ultrasonic sensor or a ground sensor. At this time, the height H of the backup sensor 3 and the tilling claw 15 or the tilling cover 1
The relationship of the minimum ground clearance h of 6 is the same as the above example. In FIG. 3, the point different from the above example is that the detection of the backup sensor 3 is detected even during the forward movement F, and the work implement 2 returns from the posture at the ridge B position to the work posture at the flat soil surface A position. At this time, the posture of the work machine 2 is detected, and the PTO cut by the backup is automatically entered to start the work.

The backup sensor 3 is in the form of a grounding sensor, and the angle sensor 24 detects the bending angle around the connecting pin 23 between the lower link 9 and the tilling frame 12, and the angle detected by the angle sensor 24 is a certain value C or less. When the lower link 9 and the cultivating frame 12 come close to the horizontal plane in the front-rear direction and become the cultivating work posture, the PTO clutch 22 is electromagnetically engaged so as to be engaged. Reference numeral 25 denotes an interlocking link between the lower link 9 and the potentiometer shaft arm of the angle sensor 24 on the work frame 12 side.

When the mode is switched to the forward mode F after the backup control during the reverse mode R, the working machine 2 returns to the soil surface A while maintaining the height of H + h, and manually lowers the working machine 2 to the working position. And the PTO clutch 22 is detected by the angle sensor 24.
Is turned on and the tilling shaft 13 is transmitted and rotated to start the tilling work.

[Brief description of drawings]

FIG. 1 is a side view and a control block diagram.

FIG. 2 is a side view showing the operation of another embodiment.

FIG. 3 is a side view showing the operation of another embodiment.

[Explanation of symbols]

 1 tractor body 2 working machine 3 backup sensor

Claims (1)

[Claims] 1. A work machine 2, which is connected to a tractor vehicle body 1 so as to be capable of moving up and down, detects the ground height of the work machine 2 when the vehicle body 1 is moving backward and maintains the work machine 2 constant while moving up and down. A backup device for a tractor provided with a backup sensor 3.