JPS5856606A - Agricultural work apparatus connected to rear part of tractor - Google Patents
Agricultural work apparatus connected to rear part of tractorInfo
- Publication number
- JPS5856606A JPS5856606A JP15349081A JP15349081A JPS5856606A JP S5856606 A JPS5856606 A JP S5856606A JP 15349081 A JP15349081 A JP 15349081A JP 15349081 A JP15349081 A JP 15349081A JP S5856606 A JPS5856606 A JP S5856606A
- Authority
- JP
- Japan
- Prior art keywords
- tractor
- agricultural work
- rear part
- apparatus connected
- work apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Guiding Agricultural Machines (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
トラクタ後部に大型作業機を牽引させて作業する場合、
トラクタの走行跡に対して作業機の走行跡が内側に入り
込む事は、自明である〇一般に牧草収穫調整はウィンド
ローを形成するがこの場合前述した特性によって枕地等
にトラクタが旋回すると所定のウィンドロ一端部をベー
ラがピックアップできないで踏みつける等の問題が発生
する０、本発明はこの点に鑑み、トラクタの旋回角度を
検出して農用作業機の走行跡を矯正してトラクタの走行
跡を一致させて前記したウィンドロー等の作業残部を排
除しようとした構成を提供するものである。[Detailed description of the invention] When working by towing a large working machine behind the tractor,
It is self-evident that the trail of the work equipment gets inward from the trail of the tractor.Generally, pasture harvest adjustment creates a windrow, but in this case, due to the characteristics mentioned above, when the tractor turns on a headland etc. Problems such as the baler not being able to pick up one end of the windrow and stepping on it occur.In view of this, the present invention detects the turning angle of the tractor and corrects the track of the agricultural implement to match the track of the tractor. This provides a configuration in which the remaining work such as the windrow described above is eliminated.
以下、本発明を実施した図面に基づいて構成を説明する
。Hereinafter, the configuration will be explained based on the drawings in which the present invention is implemented.
第１図においてＵは農用作ｓ磯の一実施例でベーラを示
し、１５の牽引桿を１側部に支軸１６によって回動自在
に設けて仁の先端はトラ油圧シリンダーで基部を牽引桿
１５の中間に取付けて、他方ピストン端部をベーラＵ本
体に設けた金具１９に固着す。１γけピックアップ部で
ウィンドロー２０を拾い上げてベール作業をするもので
あるＯＡ、Ｂ、Ｃは物体検出谷で作業部（ピックアップ
部１））前方のウィンドロタ磐位置を感知するものであ
る０
１４はトラクタでハンドル軸２１で前輪をリンクロンド
を用いて操作するものであるが、このハンドル軸２１下
端部にトラクタ位置検出器２ｔｌ−設けて旋回角度を検
出するものである。In Fig. 1, U indicates an example of a baler for agricultural use, and 15 traction rods are rotatably provided on one side by a support shaft 16. 15, and the other end of the piston is fixed to a metal fitting 19 provided on the main body of the baler U. The 1γ pick-up section picks up the windrow 20 and performs bale work. OA, B, and C are the object detection valleys that detect the wind rotor rock position in front of the working section (pickup section 1). The front wheels of a tractor are operated using a link rond using a handle shaft 21, and a tractor position detector 2tl is provided at the lower end of the handle shaft 21 to detect the turning angle.
１３は制御ボックスでトラクタ位置検出器２によって得
た角度と作業機位置検出−牝よって得た角度とを電気変
換して油圧シリンダー１２に指示を与えるものである。Reference numeral 13 is a control box that electrically converts the angle obtained by the tractor position detector 2 and the angle obtained by the work implement position detection signal to give an instruction to the hydraulic cylinder 12.
次に第２図に付した制御ボックス１３に組み込んだ電気
回路について説明する。Next, the electric circuit incorporated in the control box 13 shown in FIG. 2 will be explained.
トラクタ１４によって牽引されたベーラｄｅＯの位置に
対応した’ｒｅ（ｖ）を発生し、ベーラリ側は作業機位
置検出器１によりＢｅ （Ｖ）を発生する。're(v) corresponding to the position of the baler deO pulled by the tractor 14 is generated, and the work equipment position detector 1 generates Be(V) on the baler side.
Ｂｅ（Ｖ）＠号け３の指示計アンプに入り増幅されて４
０作業部位置設定器によってＢｅＯの位置を指示すると
ともにマの差動アンプに送られる。一方Ｔｏ（Ｖ）信号
は切沓スイッチ５のＡＵＴＯを介して前記差動アンプマ
に入ってＴｏ（ｖ）とＢｅ （Ｖ）が比較されＴｏ（Ｖ
）〜Ｂｅ（Ｖ） となる。ここで作動事例を説明する〇
（１） ｉ＆進進行行中場合はＴｅ （ｖ）＝＝］
３６ （Ｖ）で差が零となり差動アンプ７から信号で
接点出力がでない。従ってトラクタ１４とベーラ１８は
１司−直進をする。Be(V) @ enters the indicator amplifier at number 3 and is amplified to 4
The position of BeO is indicated by the 0 working part position setting device and is sent to the differential amplifier of the machine. On the other hand, the To(V) signal enters the differential amplifier via the AUTO switch 5, and To(v) and Be(V) are compared.
) to Be(V). An example of operation will be explained here.〇(1) If i&is in progress, Te (v)==]
At 36 (V), the difference becomes zero and there is no contact output as a signal from the differential amplifier 7. Therefore, the tractor 14 and the baler 18 move straight ahead.
（２）左旋回の場合について説明する。(2) The case of left turn will be explained.
トラクタ１４が左方向ＴｅＬへ旋回する励磁される。Ｉ
Ｒが励磁されてＩＲ１接点が閉となって８Ｗ１−ＴＩと
５Ｗ２−Ｔ２とＲ−Ｌ８を介して電磁リレー３Ｒに直電
され、油圧シリンダー１２が右方向のＢｅＲへ作動す。The tractor 14 is excited to turn in the left direction TeL. I
R is excited, the IR1 contact is closed, and direct electricity is applied to the electromagnetic relay 3R via 8W1-TI, 5W2-T2, and R-L8, and the hydraulic cylinder 12 operates to the right BeR.
そしてＴＩ （ｖ） 七Ｂ５１ （ｖ）の差が零に
達するとＩＲが非励磁となって直ちに油圧シリンダー謎
も停止する。When the difference between TI (v) and 7B51 (v) reaches zero, IR becomes de-energized and the hydraulic cylinder also stops immediately.
（３）右旋回の場合は、Ｔｅ （ｖ） ）Ｂｅ （
ｖ）となり一極性の俳差値が差動アンプフによって増幅
され、以下左旋回と同様の作用で油圧シリンダー１２を
左方向のＢｅＬへ作動す。(3) In the case of a right turn, Te (v) )Be (
v), the unipolar difference value is amplified by the differential amplifier, and the hydraulic cylinder 12 is then operated to the left BeL in the same manner as when turning left.
このように旋回時にトラクタの１１？（ロ）と反対方向
にベーラを位置制御されることにより旋回半径を矯正さ
せてトラクタの走行跡とほぼ平行に走行されるものであ
る。11 of the tractor when turning like this? By controlling the position of the baler in the opposite direction to (b), the turning radius is corrected and the tractor travels approximately parallel to the trajectory of the tractor.
次にベール物体の有無検出による位置制御にを８側に投
入するとトラクタ位置検出器２から切換されて物体検出
自動運転動作するＯＡ、Ｂ、Ｏが検出した場合および、
Ｂの中心部のみ検出した場合であっても動作しないＯ
例えば、Ａ（２）が検出すると８ａＡＮＤ素子を介して
２Ｒが励磁され、２Ｒ１接点が閉となればＳ１接点とＮ
１接点とＲ−Ｌ８を介して３Ｒが通電間となって油圧シ
リンダー１２が右方向（ＢｅＲ）へ移動す。以下前述し
た角度検出による場合とＳｌ様である。Next, when the position control based on the detection of the presence or absence of a bail object is input to the 8 side, the tractor position detector 2 is switched and the object detection automatic operation is performed when OA, B, and O are detected, and
It does not work even if only the center of B is detected. For example, when A (2) is detected, 2R is excited through the 8a AND element, and if the 2R1 contact is closed, the S1 contact and N
1 contact and R-L8, 3R becomes energized, and the hydraulic cylinder 12 moves to the right (BeR). The following is the case based on the angle detection described above and the case of Sl.
（５） 尚、検出角度と作業機の矯正角度量は所屍の
比率で作業種目に応じて予め設定すれば足りる。(5) Incidentally, it is sufficient that the detection angle and the amount of correction angle of the working machine are set in advance according to the type of work based on the ratio of dead bodies.
以上のような構成にしたのでトラクタ後部に連結した無
用作業機は、トラクタ走行軌跡と同−軌跡又は、１Ｉｙ
ｒ−半径で＃回可能となシ、例えば牧草ＷＩ４整時のウ
ィンドローのベール作業において枕地のウィンドロ一端
部のベール残部をつくったり、作業機で踏みつけたり等
の問題を解決したものであり、作業性を向上させると同
時に牧草の収積無駄の発生を防止したものである０With the above configuration, the useless work equipment connected to the rear of the tractor can move along the same trajectory as the tractor traveling path or 1Iy.
It is possible to # times in r-radius, and it solves problems such as creating a remaining bale at one end of the windrow on the headland or trampling it with a work machine during windrow baling work during pasture WI4 grading. , which improves workability and at the same time prevents wasted pasture harvest.
第１図は本発明を実施した模式平面図。
第２図は電気回路図０
ｌ・・・作業機位會検出器 ２・・・トラクタ位置検出
器３・・・指示針アンプ ４・・・作業部位曾設定
器５・；・切替スイッチ ６・・＠ＭＡＮ位曾設定
器７−・・差動アンプ ８・・＠ｌＲ設定器９・
・・ＩＲ駆動用アンプ１０・・・ＩＬ駆動アンプ１１・
・・ＩＬ設定器 １２・・、油圧シリンダー１３
・・・制御ボックス １番・・・トラクタ１５・・
・牽引枠 １６ ＠＠＠支 °軸■
１７ ＠＠ ”ピックアップ部 １８・・・ベ −
ラ１９・拳・金 具 ２ｏ・・・ウィンドロ
ー２１・・・ハンドル軸
ＩＲ，２Ｒ，！ＳＲ・・・電磁リレー
ＩＬ、２Ｌ、３Ｌ・・・電磁リレー
Ａ、 Ｂ、 Ｏ・・・物体検出器
Ｒ−Ｌｆ４ ＩＪ−Ｌ８・・リミットスイッチｓｗｉ、
８Ｗ２ ・・・切換スイッチ８ａ、９ａｅｓｓｓＡ
ＮＤ素子 ３１）＠−＠ＯＲ素子３Ｃ・・・ＮＯ？素子
第１１Ｉ（ＩFIG. 1 is a schematic plan view in which the present invention is implemented. Figure 2 is an electrical circuit diagram 0 l...Working equipment position detector 2...Tractor position detector 3...Indicator needle amplifier 4...Working part setting device 5...Changing switch 6.・@MAN position setting device 7-...Differential amplifier 8...@lR setting device 9-
...IR drive amplifier 10...IL drive amplifier 11.
...IL setting device 12..., hydraulic cylinder 13
...Control box No. 1...Tractor 15...
・Traction frame 16 @@@ Support °shaft■ 17 @@ ``Pickup part 18...B -
Ra19・Fist・Metal fittings 2o...Windrow 21...Handle shaft IR, 2R,! SR... Electromagnetic relay IL, 2L, 3L... Electromagnetic relay A, B, O... Object detector R-Lf4 IJ-L8... Limit switch swi,
8W2 ... Selector switch 8a, 9aesssA
ND element 31) @-@OR element 3C...NO? Element No. 11I (I
Claims (1)
タの旋回角度を検出して農用作業機の走行跡を自動調整
する手段を具備した事を特徴とした農用作業装置。Agricultural work 41 connected to the rear of the tractor! An agricultural work device characterized by being equipped with means for automatically adjusting the travel track of the agricultural work machine by detecting the turning angle of the tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15349081A JPS5856606A (en) | 1981-09-26 | 1981-09-26 | Agricultural work apparatus connected to rear part of tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15349081A JPS5856606A (en) | 1981-09-26 | 1981-09-26 | Agricultural work apparatus connected to rear part of tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5856606A true JPS5856606A (en) | 1983-04-04 |
Family
ID=15563704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15349081A Pending JPS5856606A (en) | 1981-09-26 | 1981-09-26 | Agricultural work apparatus connected to rear part of tractor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5856606A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6345165U (en) * | 1986-09-09 | 1988-03-26 | ||
| JP2009062045A (en) * | 2008-12-17 | 2009-03-26 | Mtk:Kk | Suspension for automobile |
| WO2020137810A1 (en) * | 2018-12-26 | 2020-07-02 | 株式会社クボタ | Work vehicle, and work machinery equipped with work vehicle |
-
1981
- 1981-09-26 JP JP15349081A patent/JPS5856606A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6345165U (en) * | 1986-09-09 | 1988-03-26 | ||
| JPH052066Y2 (en) * | 1986-09-09 | 1993-01-19 | ||
| JP2009062045A (en) * | 2008-12-17 | 2009-03-26 | Mtk:Kk | Suspension for automobile |
| WO2020137810A1 (en) * | 2018-12-26 | 2020-07-02 | 株式会社クボタ | Work vehicle, and work machinery equipped with work vehicle |
| US11968917B2 (en) | 2018-12-26 | 2024-04-30 | Kubota Corporation | Working vehicle and working machine having the working vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9706697B2 (en) | Agricultural system with a baler and tow tractor and a steering arrangement by which the baler is steered autonomously | |
| US10582659B2 (en) | Active steering windrow shields | |
| US20120240546A1 (en) | Tractor Implement Combination | |
| RU2676996C2 (en) | Traction vehicle hitch and agricultural harvester driven with it | |
| EP1266554B1 (en) | Agricultural working vehicle automatic steering device | |
| US4295323A (en) | Towed crop harvester | |
| US11912261B2 (en) | Combination of a traction vehicle and an implement | |
| DE3463604D1 (en) | Row sensing apparatus for a crop harvester | |
| EP4023046A1 (en) | Mower-conditioner machine for sensing moisture content of crop material | |
| EP3970466A1 (en) | System and method for presenting the surroundings of an agricultural implement | |
| JPS5856606A (en) | Agricultural work apparatus connected to rear part of tractor | |
| US4115984A (en) | Arrangement for interconnecting a side delivery rake and a baler | |
| EP1128717A1 (en) | Tandem towable combination | |
| US7743594B1 (en) | Mechanism for guiding a windrower for making an initial cut for multiple windrows | |
| FR2611415A1 (en) | Movable and directional rear hitch for agricultural tractor | |
| EP1247441B1 (en) | Harvesting machine with a metal-detecting system | |
| JPS6335524Y2 (en) | ||
| US3425195A (en) | Forage harvester having lifting device | |
| GB2292335A (en) | Improvements in and relating to round balers | |
| JPH0221841Y2 (en) | ||
| CA1183006A (en) | Hay or grain type crop apparatus | |
| GB959939A (en) | Improvements in or relating to bale throwers | |
| JPS60164405A (en) | Automatic steering apparatus of harvester | |
| JPS5918004B2 (en) | mobile agricultural machinery | |
| JPH09131113A (en) | Apparatus for controlling reaping part of combine harvester |