JPS6058923B2 - mobile agricultural machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mobile agricultural machine in which a working device is attached to the rear of a tractor in the traveling direction.

With this agricultural machine, when working along the edge of a ridge or along an existing field, if you operate the steering wheel to correct the direction of travel of the tractor, the result will be the same as when the tractor rotates around its vertical axis. This poses a problem in that it is difficult to correct the direction of the work equipment while accurately aligning it with the edge of a ridge or existing work site because the work equipment tends to move in a direction opposite to the steering direction due to the tilted position.

An object of the present invention is to prevent a working device connected to the rear of the tractor from being swung in the opposite direction to the steering direction due to the steering operation of the tractor, and to prevent the steering operation of the tractor from swinging in a direction opposite to the steering direction. It is therefore an object of the present invention to enable a working device to be moved to a desired working position accurately and without requiring complicated position correction operations. The characteristic configuration of the present invention for achieving the above object is a mobile agricultural machine in which a working device is attached to a rear position of a tractor via a coupling mechanism configured to allow lateral movement of the working device with respect to the tractor. , a drive device for forcibly moving the working device laterally in accordance with the extension/contraction operation, and a steering detector for detecting the steering direction and amount of steering of the tractor; and an expansion/contraction state detector for detecting the amount of expansion/contraction, further determining the deviation between the steering amount and the amount of expansion/contraction 7, as well as the direction of steering and the direction of expansion/contraction of the drive device, based on the detection signals from both the detectors.
Further, a control mechanism is provided that transmits a command signal to shift the working device in the steering direction by an amount corresponding to the steering amount based on the determination result, and the drive device is extended or retracted based on the command signal from the control mechanism. The present invention is provided with a drive circuit for operation, and this configuration provides the following effects.

In other words, when a steering operation is performed to correct the direction, the work equipment is forcibly shifted in the steering direction, so the movement of the work equipment in the opposite direction to the steering direction due to the above-mentioned steering operation is offset by the forced shift. As a result, it became possible to easily correct the direction of the tractor without worrying about the working equipment.

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 shows a coupling mechanism at the rear of an agricultural tractor 3 equipped with steering front wheels 2, 2 whose direction is changed by a rotating handle 1, which is configured to allow lateral movement of a working device with respect to the tractor 3. A pair of left and right lower links 4a, 4b
And, paired with this pair of lower links 4a and 4b, 3
A rotary tilling device 6 as a working device is connected to the upper top link 5 constituting a point link device so as to be able to move left and right and move up and down. The rotary tilling device 6 is configured to be adjusted up and down by driving and swinging the lift arms 7a, 7a.

The tilling device 6 includes the tractor 3 and both lower links 4a,
Between 4b and top link 5 and cultivation! Due to the connection and flexibility provided between the main body of the rotor device 6 and both lower links 4, 4 and the top link 5, it is configured to be able to move laterally, and between the tractor 3 and both of the lower links 4a, 4a, the Hydraulic cylinders 8a and 8b as 3 are pivotally connected to a pair of left and right driving devices for driving and laterally moving the tilling device 6, and the drive structure of these hydraulic cylinders 8a and 8b will be described below using the block diagram in FIG. The diagram will be explained.

That is, the expansion/contraction 1 state of the hydraulic cylinders 8a, 8b is detected as a voltage change according to the amount of protrusion of the cylinder rod with respect to the cylinder body, and when the cylinder rod is in the central expansion/contraction state, the potential is zero, when it is extended, it is a positive potential, and when it is shortened, it is a positive potential. Expansion/contraction state detectors 9a, 9b configured to detect the amount of expansion/contraction and the direction of expansion/contraction of the hydraulic cylinders 8a, 8b are provided, and are configured to detect the amount of expansion/contraction of the hydraulic cylinders 8a, 8b as negative potential. is detected as a voltage change, and when the handle 1 is in the straight-ahead position, it is set as zero potential, and counterclockwise rotation is detected as a positive potential, and clockwise rotation is detected as a negative potential, and the rotation operation of the rotary handle 1 is performed. A steering nog detector 10 is provided which is configured to detect the amount of steering involved and its direction.

The outputs of the expansion/contraction state detectors 9a, 9b and the output of the steering detector 10 are input to comparators 11a, 11b corresponding to the cylinders 8a, 8b, respectively, and the detection results of the steering detector 10 are The comparator 1 outputs an output from the discriminator 12 that discriminates the steering direction depending on whether it is a positive potential or a negative potential.
1a and 11b. The comparator 11a, 1
1b compares the signals from the expansion/contraction state detectors 9a, 9b and the signal from the steering detector 10, and if there is a deviation, determines whether the cylinders 8a, 8b need to be operated;
Based on the signal from the discriminator 12, the cylinders 8a,
It is configured to determine whether cylinder 8b is to be extended or shortened, and to transmit an electric signal to the drive circuit 13 of both cylinders 8a and 8b based on the results of this determination. In other words, the comparators 11a and 11b determine that it is necessary to operate the cylinders 8a and 8b only while there is a difference between the absolute values of the detection values of the steering detector 10 and the telescopic state detectors 9a and 9b, In addition, based on the signal from the discriminator 12, the cylinder 8a or 8b in the steering direction is shortened, and at the same time, the cylinder 8 in the opposite direction to the steering direction is shortened.
This is to determine the direction of expansion and contraction of the cylinders 8a and 8b so as to cause the cylinders 8a and 8b to extend. As mentioned above, tractor 3
The steering direction and steering amount are detected by a steering detector 10 that detects the rotation direction and amount of rotation of the rotary handle 1, and the displacement of the tilling device 6 with respect to the tractor 3 is detected by the direction of expansion and contraction of the hydraulic cylinders 8a and 8b. and an expansion/contraction state detector 9a that detects the amount of expansion/contraction.
, 9b, and the detection signals from these detectors 10, 9a, 9b are detected by a control mechanism A consisting of the discriminator 12 and comparators 11A, As a result, a command signal is transmitted from the control mechanism A to shift the tilling device 6 in the steering direction by an amount corresponding to the steering amount, and based on this command signal, the hydraulic cylinder 8a ，
A drive circuit 13 operates to extend and retract 8b.

Therefore, when the handle 1 is rotated, the cylinders 8a and 8b are expanded and contracted accordingly, and the tilling device 6 is forcibly shifted in the same direction as the steering direction and by an amount corresponding to the amount of rotation of the handle. Become.

[Brief explanation of the drawing]

The drawings show an embodiment of the mobile agricultural machine according to the present invention, with FIG. 1 being a side view, FIG. 2 being a schematic plan view, and FIG. 3 being a block diagram. 3...Tractor, 4a, 4b...Connection mechanism, 6...Work device, 8a, 8b...Drive device, 9a, 9b...Extended state Detector, 10...
... Steering detector, 13 ... Drive circuit, A ... Control mechanism.

Claims (1)

[Claims] 1 A coupling mechanism 4 configured to allow lateral movement of the working device 6 with respect to the tractor 3 at a rear position of the tractor 3
In a mobile agricultural machine to which a working device 6 is attached via a and 4b, driving devices 8a and 8b are provided for forcibly moving the working device 6 laterally as the working device 6 is extended and retracted, and the steering direction of the tractor 3 and the A steering detector 10 that detects a steering amount, and the drive device 8
Stretching/contracting state detectors 9a, 9b are provided for detecting the stretching direction and the stretching amount of the parts a, 8b, and both the detectors 10,
Based on the detection signals from 9a and 9b, the deviation between the steering amount and the amount of expansion and contraction as well as the steering direction and the expansion and contraction direction of the drive devices 8a and 8b are determined, and based on the determination result, the work device 6 is adjusted according to the amount of steering. A control mechanism A is provided for transmitting a command signal to shift the vehicle in the steering direction by the same amount, and a drive circuit 13 is provided for operating the drive devices 8a and 8b to extend and retract based on the command signal from the control mechanism A. A mobile agricultural machine characterized by: