JP2005065597A - Agricultural work vehicle lift control device - Google Patents

Abstract

[PROBLEMS] Conventionally, in a tractor backup control device, the work machine is moved backward before the work machine is sufficiently raised to a predetermined height position, and the work machine is inadvertently collided with the shore, causing unexpected damage. There are things to do. The present invention intends to solve the above problem by preventing the vehicle body from traveling backward until the work implement reaches a predetermined set height position.
In a backup control device for a tractor, a clutch for turning on and off a power transmission state is provided in a transmission path from a vehicle engine E to a traveling device 3, and a work implement 9 is lifted due to a reverse operation of the vehicle. In this case, until the working machine 9 reaches a predetermined set height, the power transmission state of the clutch is kept off and the start of the vehicle is checked. Further, the setting height of the work machine 9 that keeps the power transmission state of the clutch off is changed (30-100%) to be higher as the main transmission is set to high speed (1st speed-4th speed). did.
[Selection] Figure 1

Description

  The present invention relates to a configuration of a work machine ascent control device (backup control device) for an agricultural vehicle that raises a work machine to a non-working position when the vehicle moves backward.

The work implement raising control device that is operated when the vehicle is moving backward as described above is configured to automatically raise the work implement and avoid contact with the reed even when the operator does not perform a special elevating operation at the time of drooping. It is a thing. Such a work implement raising control device is known as a general technique of an agricultural tractor as disclosed in Patent Document 1, for example.
Japanese Unexamined Patent Publication No. 7-12817

  By the way, when working in a wet paddy using the agricultural tractor as described above, most of the traveling device travels in a state of being submerged in mud. Then, there is a case where the vehicle is moved backward before the work implement has been lifted from the mud, and the operator cannot push the mud from the cover or the wheel provided at the rear of the work implement to form a uniform floor soil. There has been a problem that the cover and the rolling wheel are deformed and damaged by the resistance of mud, and further contact with the shore of the farm field.

  The present invention has been made paying attention to such points, and the above-mentioned problems are not solved by configuring the vehicle not to travel backward until the work implement reaches a predetermined set height. Is.

In order to solve the above problems, the present invention has taken the following technical means.
That is, according to the first aspect of the present invention, the working machine lift of the agricultural work vehicle configured to automatically lift the working machine (9) mounted on the rear part of the vehicle to the non-working position due to the reverse operation of the vehicle. In the control device, clutch means (16, 16) for turning on and off the power transmission state is provided in a transmission path from the engine (E) of the vehicle to the traveling device (3), and work is performed due to the reverse operation of the vehicle. Control that keeps the power transmission state of the clutch means (16, 16) off and restrains the vehicle from starting until the work machine (9) reaches a predetermined set height when the machine (9) is raised. A working machine ascent control device for an agricultural vehicle characterized by comprising means (31).
(Operation of claim 1)
When the vehicle is switched to the reverse state and the work implement (9) is automatically lifted up, the vehicle does not travel backward until the work implement (9) rises to a predetermined set height, and reaches the set height. The driving will be started.

According to a second aspect of the present invention, in the control means (31), the set height of the work machine (9) that keeps the power transmission state of the clutch means (16, 16) off is set to the travel of the vehicle. 2. A working vehicle ascent control device for agricultural work vehicles according to claim 1, further comprising setting height changing means (32) for changing according to the shift position of the transmission (13).
(Operation of claim 2)
When the vehicle is switched to the reverse state and the work implement (9) is automatically lifted and controlled, the reverse travel is started at a higher speed as the shift position of the travel transmission is higher. Therefore, the reverse travel is started after waiting for the work machine (9) to fully rise. On the other hand, when the shift position is at a low speed, the set height of the work machine (9) is set lower than the high speed side, assuming that the resistance of the mud is low and the time to reach the shore is long. To start the reverse drive earlier.

  According to the work machine ascent control device according to the invention of claim 1 configured as described above, since the reverse travel is started after the work machine (9) has reached the predetermined set height, the reverse travel is started. Prevents the work machine (9) from being resisted by dirt, etc., and does not crash into the shore and inadvertently damage it. Especially, it is safe and efficient to reverse the vehicle on the shore. It can be carried out.

  According to the work machine ascent control apparatus of the second aspect of the invention, the work machine (9) can be sufficiently raised when the shift position is at a high speed while having the function and effect of the first aspect of the invention. When the shift position is low, the vehicle starts moving backward at a lower height than when it is at high speed. This makes it possible to speed up the work.

Hereinafter, an embodiment in which the present invention is mounted on an agricultural tractor as an example of an agricultural vehicle will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the agricultural tractor 1 has an engine E mounted on the front portion of the vehicle, and transmits the rotational power of the engine E to a traveling transmission 13 in a transmission case 2 to be described later. The rotational power decelerated by the device 13 is transmitted to a crawler type traveling device (hereinafter simply referred to as a traveling crawler 3). Reference numeral 4 denotes a steering handle. A steering angle sensor 21 for detecting a steering operation of the vehicle is provided at the rotation base, and a forward clutch 14 and a reverse clutch 15 (described later) are turned on and off by the detection of the sensor 21. The vehicle is steered left and right while detecting the rotation of the traveling crawler 3.

  A forward / reverse switching lever 22 for switching forward / backward movement of the vehicle is provided below the handle 4, and a forward switch 22f for detecting forward / backward operation of the vehicle is provided at the rotating base of the lever 22 as a reverse switch 33r. The forward and reverse clutches 14 and 15 are both switched forward and backward in accordance with the detection states of the switches 22f and 22r, and the vehicle is moved forward, backward, or stopped.

  In addition, a hydraulic cylinder S is provided at the upper part of the transmission case 2, and the piston tip of the cylinder S is pivotally attached to the rotation base of the lift arm 6. When the hydraulic oil is supplied into the hydraulic cylinder S, the lift arm 6 is turned up, and when discharged, the lift arm 6 is turned down. Further, a lift arm angle sensor 6 s for detecting the height of the work implement 6 is provided at the rotation base of the lift arm, and various operations are performed on the left and right lift arms 6 via a lift rod 10 and a lower link 11. In this example, the rotary work machine 9 is connected.

  Further, on the side of the cockpit 5 are provided various operating tools such as a work implement elevating lever 8, a main transmission lever 27, and a backup on / off switch 25 for turning on / off the backup control of the present invention. The lifting lever 8 is configured to switch the switching valve for lifting and lowering the work implement by an operation from the neutral to rising or from the neutral to lowering, and to lift or lower the lift arm 6 by the piston expansion / contraction operation of the hydraulic cylinder S. It has become. A main shift position sensor 26 for detecting a shift operation position of the lever 27 is provided at the rotation base of the main shift lever 27.

Next, the configuration of the traveling crawler 3 will be described.
First, a track frame front support bracket 18f is attached to both sides of the tractor 1 at substantially the center of the left and right, and a track frame rear support bracket 18r is attached to the lower part of the axle housing that supports the drive sprocket 9 at the rear of the vehicle. The front strut 53f is supported below 18f, the rear strut 53r is supported below the rear support bracket, and the track frame 51 is provided below the front and rear struts 53f and 53r.

  Each of the left and right track frames 51 has a front driven wheel 56 supported at the front end portion and a rear driven wheel 57 supported at the rear end portion. These rollers 55a to 55e are supported, and rubber crawlers are wound around the front and rear driven wheels 56 and 57, the rollers 55a to 55e, and the drive sprocket 19.

  Further, the front end portion of the front driven wheel 56 is positioned below the engine E (on the one-dot chain line Y1 in FIG. 1) in a side view, and the rear end portion of the rear driven wheel 57 is the rear end of the lift arm 6 in a substantially horizontal state. 1 (on the alternate long and short dash line Y2 in FIG. 1), a fixed first roller 55a is supported below the front support 53f, and a fixed fifth is mounted on the extension line of the rear support 53r. It is the structure which supports the wheel 55e.

  The second wheel 55d and the third wheel 55c are supported so as to be movable (seesaw type) at a substantially center position of the front and rear length of the crawler, and the fourth wheel 55d is a shaft of the drive sprocket 19. It is configured to support in front of the center (a chain line Y3 in FIG. 1).

  As a result, the position where the weight of the vehicle is affected, particularly when the vehicle is tilted back and forth, is received by the fixed type rolling wheels 55a, 55d and 55e, and the ground contact length is set by the equalizer type rolling wheel at the front and rear center. Since it can be kept as long as possible, it is possible to reduce the vibration and stabilize the traveling even on a traveling surface or an inclined ground with severe unevenness.

In addition, the code | symbol H in FIG. 1 shows the example of the height of the mud from the running surface when the tractor 1 works a wet field.
The left and right traveling crawlers 3 are covered with a fender 23 from the upper front to the rear upper side, and an electric motor (hereinafter referred to as a backup motor 29) is attached to the upper and outer surfaces of the fender. Driven by the command, the work implement lifting lever 8 is forcibly rotated to the work implement lift side.

  Thereby, in the tractor configured to exchange the wheel type wheel and the crawler type traveling device as described above, when the crawler type traveling device is provided, a sufficient space can be taken above the fender 23. Here, by arranging a backup motor, efficient component placement can be achieved, and maintenance can be facilitated.

  FIG. 3 shows a power transmission path diagram of the tractor 1, and the traveling transmission device in the transmission case 2 transmits the main transmission 13a and the auxiliary transmission 13b from the crankshaft of the engine E through the main clutch 12. Further, the traveling transmission shaft 18 is transmitted via a forward / reverse switching clutch 16 comprising a forward clutch 14, a reverse clutch 15, and a planetary gear mechanism 17, and the traveling crawler via a drive sprocket 19. 3 is rotationally driven.

The main clutch 12 is also configured to drive a PTO shaft 20 that transmits power to the work machine 9.
The main transmission 13a is a key-shift transmission including four sets of constantly meshing gears, and is configured to switch the shift position by operating the shift key back and forth with the shift lever 27.

  The auxiliary transmission 13b is a two-stage transmission consisting of a high-speed internal gear and a low-speed meshing gear. The auxiliary transmission lever (not shown) provided on the side of the cockpit 5 moves the clutch gear back and forth. The shift position is switched by operation.

  The left and right forward / reverse switching clutch 16 is usually a wet multi-plate comprising a forward clutch 14 that is normally crimped by an internal spring and a reverse clutch 15 that is crimped against the spring by hydraulic operation during steering or reverse. It is a configuration switching device, in which either one of the clutches is crimped to output the input rotation in the normal rotation or reverse rotation, and the discs of both clutches are kept neutral so that no rotation occurs. Yes.

Next, the electrical system of the tractor 1 will be described.
The controller (control means) 31 of the tractor 1 includes a CPU for processing various information therein, a RAM for temporarily storing the information, and various control programs serving as backup means and set height changing means 32 of the present invention. It has a configuration having an EEPRM to store.

  Further, the steering angle sensor 21, the main shift position sensor 26, the forward / reverse switches 22f and 22r, the backup on / off switch 25, the lift arm angle sensor 6s, and the operating pressure of the reverse clutch 15 are detected at the input portion of the controller 31. The pressure sensors 28l and 28r, the rotation sensors 33l and 33r of the left and right crawlers 3 and 3 are connected and provided.

  The output portion of the controller 31 includes a backup motor 29, solenoids 30L and 30R of proportional pressure control valves for supplying and discharging pressure oil to the internal pistons of the left and right reversing clutches 15 and 15, and alarm buzzers and various control states. A pilot lamp is connected and provided.

In the tractor 1 configured as described above, various controls are performed as shown in FIG.
FIG. 5 shows an overview of the entire control, and shows the order of control performed when the power system of the tractor 1 is turned on by the engine key switch and the engine E is driven.

The flowchart shown in FIG. 6 shows an outline of a control program for backup control, and control is executed as follows.
First, it is determined whether or not the signal of the reverse switch 22r has changed from OFF to ON, and if this is YES, it is determined whether or not the backup ON / OFF switch 25 is ON. If the determination is YES, energization of the backup motor 29 is started, the lift arm 6 is turned upward to raise the work machine 9 to the non-working position, and the proportional pressure control for operating the reverse clutch 15 is connected. Energize the solenoids 30L and 30R of the valve. This energization amount is such an amount that the vehicle stops without the clutch disks of the forward clutch 14 and the reverse clutch 15 being pressed together.

  Then, after the vehicle is stopped, the height of the lift arm 6 is set according to the main shift position of the main shift position sensor 26. That is, if it is 1st speed, it is 30% of the maximum lift height of the lift arm 6; if it is 2nd speed, it is 50%; if it is 3rd speed, it is 80% of the maximum lift height; If so, it is equivalent to the maximum height.

  Thereafter, when it is detected from the detection value of the lift arm angle sensor 6s that the lift arm 6 has reached the set height, the energization amount to the solenoids 30L, 30R is changed, and the clutch disk of the reverse clutch 15 is crimped. Reverse the vehicle.

  This prevents dirt and other resistance from being applied to the work equipment 9 during reverse travel, and does not cause accidental damage by crashing into the shoreline. And can be performed efficiently. Also, the higher the main gear shift position is, the longer the work equipment 9 waits for it to be fully raised before starting reverse travel, and the lower the gear shift position, the lower the work equipment 9 starts reverse travel. Therefore, it is possible to move the vehicle with a minimum waiting time while preventing the breakage, eliminate time loss, and speed up the work.

Next, the construction and control of the work implement lifting lever 8 and the backup motor 29 will be described in detail with reference to FIGS.
The work implement elevating lever 8 is a select lever system that switches the hydraulic switching valve for elevating the work implement to three positions: ascending, neutral and descending, and this pivot base can be pivoted to the side of the mission case 2. It is configured to be supported and connected to the spool of the switching valve. Further, the arm base portion of the lever 8 is configured such that the rear end portion thereof is connected to the drive arm 41 of the backup motor 29 on the outer side portion of the fender 44 through a rod 42 inserted through the opening portion 45 of the fender 23.

In the figure, reference numeral 46 denotes a mounting plate for mounting the backup motor 29 to the fender 23.
As a result, when the backup motor 29 is driven, the lift lever 8 is moved to the work machine lifting side via the drive arm and rod, and the work machine lift switching valve connected to the lever base is operated to The machine 8 is raised.

  Further, the lever of the select lever type as described above has a problem that the spool returns to neutral if the movement is slow even if the working machine is raised by the urging force of the spring in the switching valve or the resistance of the hydraulic oil. . Therefore, here, the shift lever 27 is switched to the reverse direction, the backup motor 29 is operated, the work implement elevating lever 8 is operated, the movement of the lift arm 6 is monitored, and the set lift position is reached. When the ascent is stopped for a certain time, the backup motor 29 is operated once again to operate the spool of the switching valve to the ascending side.

If the lift arm 6 is not detected to rise even in the above action, an alarm buzzer is sounded as an abnormal measure.
Next, the structure of the rotary work machine 9 used in the wetland is described.

  As shown in FIG. 9, the maple drop (rubber plate for reducing mud adhesion) of the rotary working machine 9 is formed on the rear surface thereof, that is, on the mating surface side with respect to the inner surface of the rear cover 60. Protrusions 62 are provided so as to form an appropriate gap 61 therebetween. Accordingly, since these protrusions 62 contact the rear cover 60, an appropriate gap 61 is formed between the rubber plate 59 and the rear cover 60. When the soil collides with the rubber plate during the plowing operation, the soil lump becomes rubber. It will be pushed back in the opposite direction by its own repulsive tension, making it difficult for mud to adhere to the mud drop and the rear cover 60.

A side view of a tractor. The top view of a tractor. Power transmission path diagram. Control block diagram. The control flowchart which shows the outline | summary of whole control. The flowchart which shows the outline | summary of backup control. The perspective view which shows the attachment structure of a backup mechanism. The perspective view which shows the connection state of a backup motor and a working machine raising / lowering lever. The sectional side view of a rotary cover.

Explanation of symbols

E Engine 1 Tractor 3 Traveling crawler 6 Lift arm 7 Hydraulic lifting cylinder 8 Working machine lifting lever 9 Working machine 16 Forward / reverse switching clutch 25 Backup on / off switch 27 Main transmission lever 29 Backup motor 31 Controller

Claims (2)

  In a working machine ascent control device for a farm vehicle configured to automatically raise a work machine (9) mounted on the rear part of the vehicle to a non-working position due to a reverse operation of the vehicle, the engine (E ) To the traveling device (3) are provided with clutch means (16, 16) for turning on and off the power transmission state, and when the work implement (9) is raised due to the reverse operation of the vehicle, Control means (31) for keeping the power transmission state of the clutch means (16, 16) off and restraining the vehicle from starting until the working machine (9) reaches a predetermined set height is provided. A work machine lift control device for agricultural vehicles.   In the control means (31), the set height of the work machine (9) that keeps the power transmission state of the clutch means (16, 16) off is set to the shift position of the vehicle transmission (13). 2. A work machine ascent control device for agricultural work vehicles according to claim 1, further comprising a set height changing means (32) for changing in response.

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