JP3511077B2 - Moving agricultural machine - Google Patents

Description

BACKGROUND OF THE INVENTION [0001] Field of the Invention The present invention is Ru <br/> relates to a tractor for pulling the like cultivating rotary working machine or plow perform tilling. 2. Description of the Related Art Conventionally, a tilling rotary working machine or a plow or the like is mounted on a rear side of a tractor so as to be able to move up and down, and the cultivating work is performed by the rotary working machine or the like. It was desired to be quick and finish the work as soon as possible. [0003] In the prior art, the tilling work efficiency can be improved by increasing the running speed. However, when turning the tractor on a headland in a field, a steering wheel is used. In addition to the operation of the brake pedal and the operation of raising the rotary work machine, it is necessary to perform an accelerator lever or a shift lever operation to reduce the traveling speed, and perform a speed-sensitive steering operation that slows down the steering operation when the traveling speed increases. In the case of performing the tilling work by performing the operation, by turning off the speed-sensitive steering operation when turning in the field headland, the vehicle can be turned with a quick steering operation. However, when the operator performs each of the above operations to reduce the traveling speed and change the direction and to stop the speed-sensitive steering operation, the operation tends to be complicated. In addition, the headland width is likely to be non-uniform because the timing of deceleration of the traveling speed or the timing of stopping and restarting the tilling operation for changing the direction is advanced or delayed. Generally, a headland width smaller than the size that can be plowed in one round trip of the tractor is preferable, but if the traveling speed is reduced more quickly than necessary,
If the headland width is formed larger than the width required for the direction change, or the time required to reach the headland becomes longer and the work efficiency decreases, and the timing of reducing the traveling speed is delayed, The tractor approaches the end of the field more than the width required for the direction change, so that it is impossible to change the direction only by forward traveling, and it is necessary to perform a complicated direction change by switching between forward and reverse. As described above, by increasing the traveling speed at the time of the tilling work, there arises a problem that the tractor's direction changing operation on the field headland cannot be easily performed. [0004] Accordingly, the present invention provides a steering system.
Steering valve is switched by steering operation
When the running cylinder is turned by operating the
The speed-sensitive steering operation is performed based on the detection result of the vehicle speed sensor.
In the tractor to be run
High-speed tillage switch to perform high-speed tillage work, and tillage work
Lift sensor to detect the support height of the machine (non-tiling work position)
And a non-tiling work of a tilling machine using a lift sensor
When the position is confirmed and the engine speed is reduced,
Automatically cancels steering response and steers regardless of vehicle speed.
While keeping the ring operation speed almost constant,
Tilling work machine lowering operation by
When restored, the sense of speed based on the detection result of the vehicle speed sensor
Those応操direction operation is automatically started, but to obtain achieving driving force reduction that by the engine speed reduction prevention and give, to facilitate such maintenance of run line force and improve the driving operability. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 is a tillage control circuit diagram, FIG. 2 is a side view of the entirety, FIG. 3 is a plan view of the same, and FIG. 4 is a side view of a tillage rotary working machine. In the figure, reference numeral (1) denotes a tractor which is a traveling vehicle. A left and right front traveling wheels (4) and (4) are provided on both sides of a bonnet (3) in which an engine (2) is provided. A steering wheel (5), a driver's seat (6) is installed behind the handle (5), and left and right rear running wheels (7) (7) are installed outside both sides of the driver's seat (6). At the same time, the left and right brake pedals (9) and (9) and the clutch pedal (10) are arranged at the step (8) in front of the driver's seat (6), and the operator travels while sitting on the driver's seat (6). It is configured as follows. [0007] A tilling rotary working machine (1) is mounted on a transmission case (11) for driving the running wheels (4) and (7) via a lower link (12) and a top link (13).
4), and the work machine (14) is mounted on the rear side of the tractor (1) so as to be able to move up and down.
5), a position control lever (16) for raising and lowering the work machine (14) by manual operation, and a lifting switch (17) for raising and lowering the work machine (14) to a non-work raising position and a tilling work lowering position by one-touch operation. ) Is arranged on the right side of the driver's seat (6), and the traveling auxiliary shift lever (18) and the PTO shift lever (19) for changing the output to the work implement (14) are connected to the driver's seat (6). Place it on the left. Further, as shown in FIGS. 4 to 7, a gear box (20) is arranged at the center of the work machine (14).
Power is transmitted from the PTO shaft (21) of the tractor (1), and beams (22) protrude from both sides of the gear box (20), and a support plate (23) is provided at an intermediate portion of each of the beams (22). And a lower link (12) is connected to a front end of the support plate (23), and a front end of a depth frame (24) is pivotally supported at a rear end of the support plate (23). Left and right tail wheels (25) (25) are provided on the rear end side. An upper part of the chain case (26) and an upper part of the side support (27) are fixedly provided at an outer end of the beam (22), and a tilling claw shaft (28) is provided between the lower part of the chain case (26) and the lower part of the side support (27). ), A large number of rotary claws (29)... Composed of nata claws are radially implanted on the tilling claw shaft (28) in a side view, and the rotation trajectory of the rotary claw (29) is above. Rotary cover (3
0), and both sides are covered by side covers (31). The cultivating claw shaft (28) is driven via a gear in the gear box (20), a transmission shaft in the beam (22), a sprocket and a chain in the chain case (26), and a rotary claw (29) ... Can be tilled by rotating the handle, and the handle (3
By the rotation operation 2), the rotary cover (30) can be rotated back and forth around the axis of the tillage claw shaft (28). Then, a plate (33) fixed to the beam (22) is projected forward, and the plate (33) is fixed to the beam (22).
A support rod (34) is laid on the front end, and a mounting plate (35) is fixed to the support rod (34).
The upper part of the cutting blade (36) is fixed to 5). In addition,
Four cutting blades (36) are attached to the outer side of the machine from the lower link (12) in the left-right width direction, and the middle portion of the cutting blade (36) is curved backward and inclined forward and backward.
The linear lower portion of 6) faces backward in the front of the rotation locus of the rotary claw (29). That is, in a side view, the lower part of the cutting blade (36) is disposed so as to overlap the front part of the rotation trajectory of the rotary claw (29), and the cutting blade (36) and the rotary claw (2) adjacent thereto are arranged.
The interval in the left and right direction of 9) is narrowed to prevent residual tillage. However, the two outer cutting blades (36) (36) are provided between the rotary claw (29) and the eccentric claw (37). A partition plate (38) is provided between the rear surface of the cutting blade (36) and the rotary cover (30). That is, the partition plate (38) is fixed to the back surface of the cutting blade (36),
The partition plate (38) is brought close to the rotary cover (30) so that straw, weeds and the like do not enter and become entangled. Further, the partition plate (38) is formed in a triangular shape, and the upper side is closely fitted to the shape inside the rotary cover (30), and the front side is closely fitted to the shape of the rear surface of the cutting blade (36). The rear side is shaped like an arc to guide straw or the like downward. And the partition plate (3
The width (plate thickness) of 8) is smaller than the width of the cutting blade (36),
The straw and weeds are not entangled. Further, a first rear cover (40) made of a steel plate is connected to the rear end of the rotary cover (30) above the rotary pawl (29) via a first fulcrum shaft (39) so as to be vertically swingable. The front end of the second rubber rear cover (41) is fixed to the rear end of the 1 rear cover (40), and the leveling space (4
The front end of the third steel rear cover (43) is fixed to the rear end of the second rear cover (41) forming the second rear cover (41), and the second fulcrum shaft (44) at the rear end of the first rear cover (40) and the third rear cover (43). 43) The third fulcrum shaft (45) at the front end is connected by a pair of left and right links (46) (46), and a fourth fulcrum shaft (47) is provided substantially coaxially with the third fulcrum shaft (45).
The lower end of the first suspension rod (48) is connected to the fourth fulcrum shaft (47), and a pair of left and right second suspension rods (50) is connected to the fifth fulcrum shaft (49) at the rear end of the third rear cover (43). The lower ends are connected, and the upper ends of the first and second suspension rods (48) and (50) are attached to the support (51) of the first rear cover (40) so as to be able to move up and down. And a third rear cover (43) to form a triangle in side view, and second, third, and fifth fulcrum axes (44), (45), (49).
The third rear cover (43) is moved upward about the second fulcrum shaft (44) or the third fulcrum shaft (45), and the second fulcrum shaft (4) is formed.
4) and suspension rods (48) (50) of the support (51)
The third rear cover (the forward movement of which is restricted by the downward projection of each rod (48) (50) by the operation of the lever mechanism of the cover (43) and each rod (48) (50) with the connecting portion as a fulcrum). 43) is moved rearward and upward to perform a floating operation in which both sides of the third rear cover (43) move back and forth in plan view. In addition, the fifth fulcrum shaft (4
9) and a pair of left and right gas dampers (52) connected between the support (51) of the first rear cover (40), so that a substantially constant spring constant can be obtained over the entire stroke and a large stroke can be formed. ) To support the third rear cover (43), so that even if the tractor (1) is tilted left and right, the tilling surface can be leveled by pressing the third rear cover (43) right and left equally. The upper ends of the suspension rods (48) and (50) are loosely inserted into the bearings (53) of the supports (51) so that the pins contact the upper surface of the bearings (53). (5
4) are implanted in the rods (48) and (50) to prevent the rods (48) and (50) from being pulled out downward, to limit the forward movement of the third rear cover (43), and to use the springs (55) and (50). 55) and a pair of left and right rods (5
6) (56) The lower end is connected to the upper surface of the first rear cover (40), and the upper end of the rod (56) is connected to the rotary cover (3).
The first rear cover (40) is slidably attached to the support (57) of (0), and is configured to be elastically pressed downward by a spring (55). A rake support (58) is detachably fixed to the upper surface of the third rear cover (43), and a rake (59) fixed to the support (58) extends rearward of the third rear cover (43). As shown in FIG. 6, the support (51) to which the upper end of the second suspension rod (50) is attached.
The upper end of the gas damper (52) is connected to the shaft (60) of the second suspension rod (50) and the gas damper (52) are provided as close to each other as possible and substantially parallel to each other. A pair of right and left tail wheels (25) and (25) are attached to the ends via a support frame (61), and the left and right tail wheels (2
5) The rake (59) is disposed between the (25). The tail wheel (25) prevents the rake (59) from colliding with a ridge or the like at the time of headland change, and allows the vehicle to run on the road or The tail wheel (25) is also used as a bumper on the left and right outer sides in maintenance work or the like lifted upward. Further, a first fulcrum shaft (39) is attached at a position substantially equal to or higher than the upper end of the rotation locus of the rotary claw (29), and the rear cover is centered on the first fulcrum shaft (39) during tilling work. (40) As the (41) and (43) rise, a leveling space (42) having a large area is formed below the rear covers (40), (41) and (43) behind the rotation locus of the rotary pawl (29). Rear cover (40) (4
1) The soil pushed forward by (43) is a rotary claw (2
9) Prevents reaching the soil jumping part and prevents increase in the tilling load of the rotary claw (29) due to tilling work at high speed running. During tilling work, the rotary claw (29) is pulled out to the ground The rear covers (40), (41), and (43) are lifted and arranged by cultivated soil on an arc line having a radius centered on the point (A) where the rotary claw (29) is located. Uniform space of size (42)
To the rear of the rotary claw (29) rotation trajectory and the rear cover (4
0), (41) and (43), small objects such as fine or light soil are scattered to a high position on the lower surface of the rotary covers (40) and (41) by the rotary claws (29), and large or heavy Alternatively, a large object such as a stump (rice plant) is scattered to a lower position by the rotary claw (29), and a small object becomes an upper layer due to a specific gravity separation action due to the scattering of the rotary claw (29), and a large object becomes a lower layer.
The upper small objects are leveled by the rear covers (41) and (43), and the large ones are further pushed down by the rear rake (59). Accordingly, the large-sized material maintains good air permeability and water permeability inside the cultivated soil, and the cultivated soil surface layer is formed by the small-sized material in a state suitable for sowing or seedling transplantation. Further, four rotary claws (29) are arranged on the same circumference around the cultivating claw shaft (28) at 90 ° intervals.
, And the tip side of each rotary claw (29) is alternately bent in the left-right direction, and four rows and one row of rotary claw (29) are arranged on a plane orthogonal to the tillage claw shaft (28). ) A plurality of rows are provided in the axis direction, and a gap is provided between the tip trajectories of the rotary claws (29) and (29) facing each other in the left-right direction. Double the size of the rotary claw (2
9) (29) The rotary claw (29) is formed so that the base end interval is about five times as large as the tip end track gap. Further, the rotary claw (29) is bent into a shape of scooping after cutting off the soil, and a force for pushing and moving the soil in the horizontal direction by a horizontal component force of a tip curved portion of the rotary claw (29) and the rotary claw (29). The scooping soil is extruded in a lateral direction substantially parallel to the axis of the tilling claw shaft (28) by the repulsive force of the elastic deformation in the lateral direction,
Left and right rotary pawls (29) (29) A structure that crushes the soil in the part of the tip trajectory gap where residual cultivation occurs and prevents the formation of residual cultivation.
Percent of the rotary pawls (29) are attached, the rotational speed of the rotary pawls (29) is made substantially the same as the conventional rotational speed (about 200 to 400 rotations per minute), and the traveling speed of the tractor (1) is Running speed (about 0.5 per second)
M), so that the tilling work can be performed with the working efficiency approximately doubled without increasing the tillage load compared to the conventional method. In addition, the rotary claw (2
The cutting blade (36) is made to penetrate into the soil at a position overlapping in the side view with respect to the submerged entry point of (9), the submerged portion of the cutting blade (36) is inclined backward and supported, and the cutting blade (36) is inclined. The left and right sides of the cutting blade (36) are formed by an uneven flat surface having a width, and a downward force in which the cutting blade (36) enters the soil by traction and a force in which the cut soil is pressed against the side surface of the cutting blade (36) by a restoring force. But,
The pull-out resistance of the cutting blade (36), which is generated as the pull-out resistance of the cutting blade (36) and is substantially equal to or slightly larger than the counter-force of the rotary claw (29), makes the reaction of the soil rush resistance. This prevents the tilling rotary working machine (14) from lifting up as a whole, and the rotary pawl (29) is configured to reduce the impact generated by rushing into the soil. On the rear side of the tilling claw shaft (28), the reaction force (lifting force) of the leveling force of the rear covers (40), (41), and (43).
, A reaction force of the pulling force of the rotary claw (29) is generated, and the balance of the reaction forces stabilizes the tilling posture. Further, as shown in FIG. 8, the front running wheel (4)
A hydraulic steering cylinder (63) is provided on a front axle case (62) in which a tie rod (64) for changing the direction of a front running wheel (4) is attached to the cylinder (6).
3) A power steering structure which is connected to the piston (65) and operates the cylinder (63) by rotating the handle (5) to change the direction of the front running wheel (4). A sensor wheel (67) is provided on the axle (66) of the vehicle, and a pickup-type vehicle speed sensor (68) is disposed opposite to the sensor wheel (67), and the rotation of the front running wheel (4) is detected by the sensor (68). The traveling speed is detected and measured. Further, as shown in FIG. 9, a hydraulic steering valve (69) which is switched by forward / reverse rotation of a steering handle (5) is provided, and a hydraulic pump (70) driven by the engine (2) is provided with a steering valve. The double-acting steering cylinder (63) is hydraulically connected via (69) to operate the steering cylinder (63) in proportion to the amount of rotation of the steering handle (5), and from the steering valve (69). A steering speed control valve (72) for returning hydraulic oil supplied to the steering cylinder (63) to the oil tank (71) is provided;
Also provided is a high-speed response solenoid valve (74) formed by a proportional electro-hydraulic switching valve having a speed-responsive steering solenoid (73) for pulse width modulation control (PWM), and a throttle valve (76) of a flow control valve (75). Steering speed control valve (72)
High-speed response solenoid valve (74) at pilot port (77)
The hydraulic fluid of the hydraulic pump (70) is supplied to the pilot port (77) through the solenoid valve (74) to operate the steering speed control valve (72). 69) to change the steering cylinder (63)
When the direction of the front running wheel (4) is changed by the pulse width modulation control (PWM) based on the detection result of the vehicle body speed sensor (68), the solenoid (73) is operated, and the hydraulic pressure is appropriately adjusted by the solenoid valve (74). The pilot pressure adjusted to act on the steering speed control valve (72), the degree of throttle of the control valve (72) changes arbitrarily, and the operating speed is adjusted according to the degree of throttle of the control valve (72). Front wheel (4) by the steering cylinder (63)
Is configured to perform a speed-sensitive steering operation of changing direction. Further, as shown in FIG. 1, an engine (2)
Tillage switch (78) for performing high-speed tillage work while maintaining high rotation, headland swivel switch (79) for lowering engine (2) rotation by raising the non-tillage work position of rotary work machine (14), and lifting and lowering A switch (17), an engine output circuit (81) for operating a speed control motor (80) of an electronic governor for increasing or decreasing the rotation speed of the engine (2), and a rotary work machine (14) via a lower link (12). Circuit (8) for operating an electromagnetic hydraulic elevating valve (83) for controlling a hydraulic elevating cylinder (82)
4) is connected to a tillage controller (85) composed of a microcomputer. The lifting cylinder (8
2) a potentiometer type lift arm sensor (86) for detecting the supporting height (tiling work position or non-tiling work position) of the rotary work machine (14) to be raised and lowered by 2), and connected to the tillage controller (85); The rotation of the rotary work machine (14) lowers the rotation of the engine (2), and the lowering automatically increases the rotation of the engine (2). The vehicle speed sensor (68) and the speed-sensitive steering solenoid (73) are connected to the tilling controller (85), and the steering operation speed of the tractor (1), which is a traveling vehicle, is controlled. A high-speed tillage switch (78) for performing a tillage operation by high-speed running is provided in a mobile agricultural machine that performs a speed-sensitive steering operation that changes the vehicle speed in proportion to the vehicle speed, and a body speed sensor ( 68), a speed-sensitive steering operation for automatically controlling the speed-sensitive steering solenoid (73) is performed.
8) When the speed-sensitive operation is stopped when the switch is off, and when the high-speed tillage switch (78) is turned on to perform the tillage operation at a high speed, the traveling course is corrected by the speed-sensitive steering operation, and the high-speed tillage switch is operated. By turning off (78) and stopping the tilling work in high-speed running, the speed-responsive operation is automatically stopped, and the rotary working machine (14), which is a ground working machine, is in the tilling work state. Speed-sensitive steering operation at the time of, the speed-sensitive steering operation is stopped when the ground work machine (14) is in the non-tilling operation state, and the straightness is improved by the speed-sensitive steering operation during reciprocating tilling work. In addition, the speed-sensitive steering operation is automatically interrupted when the direction is changed at the headland on the field, so that the steering driving force is prevented from being reduced due to the reduced rotation of the engine (2). This embodiment is constructed as described above. As shown in the flow chart of FIG. 10, when the high-speed tilling switch (78) is turned on and a high-speed tilling operation is instructed, the engine (2) runs at the maximum speed at high speed ( When the tractor (1) reaches the field headland and lifts the rotary work machine (14) using the lifting switch (17), the lifting valve ( 83) The lift cylinder (82) performs the work machine lifting operation by control, raises the rotary work machine (14) to the non-tilling work position, and sets the lift arm sensor (86) while the headland turning switch (79) is on. The non-tiling work position of the rotary work machine (14) is confirmed by the input, and the speed control motor (80) is decelerated to control the engine (2).
The engine speed is reduced by about 3
Decrease by 0% and reduce to a running speed suitable for headland turning. At this time, the operator in the driver's seat (6) turns the steering handle (5) to the left or right to operate the front running wheel (4).
To turn the tractor (1) by turning counterclockwise or clockwise to move the tractor (1) to the next work position. When the engine (2) rotation speed reduction operation is performed, the vehicle body Speed-sensitive steering solenoid (73) based on the running speed detection result of the speed sensor (68)
The speed-sensitive steering operation of operating the steering cylinder (63) at a control speed proportional to the vehicle speed by the control is automatically stopped, and the steering cylinder (6) is operated regardless of the vehicle speed.
3) Keep the operating speed substantially constant. When the lowering operation of the rotary work machine (14) by the elevating switch (17) is confirmed by the start of the tilling operation in the next process, the elevating cylinder (82) is moved downward by the control of the elevating valve (83). Is performed, the rotary work machine (14) is lowered to the tilling work position, the engine (2) speed is increased by the speed control motor (80) speed-up control, and the engine (2) speed is reduced to the original maximum speed. When the engine (2) rotation speed increasing operation is performed, the speed-sensitive steering solenoid (based on the traveling speed detection result of the vehicle speed sensor (68)) is started. 73) A speed-sensitive steering operation for operating the steering cylinder (63) at a control speed proportional to the vehicle speed by the control is automatically started. 3) to slow down the operating speed. Further, when the high-speed tillage switch (78) is turned on and the rotary work machine (14) is not being lifted, that is, when the high-speed tillage work is being performed, the input of the vehicle speed sensor (68) is used. The traveling speed is determined. When the traveling speed is higher than a predetermined speed and the vehicle is traveling at a high speed (about 1.0 m per second), the speed-sensitive steering operation in which the operating speed of the steering cylinder (63) is decreased as the vehicle speed increases. Is automatically performed, and the speed-sensitive steering solenoid (7) is controlled based on the traveling speed detected by the vehicle speed sensor (68).
3) is automatically controlled. Further, when the high-speed tilling switch (78) is off, or when the high-speed tilling switch (78) is on and the rotary work machine (14) is descending and the traveling speed is lower than a predetermined speed, the vehicle speed is reduced. The speed-sensitive steering operation for operating the steering cylinder (63) at a control speed proportional to the vehicle speed controlled by the speed-sensitive steering solenoid (73) based on the detection result of the traveling speed of the sensor (68) is automatically stopped, and the vehicle speed is reduced. Irrespective of this, the operating speed of the steering cylinder (63) is kept substantially constant. When the switch (78) is turned on, the steering cylinder (63) is operated at a higher operating speed than when the running speed is higher than a predetermined speed. As is apparent from the above embodiments, the present invention provides a steering valve (6) by operating the steering handle (5).
9) is switched and the steering cylinder (63) is operated.
To change the direction of the running wheels (4)
A speed-sensitive steering operation is performed based on the detection result of (68).
Engine (2) at high speed
A high-speed tilling switch (78) for performing high-speed tilling work,
Check the support height (non-tiling work position) of the tilling machine (14)
A lift sensor (86) is provided.
6) Confirms the non-tiling work position of the tillage machine (14)
Speed-sensitive operation when the rotation of the engine (2) is lowered
Direction operation is automatically stopped and stearin regardless of vehicle speed
While maintaining the switching operation speed substantially constant,
7) Tilling machine (14) The lowering operation was confirmed.
When the rotation of the engine (2) is restored, the vehicle speed sensor (6
8) The speed-sensitive steering operation based on the detection result is automatically opened.
Intended to be started, the engine (2) driving that by the rotation reduction prevents power reduction, in which the like maintaining the run line force and improve the driving operability can be easily achieved. [0026]

[Brief description of the drawings] FIG. 1 is a circuit diagram of a tillage control circuit. FIG. 2 is an overall side view. FIG. 3 is a plan view of the same. FIG. 4 is a side view of the tillage rotary working machine. FIG. 5 is a side view of a rotary claw portion. FIG. 6 is a plan view of a rear cover. FIG. 7 is a rear view of the rotary claw portion. FIG. 8 is a plan view of a steering cylinder unit. FIG. 9 is a steering hydraulic circuit diagram. FIG. 10 is a flowchart of a tillage control. [Explanation of symbols] (1) Tractor (traveling vehicle) (14) Tilling rotary work machine (ground work machine) (78) High-speed tillage switch (85) Controller

Continuation of the front page (72) Inventor Osamu Nakagawa 1-32 Chaya-cho, Kita-ku, Osaka City Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Takushi Shika 1-1-1 Ishiba, Matsumoto-shi, Nagano Prefecture Ishikawa Island Shibaura Machinery Co., Ltd. Matsumoto Plant (72) Inventor Akihiko Kitabayashi 1-1-1 Ishiba, Matsumoto City, Nagano Prefecture Ishikawa Shimaura Shibaura Machinery Co., Ltd. Matsumoto Plant (72) Inventor Akihiko Maezawa Ishiba, Matsumoto City, Nagano Prefecture 1-1-1, Ishikawa Shima Shibaura Machinery Co., Ltd. Matsumoto Plant (72) Inventor Shinyoshi Fujisawa 1-1-1, Ishiba, Matsumoto City, Nagano Prefecture Ishikawa Shima Shibaura Machinery Co., Ltd. Matsumoto Plant (72) Inventor Miya Masahiko Moto 1-1-1, Ishiba, Ishiba, Matsumoto, Nagano Prefecture Inside the Matsumoto Factory, Shimaura Ishikawa Machinery Co., Ltd. (72) Inventor Kimihiro Koshi 1-1-1, Ishiba, Ishikawa, Matsumoto City, Nagano Prefecture Matsumoto Factory, Shimaura, Ishikawa (72) Inventor Eiji Kamiyama 1-32 Chaya-cho, Kita-ku, Osaka-shi Inside Yanmar Diesel Co., Ltd. (56) References JP-A-1-94069 (JP, A) JP-A-64-10904 (JP, A) JP-A-2-73905 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01B 69/00 303

Claims (1)

(57) [Claims] (1) The steering bar is operated by operating the steering handle (5).
Switching the lube (69) and the steering cylinder (63)
To change the direction of the running wheel (4),
Speed-sensitive steering operation based on the detection result of the speed sensor (68)
Engine (2) at high speed
High-speed tillage switch (7
8) and the support height of the tilling machine (14)
A lift sensor (86) for detecting the
Non-tiling working position of tilling machine (14) by sensor (86)
When the rotation of the engine (2) is
Automatically cancels the degree-sensitive steering operation, regardless of the vehicle speed.
While keeping the tearing operation speed approximately constant,
The lowering operation of the tilling work machine (14) by the switch (17) was confirmed.
When the rotation of the engine (2) is returned to the original
Speed-sensitive steering operation based on the detection result of
Tractor characterized by the fact that it is started automatically .