JP5229052B2 - Farm work vehicle - Google Patents

Description

  The present invention relates to a farm vehicle such as a tractor, a management machine, a transplanting machine, and a harvesting machine. In particular, the present invention relates to a mounting structure of an angular velocity sensor for detecting the inclination of the machine body in an attitude control device that controls the machine body and the work machine to a horizontal attitude or controls the machine body and the work machine to a constant inclination state with respect to the horizontal.

  Agricultural implements are provided with an inclination angle detecting means for detecting the inclination of the machine body in the traveling machine body or the working machine, and the inclination of the working machine with respect to the horizontal is maintained constant based on the machine inclination angle detected by the inclination angle detecting means. An attitude control device is provided for control.

As an inclination angle detecting means for detecting the inclination of the airframe, there is an angular velocity sensor used for detecting the inclination movement of the traveling airframe or the work equipment and predicting the degree of inclination, that is, the relative inclination angle.
For example, in Japanese Patent No. 3734065, an angular velocity sensor is attached to the upper surface of the mission case below the cockpit.

Japanese Patent No. 3734065

  The conventional angular velocity sensor mounting position may be difficult to pick up vibrations other than the inclination of the airframe because it is a highly rigid upper surface of the mission case, but maintenance is sometimes difficult because the mounting position is limited.

  Therefore, an object of the present invention is to make the sheet metal portion that occupies most of the airframe high in rigidity and attach an angular velocity sensor in a state where it is difficult to pick up vibrations of the metal sheet, so that the inclination of the airframe can be accurately detected. .

The problems of the present invention are solved by the following means.
According to the first aspect of the present invention, the sensor bracket (53) including the sensor mounting surface (54) and the airframe mounting surface (55) is placed near the bent portion (52) of the sheet metal member (50). 53) The sensor mounting surface (54) is disposed, and the body mounting surface (55) of the sensor bracket (53) is overlaid and pasted over substantially the entire linear portion (51) of the sheet metal member (50). And an angular velocity sensor (24) for detecting the inclination of the airframe is attached to the sensor attachment surface (54).

  With this configuration, a bending portion (the rigidity of the sheet metal member (50) is increased by overlapping the body mounting surface (55) of the sensor bracket (53) with the mounting straight portion (51) of the sheet metal member (50). 52), the angular velocity sensor (24) is attached to the sensor mounting surface (54) of the sensor bracket (53) so that the sheet metal member does not vibrate easily, and the angular velocity sensor (24) vibrates other than the inclination of the fuselage. It becomes difficult to pick up.

  The invention according to claim 2 is configured such that the sheet metal member (50) is a partition plate that is erected from step (S) of the control section (C) and on which the seat (8) is placed. The agricultural work vehicle according to claim 1, wherein:

  With this configuration, when the seat (8) is removed, the angular velocity sensor (24) can be inspected and maintained. Further, by providing the angular velocity sensor (24) in the vicinity of the seat (8) located substantially in the center of the aircraft, the accuracy of detecting the aircraft inclination is improved.

  According to the first aspect of the present invention, since the angular velocity sensor (24) can be attached in the vicinity of the bent portion (52) of the sheet metal member (50) occupying most of the airframe, the sheet metal member (50 occupying most of the airframe) The angular velocity sensor (24) can be attached at a position where the maintenance is good, and erroneous detection of the tilt of the machine body due to chatter and vibration of the sheet metal member (50) can be prevented.

  According to the invention described in claim 2, in addition to the effect of claim 1, when the seat (8) is removed, the inspection and maintenance of the angular velocity sensor (24) can be easily performed. Further, by providing the angular velocity sensor (24) in the vicinity of the seat (8) located substantially at the center of the aircraft, the angular velocity detection accuracy of the aircraft inclination is improved.

It is the whole tractor side view shown as an example of an agricultural work vehicle. It is an expanded sectional side view of the principal part. It is a perspective view of the main transmission lever vicinity. It is a control block diagram. It is a control flowchart figure.

Embodiments of the present invention will be described below based on the embodiments shown in the drawings.
The farm work machine shown in the present embodiment is a tractor, and an engine 2 is mounted on the front part of the traveling machine body 1. Power is transmitted to the PTO shaft 4, the front wheel 5, and the rear wheel 6.

  On the mission case 3 of the traveling machine body 1, a bonnet 7 that houses the front engine 2, a seat 8 on which an operator sits, and a steering handle 9 are provided, and the periphery is surrounded by a cabin 10. In the vicinity of the steering handle 9, a one-touch raising / lowering lever (not shown) for raising and lowering the work implement 13 by tilting up and down is provided.

  As shown in FIG. 3, a main transmission lever 61 is erected on a side panel 60 provided on the side portion of the seat 8 and is provided so as to change gears by operating in the front-rear direction. Further, a deceleration button 62 and an acceleration button 63 are provided on the upper surface of the grip of the main transmission lever 61 so that the transmission can be shifted by pressing the deceleration button 62 and the acceleration button 63. Further, a shift position display lamp 64 and a shift stage display lamp 65 are provided on the left and right of the main shift lever 61 so that the shift position and shift stage lamps corresponding to the shift position of the transmission in the transmission case 3 are lit. ing.

  A hydraulic cylinder case 11 is mounted on the rear upper part of the transmission case 3, and lift arms 12, 12 are pivotally attached to both the left and right sides of the hydraulic cylinder case 11. When hydraulic oil is supplied into the hydraulic cylinder in the hydraulic cylinder case 11, the lift arms 12 and 12 are raised and rotated. On the contrary, when the hydraulic oil is discharged, the lift arms 12 and 12 are lowered. Yes.

  The working machine 13 is a rotary cultivator that rotationally drives the tilling claws 14 to cultivate the soil surface, and is attached to the traveling machine body 1 by the top link 16 and the lower link 17. The left and right lift arms 12 and 12 and the left and right lower links 17 and 17 are connected to each other by a lift rod 18 and a hydraulic horizontal cylinder 19, of which one (right) hydraulic horizontal cylinder 19 is a double-acting hydraulic cylinder. The horizontal inclination of the working machine 13 is changed by extending and contracting the hydraulic horizontal cylinder 19. A stroke sensor (not shown) for detecting the expansion / contraction length of the cylinder rod is attached to the side of the hydraulic cylinder 19.

  The rotary cultivator 13 includes a cultivating claw 14, a rotary cover 20 that covers the top of the cultivating claw 14, a rear cover 21 that is pivotally attached to the rear portion of the rotary cover 20, and the like. In response, the tillage shaft 22 is rotated, and the soil is cultivated by the plurality of tillage claws 14 attached to the tillage shaft 22.

  A rear cover sensor (not shown) that detects the vertical position of the rear cover 21 may be provided, and the soil quality may be determined based on the height of the soil block after plowing. For example, since soft and sticky soil rises, if the height of the clod is high, it is determined that the field is soft and is used for adjusting the braking force for turning control as will be described later.

As shown in FIG. 2, the angular velocity sensor 24 is attached to the partition plate 50 that is provided below the seat 8 and is erected from the step S and that partitions the cabin 10.
That is, the sensor bracket 53 formed in a substantially L shape by the sensor mounting surface 54 and the airframe mounting surface 55 has its corners close to the bent portion 52 of the partition plate 50 so that the airframe mounting surface 55 is a straight portion of the partition plate 50. The angular velocity sensor 24 is attached to the sensor attachment surface 54 of the sensor bracket 53 by spot welding to 51. Note that the airframe mounting surface 55 of the sensor bracket 53 is mounted to have substantially the same width as that of the straight portion 51 of the partition plate 50 to increase the rigidity of the partition plate 50 so that the straight portion 51 is not shaken by vibration.

  A tilt sensor 23 (FIG. 2) for detecting the tilt angle in the left-right direction of the traveling machine body 1 is attached to the hydraulic cylinder case 11. As will be described later, the left / right inclination control amount of the work implement 13 is calculated from the inclination detection values of the inclination sensor 23 and the angular velocity sensor 24, the extension detection value of the stroke sensor 15 and the setting value of the inclination adjustment dial 25 (FIG. 4). The rolling control is performed so that the hydraulic horizontal cylinder 19 is operated in accordance with an instruction from the controller 30 to maintain the work machine 13 at the set left-right inclination angle.

A distance sensor 45 that measures the distance from the ground is provided at the lower rear end of the central frame 46 of the work machine 13 so that the size of the soil block after tilling is determined by the change in the distance.
Next, the control block diagram shown in FIG. 4 will be described.

  On the input side of the controller 30 that controls the raising and lowering control and the rolling control of the work machine 13, the gravity sensor and the inclination sensor 23 for detecting the inclination angle from the horizontal direction, that is, the absolute inclination angle, and the acceleration and time at which the traveling machine body 1 is inclined are predicted. In this configuration, the right and left relative inclination angles of the traveling machine body 1 are input from the angular velocity sensor 24 that calculates and detects the inclination angle, that is, the relative inclination angle.

  The extension position signal of the hydraulic horizontal cylinder 19 is input from the stroke sensor 15, the tilt setting value of the work machine 13 with respect to the traveling machine body 1 is input from the tilt adjustment dial 25, and the horizontal control or parallel control is switched from the horizontal / parallel switch 26. A signal is input.

  When the horizontal / parallel switch 26 is set to the “horizontal” position, horizontal control is performed to keep the work implement 13 horizontal according to the detection values of the inclination sensor 23 and the angular velocity sensor 24. This horizontal control controls the work machine 13 horizontally even if the machine body is inclined.

  When the horizontal / parallel switch 26 is set to the “parallel” position, the lengths of the left and right lift rods 18 and the hydraulic horizontal cylinder 19 coincide with each other so that the left and right postures of the work machine 13 with respect to the traveling machine body 1 are in a parallel state. . In this parallel control, the work machine 13 is tilted together with the tilt of the machine body. Use of horizontal control or parallel control is selected according to the field conditions.

  The “parallel” position can be further set to two positions. When the “fixed position” is set, the work machine 13 is always parallel to the traveling machine body 1, and when the “swing” position is set, the traveling machine body 1 is inclined. Regardless, control for rolling the work implement 13 is added according to the detection values of the inclination sensor 23 and the angular velocity sensor 24 so that the work implement 13 is maintained in a parallel state.

  Further, the traveling speed of the traveling machine body 1 is input to the controller 30 from the vehicle speed sensor 41, the steering angle of the steering handle 9 from the turning angle sensor 42, and the lift position signal of the work machine 13 from the lift arm sensor 36, respectively.

  From the output side of the controller 30, a horizontal extension output 31 that extends the hydraulic horizontal cylinder 19 and a horizontal contraction output 32 that contracts are output. The horizontal extension output 31 and the horizontal contraction output 32 are output as an on / off signal to an electromagnetic switching valve that controls the hydraulic horizontal cylinder 19. However, when the engine 2 has a low rotational speed, the oil acting on the hydraulic horizontal cylinder 19 is output. Therefore, the ON ratio to the electromagnetic switching valve, that is, the duty ratio is increased and output.

  In this way, when the engine speed is high, the duty ratio is lowered, and when the engine speed is low, the duty ratio is increased, so that the operating speed of the hydraulic horizontal cylinder 19 becomes a constant speed regardless of the rotational change of the engine 2. I am doing so.

  Since it takes a little time for the controller 30 to be stably controlled after the engine 2 is started, a control lamp is provided on the front panel 47 to switch from red to green, for example. To display.

  The inclination of the traveling machine body 1 is controlled by correcting the inclination of the work machine 13 by determining the inclination angle based on the detection values of the inclination sensor 23 and the angular velocity sensor 24. An air pressure sensor (not shown) that detects the tire air pressure of the front wheels 5 and the rear wheels 6 is provided so that correction control is not performed in the angle detection, and the posture correction is performed by detecting a sudden rise in the tire air pressure on the inclined side when the aircraft is tilted. Control should be started quickly. At this time, the detected inclination angles of the inclination sensor 23 and the angular velocity sensor 24 are corrected by increasing the air pressure.

  FIG. 5 is a flowchart for determining whether the field is a wet field or a dry field. In step S1, the detection signals of the tire settlement sensor, the tire slip sensor, and the cutting angle sensor 42 are read, and in step S2, the tire settlement amount is first large. If it is large, it is determined in step S3 whether the slip ratio is large.

  If it is large, the cutting angle sensor 42 detects the return in step S4 and determines whether the turning trajectory is large. If all the determinations are large, it is determined that the paddy field is in step S5. If it is not large, it is determined as a dry rice pad at step S6.

In addition, it can also be made to determine with a dry rice field only by any one determination of step S2, step S3, and step S4.
If it is determined that the paddy field is a wet field, for example, the inner brake at the time of turning is weakly applied so that the field is turned without roughening the field.

  The present invention can also be applied to general industrial vehicles other than agricultural work vehicles.

C Control part S Step 8 Seat 24 Angular velocity sensor 50 Sheet metal member (partition plate)
51 Linear portion 52 Bent portion 53 Sensor bracket 54 Sensor mounting surface 55 Airframe mounting surface

Claims (2)

  A sensor bracket (53) composed of a sensor mounting surface (54) and an airframe mounting surface (55) is placed near the bent portion (52) of the sheet metal member (50), and the sensor mounting surface (54) of the sensor bracket (53). The sensor mounting surface (54) is configured to overlap and affix the body mounting surface (55) of the sensor bracket (53) over substantially the entire linear portion (51) of the sheet metal member (50). An agricultural vehicle characterized in that an angular velocity sensor (24) for detecting the inclination of the airframe is attached to the vehicle.   The said sheet-metal member (50) was comprised from the partition plate which has stood up from step (S) of the control part (C), and has mounted the seat (8) upwards. Farm work vehicle.

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