JP2021004586A - Work vehicle - Google Patents

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JP2021004586A
JP2021004586A JP2019119348A JP2019119348A JP2021004586A JP 2021004586 A JP2021004586 A JP 2021004586A JP 2019119348 A JP2019119348 A JP 2019119348A JP 2019119348 A JP2019119348 A JP 2019119348A JP 2021004586 A JP2021004586 A JP 2021004586A
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work machine
work
control device
traveling
speed
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JP7196785B2 (en
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祐 武井
Yu Takei
祐 武井
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
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Abstract

To make it safe to run on a road in a work vehicle in which a work machine is mounted to a running vehicle body in a liftable manner.SOLUTION: A work vehicle in which a work machine 18 is mounted on a running vehicle body 1 in a liftable manner, is provided with a running control device 30; inputs work machine information 26 of the work machine 18 and an ascending angle of the work machine 18 detected by a liftable sensor 32 into the running control device 30; and based on work machine management data 29, regulates the maximum running speed to a predetermined low speed when the running speed control device 30 detects the rise of the work machine 18 by the liftable sensor 32.SELECTED DRAWING: Figure 3

Description

本発明は、走行車体に耕耘作業機等の対地作業機を搭載するトラクタ等の作業車における速度制御装置に関する。 The present invention relates to a speed control device in a work vehicle such as a tractor in which a ground work machine such as a tillage work machine is mounted on a traveling vehicle body.

対地作業機を搭載した作業車は、対地作業機を地上から浮かせた状態で路上を走行するので重心位置が高くなって不安定になり、走行速度が速くなり過ぎないように気を付けなくてはならない。 Since the work vehicle equipped with the ground work machine runs on the road with the ground work machine floating from the ground, the position of the center of gravity becomes high and becomes unstable, so be careful not to make the running speed too fast. Must not be.

このために、例えば、特許文献１には、作業車の最高走行速度を高低の二段階に規制する走行モード設定手段を設け、重い作業機を走行車体に装着した場合には、自動的に最高速度を低速にして不用意に速く走行しないようにして安全を図っている。 For this reason, for example, Patent Document 1 provides a traveling mode setting means for regulating the maximum traveling speed of a work vehicle in two stages of high and low, and when a heavy work machine is attached to a traveling vehicle body, the maximum is automatically set. The speed is set to a low speed to prevent accidental high speed driving for safety.

特開２００２−１６１７７６号公報JP-A-2002-1617776

トラクタに耕耘作業機を搭載した農作業車は、耕耘作業を行う場合に耕耘作業機を圃場に降ろして低速で耕耘走行し、路上を移動走行する場合は耕耘作業機を地面から浮かせて走行するが、耕耘作業機を地上から高く上昇させた状態で速く走行すると旋回時に転倒の危険性が高まる。 Agricultural work vehicles equipped with a tillage work machine on a tractor lower the tillage work machine to the field and cultivate at low speed when performing tillage work, and when moving on the road, the tillage work machine is floated from the ground. , If the tillage work machine is raised high from the ground and travels fast, the risk of tipping over when turning increases.

そのために、本発明は、走行車体に作業機を昇降可能に装着した作業車において、路上走行を安全に行えるようにすることを課題とする。 Therefore, an object of the present invention is to enable a work vehicle in which a work machine is mounted on a traveling vehicle body so as to be able to move up and down safely on the road.

上記本発明の課題は、次の技術手段により解決される。 The above-mentioned problem of the present invention is solved by the following technical means.

請求項１の発明は、走行車体１に作業機１８を昇降可能に装着した作業車において、走行制御装置３０を設け、作業機１８の作業機情報２６と昇降センサ３２が検出する作業機１８の上昇角度を走行制御装置３０に入力し、作業機管理データ２９に基づいて、走行速度制御装置３０が昇降センサ３２で作業機１８の上昇を検出すると最高走行速度を所定の低速に規制制御することを特徴とする作業車とする。 According to the first aspect of the present invention, in a work vehicle in which the work machine 18 is mounted on the traveling vehicle body 1 so as to be able to move up and down, the work machine 18 is provided with a travel control device 30, and the work machine information 26 of the work machine 18 and the work machine 18 detected by the lift sensor 32. The ascending angle is input to the traveling control device 30, and when the traveling speed control device 30 detects the ascent of the working machine 18 by the elevating sensor 32 based on the work equipment management data 29, the maximum traveling speed is regulated and controlled to a predetermined low speed. It is a work vehicle characterized by.

請求項２の発明は、作業機１８に作業機情報２６を持たせて走行車体１に作業機１８を装着すると作業機情報２６が走行制御装置３０に送信されて走行速度制御装置３０の作業機データ２９に照合されて所定の最高走行速度に規制制御されることを特徴とする請求項１に記載の作業車とする。 According to the second aspect of the present invention, when the working machine 18 is provided with the working machine information 26 and the working machine 18 is attached to the traveling vehicle body 1, the working machine information 26 is transmitted to the traveling control device 30 and the working machine of the traveling speed control device 30. The work vehicle according to claim 1, wherein the work vehicle is collated with data 29 and regulated and controlled to a predetermined maximum traveling speed.

請求項３の発明は、作業機１８の上昇角度が所定角度より小さい場合は最高速度規制を行わないことを特徴とする請求項１または請求項２に記載の作業車とする。 The invention according to claim 3 is the work vehicle according to claim 1 or 2, wherein the maximum speed regulation is not performed when the ascending angle of the work machine 18 is smaller than a predetermined angle.

請求項１の発明で、走行車体１に装着した作業機１８を上昇させると、走行制御装置３０が作業機情報２６を作業機管理データ２９に照合して作業機１８をどの程度上昇させると転倒危険性の高い最高速度になるかを認識して最高走行速度を規制するので、作業機１８の機種ごとに的確な最高速度規制を行って、安全な路上走行が可能になる。 According to the invention of claim 1, when the working machine 18 mounted on the traveling vehicle body 1 is raised, the traveling control device 30 collates the working machine information 26 with the working machine management data 29, and when the working machine 18 is raised, the work machine 18 falls. Since the maximum running speed is regulated by recognizing whether or not the maximum speed has a high risk, the maximum speed can be regulated accurately for each model of the work machine 18, and safe road running becomes possible.

請求項２の発明で、請求項１の効果に加えて、作業機１８を走行車体１に装着するだけで走行制御装置３０が作業機１８の作業機情報２６を認識するので、作業者が作業機情報２６を走行制御装置３０に入力する手間が省ける。 In the invention of claim 2, in addition to the effect of claim 1, the traveling control device 30 recognizes the working machine information 26 of the working machine 18 only by mounting the working machine 18 on the traveling vehicle body 1, so that the operator can work. It is possible to save the trouble of inputting the machine information 26 into the travel control device 30.

請求項３の発明で、請求項１または請求項２の効果に加えて、走行制御装置３０が昇降センサ３２の検出情報を判断して、作業機１８の上昇角度が小さく安全であると判断されると低い最高速度での規制が行わず、迅速な走行が行える。 In the invention of claim 3, in addition to the effect of claim 1 or 2, the traveling control device 30 determines the detection information of the elevating sensor 32, and it is determined that the ascending angle of the working machine 18 is small and safe. Then, there is no regulation at a low maximum speed, and you can drive quickly.

トラクタの右側面図である。It is a right side view of a tractor. フロントパネルの正面図である。It is a front view of the front panel. 走行制御のブロック図である。It is a block diagram of a traveling control. 作業機管理データ表である。It is a work machine management data table.

以下、本発明の実施形態を図面に示す実施例を参照しながら説明する。 Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings.

図１は本実施例の作業車として示す農業用トラクタの側面図である。 FIG. 1 is a side view of an agricultural tractor shown as a work vehicle of this embodiment.

農業用トラクタは、走行車体１の下部に前輪２，２と後輪３，３とからなる走行装置４０を備え、走行車体１前部のエンジンルーム５内に搭載したエンジンＥの回転動力をトランスミッションケース６内の変速装置によって適宜減速して、動力を前輪２，２と後輪３，３に伝えるように構成している。前記エンジンルーム５はボンネット７で覆う構成である。 The agricultural tractor is provided with a traveling device 40 including front wheels 2, 2 and rear wheels 3, 3 at the lower part of the traveling vehicle body 1, and transmits the rotational power of the engine E mounted in the engine room 5 at the front of the traveling vehicle body 1. The transmission is appropriately decelerated by the transmission in the case 6 to transmit the power to the front wheels 2 and 2 and the rear wheels 3 and 3. The engine room 5 is covered with a bonnet 7.

また、走行車体１の後部にロータリ耕耘装置で構成した作業機１８を装着し、トランスミッションケース６から後方へ突出するＰＴＯ軸で作業機１８を駆動する構成としている。 Further, a working machine 18 composed of a rotary tillage device is mounted on the rear portion of the traveling vehicle body 1, and the working machine 18 is driven by a PTO shaft protruding rearward from the transmission case 6.

走行車体１の上部には、キャビン９が支持されている。キャビン９の内部では、トランスミッションケース６の上部位置に運転座席８が配置され、この運転座席８の前方には、ステアリングハンドル１０や、前後進レバー１１、駐車ブレーキ（図示せず）等が配置されている。また、運転座席８の前方には、図２に示す、速度メータ２０ａや、操作用の各種スイッチなどが配置された操作表示パネル２０ｂが設けられたフロントパネル２０が設けられている。運転座席８の前方下部には、クラッチペダル１２や、アクセルペダル１３、左右ブレーキペダル（図示せず）等の走行操作具が配置されている。 A cabin 9 is supported on the upper part of the traveling vehicle body 1. Inside the cabin 9, a driver's seat 8 is arranged at an upper position of the transmission case 6, and a steering handle 10, a forward / backward lever 11, a parking brake (not shown), and the like are arranged in front of the driver's seat 8. ing. Further, in front of the driver's seat 8, a front panel 20 provided with an operation display panel 20b on which a speedometer 20a and various switches for operation shown in FIG. 2 are arranged is provided. Driving operating tools such as a clutch pedal 12, an accelerator pedal 13, and left and right brake pedals (not shown) are arranged in the lower front portion of the driver's seat 8.

ミッションケース６の後部上方には油圧シリンダケース１４が設けられ、この油圧シリンダケース１４の左右両側にはリフトアーム１５，１５が回動自在に枢着されている。リフトアーム１５，１５とロワーリンク１６，１６との間にはリフトロッド１７，１７が介装連結され、ロワーリンク１６，１６の後部には作業機であるロータリ耕耘装置１８が連結されている。 A hydraulic cylinder case 14 is provided above the rear portion of the mission case 6, and lift arms 15 and 15 are rotatably pivotally mounted on both left and right sides of the hydraulic cylinder case 14. Lift rods 17 and 17 are connected between the lift arms 15 and 15 and the lower links 16 and 16, and a rotary tiller 18 which is a working machine is connected to the rear of the lower links 16 and 16.

油圧シリンダケース１４内に収容されている油圧シリンダに作動油が供給されるとリフトアーム１５，１５が上昇側に回動され、リフトロッド１７、ロワーリンク１６等を介して作業機（ロータリ耕耘装置）１８が上昇する。反対に油圧シリンダ１４ａ内の作動油が油圧タンクを兼ねるミッションケース５内に排出されると、リフトアーム１５，１５は下降する。油圧シリンダケース１４内の設けた昇降センサ３２でリフトアーム１５の上昇角度が検出される。 When hydraulic oil is supplied to the hydraulic cylinder housed in the hydraulic cylinder case 14, the lift arms 15 and 15 are rotated to the ascending side, and the work machine (rotary tiller) is rotated via the lift rod 17, lower link 16 and the like. ) 18 rises. On the contrary, when the hydraulic oil in the hydraulic cylinder 14a is discharged into the mission case 5 which also serves as a hydraulic tank, the lift arms 15 and 15 are lowered. The ascending angle of the lift arm 15 is detected by the elevating sensor 32 provided in the hydraulic cylinder case 14.

また、走行車体１のトランスミッションケース６上に走行制御装置３０を設け、この走行制御装置３０内に図４に示す各種作業機の速度規制対象情報と上昇傾斜角度等の作業機データ２９が入力され、ロータリ耕耘装置１８の機種等の作業機情報２６がケーブル付きのカプラ２７で連結されて走行制御装置３０に認識され、昇降センサ３２で検出される上昇角度が速度規制される上昇傾斜角かどうかを判定される。例えば、上昇角度が４０°となると最高走行速度が１５ｋｍ／ｈに規制される。 Further, a travel control device 30 is provided on the transmission case 6 of the traveling vehicle body 1, and the speed regulation target information of various work machines shown in FIG. 4 and the work machine data 29 such as the ascending / tilt angle are input into the travel control device 30. , The work machine information 26 such as the model of the rotary tiller 18 is connected by the coupler 27 with a cable and recognized by the traveling control device 30, and the ascending angle detected by the elevating sensor 32 is whether or not the ascending inclination angle is speed-regulated. Is judged. For example, when the ascending angle is 40 °, the maximum traveling speed is restricted to 15 km / h.

前記ロータリ耕耘装置１８は、耕耘部１８ａと、耕耘部１８ａの上方を覆うメインカバー１８ｂと、メインカバー１８ｂの後部に枢着されたリヤカバー１８ｃ等を有する。 The rotary tillage device 18 includes a tillage portion 18a, a main cover 18b that covers the upper part of the tillage portion 18a, a rear cover 18c that is pivotally attached to the rear portion of the main cover 18b, and the like.

図３は、トラクタ１とロータリ耕耘装置１８の制御ブロック図で、ロータリ耕耘装置１８の作業機制御部２５に前記作業機情報２６を持たせてトラクタ１の制御部３０とカプラ２７で連結することで作業機情報２６が制御部３０で認識する。 FIG. 3 is a control block diagram of the tractor 1 and the rotary tillage device 18, wherein the work machine control unit 25 of the rotary tillage device 18 is provided with the work machine information 26 and is connected to the control unit 30 of the tractor 1 by a coupler 27. The work machine information 26 is recognized by the control unit 30.

制御部３０には作業機データ２９が記憶され、車速センサ３１からトラクタ１の走行速度が入力し、トラクタ１のリフトアーム１５の昇降センサ３２による上昇角度が入力し、トラクタ１のトランスミッションケース６内の変速装置の変速比が変速センサ３３から入力し、エンジンＥへの制御信号が出力し、トランスミッションケース６内の変速装置３４に変速信号が出力し、フロントパネル２０に制御情報２８を表示する。制御情報２５は、図２に示す走行速度限界である。 Work equipment data 29 is stored in the control unit 30, the traveling speed of the tractor 1 is input from the vehicle speed sensor 31, the ascending angle of the lift arm 15 of the tractor 1 by the elevating sensor 32 is input, and the inside of the transmission case 6 of the tractor 1 is input. The gear ratio of the transmission is input from the shift sensor 33, a control signal to the engine E is output, a shift signal is output to the transmission 34 in the transmission case 6, and control information 28 is displayed on the front panel 20. The control information 25 is the traveling speed limit shown in FIG.

自動制御は、次の如く行われる。 The automatic control is performed as follows.

トラクタ１とロータリ耕耘装置１８がカプラ２７で連結されると、作業機情報２６がトラクタ１の制御部３０に入力され、記憶された作業機データ２９と照合されて機種が認識され、機種ごとに上昇角度による最高走行速度限界を取り出されてフロントパネル２０に制御情報２８が表示され、エンジンＥと変速装置３４が制御されて最高走行速度限界までの速度で走行するように制御される。 When the tractor 1 and the rotary tiller 18 are connected by the coupler 27, the work machine information 26 is input to the control unit 30 of the tractor 1, collated with the stored work machine data 29, the model is recognized, and each model is recognized. The maximum traveling speed limit due to the ascending angle is taken out, control information 28 is displayed on the front panel 20, and the engine E and the transmission 34 are controlled so as to travel at a speed up to the maximum traveling speed limit.

１ 走行車体
１８ 作業機
２６ 作業機情報
２９ 作業機データ
３０ 走行制御装置
３２ 昇降センサ
1 Traveling vehicle body 18 Working machine 26 Working machine information 29 Working machine data 30 Travel control device 32 Elevating sensor

Claims (3)

走行車体（１）に作業機（１８）を昇降可能に装着した作業車において、走行制御装置（３０）を設け、前記作業機（１８）の作業機情報（２６）と昇降センサ（３２）が検出する前記作業機（１８）の上昇角度を前記走行制御装置（３０）に入力し、作業機管理データ（２９）に基づいて、前記走行速度制御装置（３０）が前記昇降センサ（３２）で前記作業機（１８）の上昇を検出すると最高走行速度を所定の低速に規制制御することを特徴とする作業車。 In a work vehicle in which a work machine (18) is mounted on a traveling vehicle body (1) so as to be able to move up and down, a travel control device (30) is provided, and work machine information (26) and an elevating sensor (32) of the work machine (18) are provided. The ascending angle of the working machine (18) to be detected is input to the traveling control device (30), and the traveling speed control device (30) uses the elevating sensor (32) based on the working machine management data (29). A work vehicle characterized in that when an increase in the work machine (18) is detected, the maximum traveling speed is regulated and controlled to a predetermined low speed. 前記作業機（１８）に前記作業機情報（２６）を持たせて前記走行車体（１）に前記作業機（１８）を装着すると前記作業機情報（２６）が前記走行制御装置（３０）に送信されて前記走行速度制御装置（３０）の前記作業機データ（２９）に照合されて所定の最高走行速度に規制制御されることを特徴とする請求項１に記載の作業車。 When the work machine (18) is provided with the work machine information (26) and the work machine (18) is attached to the traveling vehicle body (1), the work machine information (26) is transmitted to the travel control device (30). The work vehicle according to claim 1, wherein the work vehicle is transmitted and collated with the work machine data (29) of the travel speed control device (30) to be regulated and controlled to a predetermined maximum travel speed. 前記作業機（１８）の上昇角度が所定角度より小さい場合は最高速度規制を行わないことを特徴とする請求項１または請求項２に記載の作業車。
The work vehicle according to claim 1 or 2, wherein the maximum speed regulation is not performed when the ascending angle of the work machine (18) is smaller than a predetermined angle.
JP2019119348A 2019-06-27 2019-06-27 work vehicle Active JP7196785B2 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114607512A (en) * 2022-04-20 2022-06-10 第一拖拉机股份有限公司 Engine rotating speed control method, controller and tractor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60179374A (en) * 1984-02-27 1985-09-13 Mitsubishi Agricult Mach Co Ltd Anti-tilt device for tractor
JP2006304737A (en) * 2005-05-02 2006-11-09 Yanmar Co Ltd Working vehicle attitude control system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60179374A (en) * 1984-02-27 1985-09-13 Mitsubishi Agricult Mach Co Ltd Anti-tilt device for tractor
JP2006304737A (en) * 2005-05-02 2006-11-09 Yanmar Co Ltd Working vehicle attitude control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114607512A (en) * 2022-04-20 2022-06-10 第一拖拉机股份有限公司 Engine rotating speed control method, controller and tractor
CN114607512B (en) * 2022-04-20 2023-03-10 第一拖拉机股份有限公司 Engine rotating speed control method, controller and tractor

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