JP2021027807A - Work vehicle - Google Patents

Work vehicle Download PDF

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JP2021027807A
JP2021027807A JP2019147363A JP2019147363A JP2021027807A JP 2021027807 A JP2021027807 A JP 2021027807A JP 2019147363 A JP2019147363 A JP 2019147363A JP 2019147363 A JP2019147363 A JP 2019147363A JP 2021027807 A JP2021027807 A JP 2021027807A
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work
turning
control unit
machine
puddling
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JP7249908B2 (en
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鈴木　康仁
Yasuhito Suzuki
康仁 鈴木
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Mitsubishi Mahindra Agricultural Machinery Co Ltd
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Mitsubishi Mahindra Agricultural Machinery Co Ltd
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Abstract

To provide a work vehicle, in turning, capable of suppressing earthing-up, while continuing puddling work.SOLUTION: A tractor T comprises a traveling machine body 1, a work machine 3 to be liftably/lowerably connected to the rear part of the traveling machine body 1, and a control unit 21 for controlling the lifting/lowering of he work machine 3. The control unit 21 has a puddling mode to be executed in the puddling work, and the control unit 21 in the puddling mode, when the traveling machine body 1 is in a turning operation, lifts the work machine 3 by a prescribed amount (a slight lifting operation) within a height range capable of continuing the puddling work.SELECTED DRAWING: Figure 5

Description

本発明は、代掻き作業を行う作業車両に関する。 The present invention relates to a work vehicle that performs a substitute scraping operation.

枕地旋回時に作業機を非作業高さまで自動的に上昇させる作業車両が知られている（例えば、特許文献１参照）。このような作業車両では、枕地旋回時の作業機上昇操作が不要になるので、作業者の操作負担を軽減できる。 A work vehicle that automatically raises a work machine to a non-work height when turning a headland is known (see, for example, Patent Document 1). In such a work vehicle, it is not necessary to raise the work machine when turning the headland, so that the operation burden on the operator can be reduced.

特開２０１０−１６３１２９号公報JP-A-2010-163129

ところで、この種の作業車両では、代掻き作業を行う場合、作業効率の観点から作業機を下降させたまま枕地旋回を行うことがある。しかしながら、作業機を下降させたまま枕地旋回すると、作業機が旋回外側に土を寄せてしまい、作業精度を低下させる虞がある。 By the way, in this kind of work vehicle, when the substitute scraping work is performed, the headland turning may be performed while the work machine is lowered from the viewpoint of work efficiency. However, if the headland is swiveled while the working machine is lowered, the working machine may attract soil to the outside of the swivel, which may reduce the working accuracy.

本発明は、上記の如き実情に鑑みこれらの課題を解決することを目的として創作されたものであって、請求項１の発明は、走行機体と、前記走行機体の後部に昇降可能に連結される作業機と、前記作業機を昇降制御する制御部と、を備える作業車両であって、前記制御部は、代掻き作業時に実行する代掻きモードを有し、前記代掻きモードにおける前記制御部は、前記走行機体が旋回中であるか否かを判断する旋回判断手段と、前記走行機体が旋回中のとき、代掻き作業を継続可能な高さ範囲内で前記作業機を所定量上昇させる旋回時微小上昇制御手段と、を備えることを特徴とする。
また、請求項２の発明は、請求項１に記載の作業車両であって、前記所定量は、代掻き作業中に調整可能であることを特徴とする。
また、請求項３の発明は、請求項１又は２に記載の作業車両であって、前記代掻きモードにおける前記制御部は、前記走行機体が旋回中のとき、前記作業機が代掻き作業を継続可能な高さにあることを報知する旋回中作業継続報知手段を備えることを特徴とする。 The present invention has been created for the purpose of solving these problems in view of the above circumstances, and the invention of claim 1 is movably connected to the traveling machine body and the rear portion of the traveling machine body. A work vehicle including a work machine and a control unit for raising and lowering the work machine. The control unit has a shaving mode to be executed during a shaving operation, and the control unit in the shaving mode is the control unit. A turning determination means for determining whether or not the traveling machine is turning, and a minute rise during turning that raises the working machine by a predetermined amount within a height range in which the substitute scraping work can be continued when the traveling machine is turning. It is characterized by comprising a control means.
The invention of claim 2 is the work vehicle according to claim 1, wherein the predetermined amount can be adjusted during the puddling work.
Further, the invention of claim 3 is the work vehicle according to claim 1 or 2, wherein the control unit in the substitute scraping mode can continue the substitute scratching work when the traveling machine is turning. It is characterized by being provided with a work continuation notification means during turning to notify that the vehicle is at a high height.

請求項１の発明によれば、代掻きモード時の制御部は、走行機体が旋回中のとき、代掻き作業を継続可能な高さ範囲内で作業機を所定量上昇させるので、代掻き作業を継続しつつ土寄せを減らして作業精度の低下を抑制できる。また、作業者が微小上昇操作を行う場合に比べ、作業者の操作負担を軽減できる。
また、請求項２の発明によれば、所定量は、代掻き作業中に調整可能なので、圃場条件などに応じて適切な所定量に調整することで、作業精度を向上できる。
また、請求項３の発明によれば、代掻きモード時の制御部は、走行機体が旋回中のとき、作業機が代掻き作業を継続可能な高さにあることを報知するので、作業機高さの誤認によって作業機を畦などに接触させることを防止できる。 According to the invention of claim 1, when the traveling machine is turning, the control unit in the substitute scraping mode raises the work machine by a predetermined amount within a height range in which the substitute scratching work can be continued, so that the substitute scratching work is continued. At the same time, it is possible to reduce soil gathering and suppress a decrease in work accuracy. In addition, the operational burden on the operator can be reduced as compared with the case where the operator performs a minute ascending operation.
Further, according to the invention of claim 2, since the predetermined amount can be adjusted during the puddling work, the work accuracy can be improved by adjusting the predetermined amount to an appropriate predetermined amount according to the field conditions and the like.
Further, according to the invention of claim 3, when the traveling machine is turning, the control unit in the substitute scraping mode notifies that the work machine is at a height at which the substitute scratching work can be continued, so that the height of the work machine is high. It is possible to prevent the work machine from coming into contact with ridges due to the misidentification of.

本発明の一実施形態に係るトラクタの側面図である。It is a side view of the tractor which concerns on one Embodiment of this invention. トラクタの平面図である。It is a top view of a tractor. 操縦部の内部を運転席側から見た斜視図である。It is a perspective view which looked at the inside of the control part from the driver's seat side. 制御構成を示すブロック図である。It is a block diagram which shows the control structure. 耕深自動制御、旋回アップ制御及び旋回時微小上昇制御の設定及び動作を示す説明図である。It is explanatory drawing which shows the setting and operation of the tillage depth automatic control, the turning up control, and the minute rise control at the time of turning. 制御部の処理手順を示すフローチャートである。It is a flowchart which shows the processing procedure of a control part. 作業モード確認の処理手順を示すフローチャートである。It is a flowchart which shows the processing procedure of work mode confirmation. 旋回時微小上昇制御の処理手順を示すフローチャートである。It is a flowchart which shows the processing procedure of the minute rise control at the time of turning.

以下、本発明の実施の形態について、図面に基づいて説明する。図１及び図２において、１はトラクタＴ（作業車両の一例）の走行機体であって、該走行機体１の後部には、昇降リンク機構２を介してロータリなどの作業機３が連結されている。昇降リンク機構２は、機体後部に設けられるリフトアーム（図示せず）で吊持されており、リフトシリンダ（図示せず）の油圧伸縮作動に応じたリフトアームの上下回動に連動し、作業機３を昇降させる。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIGS. 1 and 2, reference numeral 1 denotes a traveling machine body of a tractor T (an example of a working vehicle), and a working machine 3 such as a rotary is connected to the rear portion of the traveling machine body 1 via an elevating link mechanism 2. There is. The lift link mechanism 2 is suspended by a lift arm (not shown) provided at the rear of the machine body, and works in conjunction with the vertical rotation of the lift arm in response to the hydraulic expansion and contraction operation of the lift cylinder (not shown). Move the machine 3 up and down.

作業機３は、耕耘作業や代掻き作業が可能な耕耘作業機であり、走行機体１から伝動される動力で回転し、圃場を耕耘する耕耘爪５と、耕耘爪５の上方を覆うメインカバー６と、作業機３の耕深に応じて上下回動するようにメインカバー６の後端部に連結されるリヤカバー７と、リヤカバー７の回動角検出にもとづいて作業機３の耕深を検出する耕深センサ８（図４参照）とを備える。 The work machine 3 is a tillage work machine capable of tilling work and puddling work, and is rotated by the power transmitted from the traveling machine body 1 to cultivate the field, and a main cover 6 covering the upper part of the tilling claw 5. And the rear cover 7 connected to the rear end of the main cover 6 so as to rotate up and down according to the tillage depth of the work machine 3, and the tillage depth of the work machine 3 is detected based on the rotation angle detection of the rear cover 7. It is provided with a tillage depth sensor 8 (see FIG. 4).

走行機体１は、エンジン（図示せず）が搭載されるエンジン搭載部９と、エンジン動力を変速するトランスミッションケース１０と、トランスミッションケース１０から伝動される動力で回転駆動され、かつステアリングハンドル１１（図３参照）の操作に応じて操舵される前輪１２と、トランスミッションケース１０から伝動される動力で回転駆動される後輪１３と、作業者が乗車する操縦部１４とを備える。 The traveling machine body 1 is rotationally driven by an engine mounting portion 9 on which an engine (not shown) is mounted, a transmission case 10 for shifting engine power, and a power transmitted from the transmission case 10, and a steering handle 11 (FIG. The front wheels 12 are steered in response to the operation of (see 3), the rear wheels 13 are rotationally driven by the power transmitted from the transmission case 10, and the control unit 14 on which the operator rides.

図３に示すように、操縦部１４には、作業者が座る運転席１５の他、前述したステアリングハンドル１１、走行動力及び作業動力を変速する主変速レバー１６及び副変速レバー１７、前後進を切り換える前後進切換レバー１８、エンジン回転数を設定するエンジンコントロールレバー１９、作業機３の昇降位置を設定するポジションレバー２０などの操作具が配置されている。 As shown in FIG. 3, in the control unit 14, in addition to the driver's seat 15 on which the operator sits, the above-mentioned steering handle 11, the main shift lever 16 and the auxiliary shift lever 17 for shifting the traveling power and the working power, and the forward / backward advancement are provided. Operating tools such as a forward / backward switching lever 18 for switching, an engine control lever 19 for setting the engine rotation speed, and a position lever 20 for setting the elevating position of the work equipment 3 are arranged.

図４に示すように、走行機体１には、後述する耕深自動制御などの自動制御を実現する制御部２１が設けられている。制御部２１の入力側には、前述した耕深センサ８の他に、リフトアームの上下回動角を検出するリフトアーム角センサ２２と、前輪１２の切れ角を検出する前輪切れ角センサ２３と、ポジションレバー２０の操作位置を検出するポジションセンサ２４と、作業機３が代掻き作業状態であるか否かを検出又は設定する代掻きスイッチ２５と、後述する耕深自動制御をＯＮ／ＯＦＦする耕深自動スイッチ２６と、後述する旋回アップ制御をＯＮ／ＯＦＦする旋回アップスイッチ２７と、耕深自動制御の目標耕深を設定する深さ調整ダイヤル２８と、後述する微小上昇動作の上昇量を設定する微小上昇調整ダイヤル２９とが接続される一方、制御部２１の出力側には、リフトシリンダを上昇動作させる上昇用電磁バルブ３０と、リフトシリンダを下降動作させる下降用電磁バルブ３１と、旋回アップ状態を報知する旋回アップランプ３２とが接続されている。 As shown in FIG. 4, the traveling machine body 1 is provided with a control unit 21 that realizes automatic control such as automatic plowing depth control described later. On the input side of the control unit 21, in addition to the plowing depth sensor 8 described above, a lift arm angle sensor 22 for detecting the vertical rotation angle of the lift arm and a front wheel turning angle sensor 23 for detecting the turning angle of the front wheel 12 are provided. , A position sensor 24 that detects the operating position of the position lever 20, a substitute scraping switch 25 that detects or sets whether or not the work machine 3 is in a substitute scratching work state, and a tillage depth that turns on / off automatic tillage depth control described later. The automatic switch 26, the swivel-up switch 27 for turning on / off the swivel-up control described later, the depth adjustment dial 28 for setting the target plowing depth for the automatic plowing depth control, and the amount of increase in the minute climbing operation described later are set. While the minute rise adjustment dial 29 is connected, on the output side of the control unit 21, a lifting solenoid valve 30 that raises the lift cylinder, a lowering solenoid valve 31 that lowers the lift cylinder, and a swivel-up state. Is connected to the swivel-up lamp 32 for notifying.

制御部２１は、ハードウェアとソフトウェアとの協働により実現される自動制御機能として、耕深自動制御、旋回アップ制御及び旋回時微小上昇制御を備える。 The control unit 21 includes automatic plowing depth control, turning up control, and minute climbing control during turning as automatic control functions realized by the cooperation of hardware and software.

図５に示すように、耕深自動制御は、耕深自動スイッチ２６がＯＮで、ポジションレバー２０が最下げのときに実行される自動制御機能であり、深さ調整ダイヤル２８で設定された耕深を維持するように、耕深センサ８の検出値に応じて作業機３を自動的に昇降させる。なお、耕深自動制御は、代掻きスイッチ２５がＯＦＦとなる耕耘モード、代掻きスイッチ２５がＯＮとなる代掻きモードのいずれにおいても実行される。 As shown in FIG. 5, the plowing depth automatic control is an automatic control function executed when the plowing depth automatic switch 26 is ON and the position lever 20 is at the lowest position, and the plowing depth automatic control is set by the depth adjustment dial 28. The work equipment 3 is automatically moved up and down according to the detected value of the plowing depth sensor 8 so as to maintain the depth. The automatic plowing depth control is executed in both the tilling mode in which the shaving switch 25 is turned off and the shaving mode in which the shaving switch 25 is turned on.

旋回アップ制御は、旋回アップスイッチ２７がＯＮで、ポジションレバー２０が最下げのときに実行される自動制御機能であり、前輪切れ角センサ２３の検出角度が直進位置から旋回位置に変化すると、作業機３を自動的に最上昇位置まで上昇させるとともに、旋回アップランプ３２を点滅させる。また、旋回アップ制御は、前輪切れ角センサ２３の検出角度が旋回位置から直進位置に変化すると、作業機３を設定高さ（ポジションレーバー２０の設定高さ、又は深さ調整ダイヤル２８の設定深さ）まで自動的に下降させるとともに、旋回アップランプ３２を消灯させる。 The turning-up control is an automatic control function that is executed when the turning-up switch 27 is ON and the position lever 20 is at the lowest position. When the detection angle of the front wheel turning angle sensor 23 changes from the straight-ahead position to the turning position, the work is performed. The machine 3 is automatically raised to the highest position, and the turning up lamp 32 is blinked. Further, in the turning up control, when the detection angle of the front wheel turning angle sensor 23 changes from the turning position to the straight traveling position, the working machine 3 is set to the set height (the set height of the position lever 20 or the set depth of the depth adjustment dial 28). The swivel up lamp 32 is turned off while automatically lowering to (a).

旋回時微小上昇制御は、耕深自動スイッチ２６及び代掻きスイッチ２５がＯＮで、ポジションレバー２０が最下げのときに実行される自動制御機能であり、前輪切れ角センサ２３の検出角度が直進位置から旋回位置に変化すると、代掻き作業を継続可能な高さ範囲内で作業機３を所定量上昇させるとともに、旋回アップランプ３２を点滅させる。また、旋回時微小上昇制御は、前輪切れ角センサ２３の検出角度が旋回位置から直進位置に変化すると、作業機３を設定高さ（深さ調整ダイヤル２８の設定深さ）まで自動的に下降させるとともに、旋回アップランプ３２を消灯させる。このような旋回時微小上昇制御によれば、走行機体１が旋回中のとき、代掻き作業を継続可能な高さ範囲内で作業機３を所定量上昇させるので、代掻き作業を継続しつつ土寄せを減らして作業精度の低下を抑制できる。また、作業者が微小上昇操作を行う場合に比べ、作業者の操作負担を軽減できる。 The minute rise control during turning is an automatic control function that is executed when the plowing depth automatic switch 26 and the puddling switch 25 are ON and the position lever 20 is at the lowest position, and the detection angle of the front wheel turning angle sensor 23 is from the straight-ahead position. When the position is changed to the turning position, the working machine 3 is raised by a predetermined amount within a height range in which the puddling work can be continued, and the turning up lamp 32 is blinked. Further, in the minute rise control during turning, when the detection angle of the front wheel turning angle sensor 23 changes from the turning position to the straight-ahead position, the work equipment 3 is automatically lowered to the set height (the set depth of the depth adjustment dial 28). At the same time, the turning up lamp 32 is turned off. According to such a minute ascending control during turning, when the traveling machine 1 is turning, the working machine 3 is raised by a predetermined amount within a height range in which the scavenging work can be continued. It can be reduced to suppress the decrease in work accuracy. In addition, the operational burden on the operator can be reduced as compared with the case where the operator performs a minute ascending operation.

また、旋回時微小上昇制御による微小上昇量は、代掻き作業中であっても微小上昇調整ダイヤル２９の操作で調整することができる。このような旋回時微小上昇制御によれば、微小上昇量が代掻き作業中に調整可能なので、圃場条件などに応じて適切な微小上昇量に調整することで、作業精度を向上できる。 Further, the minute rise amount by the minute rise control during turning can be adjusted by operating the minute rise adjustment dial 29 even during the puddling work. According to such a minute rise control during turning, the minute rise amount can be adjusted during the puddling work, so that the work accuracy can be improved by adjusting the minute rise amount to an appropriate amount according to the field conditions and the like.

また、旋回時微小上昇制御によれば、走行機体１が旋回中のとき、作業機３が代掻き作業を継続可能な高さにあることを旋回アップランプ３２の点滅で報知するので、作業機高さの誤認によって作業機３を畦などに接触させることを防止できる。 Further, according to the minute ascent control during turning, when the traveling machine 1 is turning, the work machine height is notified by blinking the turning up lamp 32 that the working machine 3 is at a height at which the substitute scraping work can be continued. It is possible to prevent the working machine 3 from coming into contact with the ridges or the like due to the misidentification.

つぎに、上記のような自動制御機能を実現する制御部２１の処理手順について、図６〜図８を参照して説明する。 Next, the processing procedure of the control unit 21 that realizes the above-mentioned automatic control function will be described with reference to FIGS. 6 to 8.

図６に示すように、制御部２１は、初期値設定を行った後（Ｓ１）、サブルーチンである作業モード確認（Ｓ２）、旋回アップ制御（Ｓ３）、耕深自動制御（Ｓ４）、及び旋回時微小上昇制御（Ｓ５）を繰り返し実行する。なお、旋回アップ制御及び耕深自動制御は、本発明との関連性が低いため、フローチャートの図示及び説明を省略する。 As shown in FIG. 6, after setting the initial value (S1), the control unit 21 confirms the work mode (S2), which is a subroutine, turns up control (S3), automatically controls the plowing depth (S4), and turns. The minute rise control (S5) is repeatedly executed. Since the turning-up control and the automatic plowing depth control have little relevance to the present invention, the illustration and description of the flowchart will be omitted.

図７に示すように、制御部２１は、作業モード確認において、代掻きモードであるか否かを判断し（Ｓ２１）、この判断結果がＹＥＳの場合は、旋回アップ制御の実行を規制する（Ｓ２２）。このような作業モード確認によれば、仮に代掻き作業時に誤って旋回アップスイッチ２７がＯＮ操作されていたとしても、旋回アップ制御によって旋回時に作業機３が最上げ位置まで上昇してしまうことを防止できる。 As shown in FIG. 7, the control unit 21 determines whether or not the work mode is in the puddling mode in the work mode confirmation (S21), and if the determination result is YES, restricts the execution of the turning-up control (S22). ). According to such a work mode confirmation, even if the turning up switch 27 is accidentally turned on during the puddling work, the turning up control prevents the work machine 3 from rising to the highest position during turning. it can.

図８に示すように、制御部２１は、旋回時微小上昇制御において、まず、旋回中であるか否かを判断し（Ｓ５１：旋回判断手段の一例）、この判断結果がＹＥＳの場合は（旋回判定）、旋回アップランプ３２を点滅させて微小上昇動作を報知した後（Ｓ５２：旋回中作業継続報知手段の一例）、微小上昇調整ダイヤル２９が操作されたか否かを判断する（Ｓ５３）。制御部２１は、ステップＳ５３の判断結果がＮＯの場合、初期の微小上昇量、又は前回調整された微小上昇量だけ作業機３を上昇させる（Ｓ５４：旋回時微小上昇制御手段の一例）。また、制御部２１は、ステップＳ５３の判断結果がＹＥＳの場合、微小上昇調整ダイヤル２９の設定値を取得した後（Ｓ５５）、該設定値を微小上昇量として作業機３を上昇させる（Ｓ５４）。また、制御部２１は、ステップＳ５１の判断結果がＮＯの場合（直進判定）、旋回アップランプ３２による報知をキャンセル（消灯）するとともに（Ｓ５６）、微小上昇を解除して作業機３を設定深さまで下降させる（Ｓ５７）。 As shown in FIG. 8, the control unit 21 first determines whether or not the vehicle is turning in the minute ascent control during turning (S51: an example of the turning determination means), and if the determination result is YES (S51: an example of the turning determination means). After the turning up lamp 32 is blinked to notify the minute ascending operation (S52: an example of the work continuation notification means during turning), it is determined whether or not the minute ascending adjustment dial 29 has been operated (S53). When the determination result in step S53 is NO, the control unit 21 raises the work machine 3 by the initial minute rise amount or the previously adjusted minute rise amount (S54: an example of the turning minute rise control means). If the determination result in step S53 is YES, the control unit 21 raises the work machine 3 using the set value as the minute rise amount (S54) after acquiring the set value of the minute rise adjustment dial 29 (S55). .. Further, when the determination result in step S51 is NO (straight forward determination), the control unit 21 cancels (turns off) the notification by the turning up lamp 32 (S56), cancels the minute rise, and sets the working machine 3 deeply. It is lowered to that point (S57).

叙述の如く構成された本実施形態によれば、走行機体１と、走行機体１の後部に昇降可能に連結される作業機３と、作業機３を昇降制御する制御部２１とを備えるトラクタＴであって、制御部２１は、代掻き作業時に実行する代掻きモードを有し、代掻きモードにおける制御部２１は、走行機体１が旋回中のとき、代掻き作業を継続可能な高さ範囲内で作業機３を所定量上昇（微小上昇動作）させるので、代掻き作業を継続しつつ土寄せを減らして作業精度の低下を抑制できる。また、作業者が微小上昇操作を行う場合に比べ、作業者の操作負担を軽減できる。 According to the present embodiment configured as described above, the tractor T includes a traveling machine body 1, a working machine 3 movably connected to the rear portion of the traveling machine body 1, and a control unit 21 for raising and lowering the working machine 3. The control unit 21 has a puddling mode to be executed during the puddling work, and the control unit 21 in the puddling mode is a working machine within a height range in which the puddling work can be continued when the traveling machine 1 is turning. Since 3 is raised by a predetermined amount (small raising operation), it is possible to reduce the soil gathering while continuing the puddling work and suppress the deterioration of the work accuracy. In addition, the operational burden on the operator can be reduced as compared with the case where the operator performs a minute ascending operation.

また、微小上昇動作量は、代掻き作業中に調整可能なので、圃場条件などに応じて適切な所定量に調整することで、作業精度を向上できる。 Further, since the minute ascending motion amount can be adjusted during the puddling work, the work accuracy can be improved by adjusting the amount to an appropriate predetermined amount according to the field conditions and the like.

また、代掻きモードにおける制御部２１は、走行機体１が旋回中のとき、作業機３が代掻き作業を継続可能な高さにあることを報知するので、作業機高さの誤認によって作業機３を畦などに接触させることを防止できる。 Further, since the control unit 21 in the substitute scraping mode notifies that the work machine 3 is at a height at which the substitute scratching work can be continued when the traveling machine body 1 is turning, the work machine 3 is misidentified as the work machine height. It is possible to prevent contact with ridges and the like.

Ｔ トラクタ
１ 走行機体
３ 作業機
２１ 制御部
２３ 前輪切れ角センサ
２５ 代掻きスイッチ
２９ 微小上昇調整ダイヤル
３０ 上昇用電磁バルブ
３１ 下降用電磁バルブ
３２ 旋回アップランプ
T tractor 1 Traveling machine 3 Working machine 21 Control unit 23 Front wheel turning angle sensor 25 Scratch switch 29 Micro rise adjustment dial 30 Lifting solenoid valve 31 Lowering solenoid valve 32 Swing up lamp

Claims (3)

走行機体と、
前記走行機体の後部に昇降可能に連結される作業機と、
前記作業機を昇降制御する制御部と、を備える作業車両であって、
前記制御部は、代掻き作業時に実行する代掻きモードを有し、
前記代掻きモードにおける前記制御部は、
前記走行機体が旋回中であるか否かを判断する旋回判断手段と、
前記走行機体が旋回中のとき、代掻き作業を継続可能な高さ範囲内で前記作業機を所定量上昇させる旋回時微小上昇制御手段と、を備えることを特徴とする作業車両。 With the traveling aircraft
A work machine that is vertically connected to the rear part of the traveling machine
A work vehicle including a control unit for raising and lowering the work machine.
The control unit has a shaving mode to be executed at the time of shaving work.
The control unit in the puddling mode
A turning determination means for determining whether or not the traveling aircraft is turning, and
A work vehicle comprising: a turning minute rise control means for raising the work machine by a predetermined amount within a height range in which a substitute scraping work can be continued when the traveling machine is turning. 前記所定量は、代掻き作業中に調整可能であることを特徴とする請求項１に記載の作業車両。 The work vehicle according to claim 1, wherein the predetermined amount can be adjusted during the puddling work. 前記代掻きモードにおける前記制御部は、前記走行機体が旋回中のとき、前記作業機が代掻き作業を継続可能な高さにあることを報知する旋回中作業継続報知手段を備えることを特徴とする請求項１又は２に記載の作業車両。 The control unit in the substitute scratching mode is provided with a turning work continuation notification means for notifying that the work machine is at a height at which the substitute scratching work can be continued when the traveling machine body is turning. The work vehicle according to item 1 or 2.
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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6051916U (en) * 1983-09-20 1985-04-12 セイレイ工業株式会社 Plowing depth display device for agricultural tractors
JPH08154419A (en) * 1994-12-12 1996-06-18 Yanmar Agricult Equip Co Ltd Ground working apparatus
JPH10309104A (en) * 1997-05-13 1998-11-24 Yanmar Diesel Engine Co Ltd Working vehicle
JP2003219707A (en) * 2002-01-31 2003-08-05 Iseki & Co Ltd Setter for control unit on working vehicle
JP2008278840A (en) * 2007-05-14 2008-11-20 Kubota Corp Working vehicle
JP2012076525A (en) * 2010-09-30 2012-04-19 Iseki & Co Ltd Semi-crawler type traveling vehicle
US20140081555A1 (en) * 2012-09-14 2014-03-20 Claas Selbstfahrende Erntemaschinen Gmbh Agricultural working machine
JP2019041608A (en) * 2017-08-30 2019-03-22 三菱マヒンドラ農機株式会社 Work vehicle

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6051916U (en) * 1983-09-20 1985-04-12 セイレイ工業株式会社 Plowing depth display device for agricultural tractors
JPH08154419A (en) * 1994-12-12 1996-06-18 Yanmar Agricult Equip Co Ltd Ground working apparatus
JPH10309104A (en) * 1997-05-13 1998-11-24 Yanmar Diesel Engine Co Ltd Working vehicle
JP2003219707A (en) * 2002-01-31 2003-08-05 Iseki & Co Ltd Setter for control unit on working vehicle
JP2008278840A (en) * 2007-05-14 2008-11-20 Kubota Corp Working vehicle
JP2012076525A (en) * 2010-09-30 2012-04-19 Iseki & Co Ltd Semi-crawler type traveling vehicle
US20140081555A1 (en) * 2012-09-14 2014-03-20 Claas Selbstfahrende Erntemaschinen Gmbh Agricultural working machine
JP2019041608A (en) * 2017-08-30 2019-03-22 三菱マヒンドラ農機株式会社 Work vehicle

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