JPH0117648B2 - - Google Patents
Info
- Publication number
- JPH0117648B2 JPH0117648B2 JP56094760A JP9476081A JPH0117648B2 JP H0117648 B2 JPH0117648 B2 JP H0117648B2 JP 56094760 A JP56094760 A JP 56094760A JP 9476081 A JP9476081 A JP 9476081A JP H0117648 B2 JPH0117648 B2 JP H0117648B2
- Authority
- JP
- Japan
- Prior art keywords
- fluid pressure
- pulse signal
- automatic control
- pressure actuators
- actuators
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000012530 fluid Substances 0.000 claims description 43
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 8
- 230000005284 excitation Effects 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Harvester Elements (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Guiding Agricultural Machines (AREA)
Description
【発明の詳細な説明】
本発明は、作業車に設けられた複数個の自動制
御用の流体圧アクチユエータと、これらの流体圧
アクチユエータを制御駆動する駆動機構とを備え
た作業車の自動制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention provides an automatic control device for a working vehicle that includes a plurality of hydraulic actuators for automatic control provided in the working vehicle and a drive mechanism that controls and drives these fluid pressure actuators. Regarding.
従来より、複数個の流体圧アクチユエータを備
えた作業車においては、一般に、駆動用の流体圧
ポンプを流体圧アクチユエータごとに設けてい
た。 Conventionally, in work vehicles equipped with a plurality of hydraulic actuators, a hydraulic pump for driving has generally been provided for each hydraulic actuator.
しかしながら、比較的高価な流体圧ポンプを複
数個も用いているので、全体としてのコストが高
くなるという欠点があつた。 However, since a plurality of relatively expensive fluid pressure pumps are used, there is a drawback that the overall cost is high.
また、通常、流体圧アクチユエータの作動停止
時には、連続的に駆動させた流体圧アクチユエー
タを急に停止させると、流体圧アクチユエータに
より駆動される部材の慣性力が流体圧アクチユエ
ータに加わり、その慣性力に反発する力が流体圧
アクチユエータにおける流体に生じることによつ
て、不快な振動が生じたりするが、従来より、流
体圧アクチユエータを間欠的に駆動すると前記振
動を解消し得ることが知られており、その間欠的
に駆動するものとして、従来は、例えば特開55−
85320号公報に開示されたもののように、自動操
向制御、自動刈高さ制御、又は、自動扱深さ制御
等、複数の流体圧アクチユエータを駆動操作する
自動制御を時分割設定して順次的に繰り返し作動
させるものが作業車の一種であるコンバインで知
られていた。 In addition, normally when a fluid pressure actuator stops operating, if a continuously driven fluid pressure actuator suddenly stops, the inertia of the member driven by the fluid pressure actuator will be applied to the fluid pressure actuator, and the inertia will be increased. When a repulsive force is generated in the fluid in the fluid pressure actuator, unpleasant vibrations may occur, but it has been known that the vibrations can be eliminated by intermittently driving the fluid pressure actuator. Conventionally, as a device that is driven intermittently, for example, JP-A-55-
As disclosed in Publication No. 85320, automatic controls for driving and operating multiple fluid pressure actuators, such as automatic steering control, automatic cutting height control, or automatic handling depth control, can be set in a time-sharing manner and sequentially performed. Combine harvesters, a type of work vehicle, were known for being operated repeatedly.
しかしながら、上記従来のものでは、流体圧ア
クチユエータを駆動操作する複数の制御を時分割
設定して順次的に繰り返し作動させるのに予めプ
ログラム等による制御メインループを設定してお
かなければならず、その設定に手間やコストがか
かる等の欠点があつた。 However, in the above-mentioned conventional system, a control main loop must be set in advance by a program etc. in order to time-share multiple controls for driving and operating the fluid pressure actuator and sequentially and repeatedly operate them. There were drawbacks such as the time and cost required for setup.
本発明は、上記実情を鑑みてなされたものであ
つて、複数個の流体圧アクチユエータを、安価か
つ簡単な構造で駆動できるようにするとともに、
それら流体圧アクチユエータの制御をプログラム
等で予め設定することなく、作動停止に不快な振
動が発生するのを抑制した状態で、所望の作動速
度にて同時的に作動できる状態で駆動し得る作業
車の自動制御装置の提供を目的とする。 The present invention has been made in view of the above-mentioned circumstances, and enables a plurality of fluid pressure actuators to be driven with an inexpensive and simple structure.
A work vehicle that can be driven in a state where the fluid pressure actuators can be operated simultaneously at a desired operating speed without having to set the control of these fluid pressure actuators in advance using a program, etc., while suppressing unpleasant vibrations that occur when they stop operating. The purpose is to provide an automatic control device.
以下、本発明の実施例を図面に基づいて説明す
る。 Embodiments of the present invention will be described below based on the drawings.
第１図に示すように、左右一対の走行クローラ
１ａ，１ｂ、左横一側部に架設したフイードチエ
ーン２にて茎稈株元を挾持搬送しながら扱処理す
る脱穀装置３、エンジン４等を備えた本機の前部
に、圃場に植えられた複数条の茎稈を引起す装置
５、引起し茎稈の株元を切断する刈刃６、刈取茎
稈を合流させる補助搬送装置７、合流茎稈を後方
へ搬送し、且つ、搬送終端部において横倒れ姿勢
に変更させて脱穀フイードチエーン２に受渡す後
方搬送装置９からなる刈取処理部を設け、もつ
て、進行に伴い圃場に植えられた茎稈を引起し刈
取処理し、刈取茎稈を脱穀処理する作業を自動的
に連続して行なうよう構成してある。 As shown in Fig. 1, a pair of left and right traveling crawlers 1a, 1b, a threshing device 3, an engine 4, etc. that handles and handles the stem culm while holding and transporting it with a feed chain 2 built on the left side. At the front of this machine, there are a device 5 for pulling up multiple stem culms planted in the field, a cutting blade 6 for cutting the base of the pulled stem culms, and an auxiliary conveyance device 7 for merging the cut stem culms. , a reaping processing section is provided which includes a rear conveyance device 9 that conveys the confluent stem culm rearward, changes it to a sideways posture at the end of the conveyance, and delivers it to the threshing feed chain 2, and as it progresses, the field The system is configured to automatically and continuously perform the operations of lifting and reaping the stem culms planted in the field and threshing the harvested stem culms.
前記刈取処理部を支持するフレーム１０を、本
機に対して、横軸心X1周りに上下揺動可能に枢
支し、刈取支持フレーム１０を上下揺動操作する
昇降制御用油圧シリンダ１１を設ける一方、第２
図に示すように、刈取支持フレーム１０の遊端部
に、刈取処理部の対地高さ検出用接地センサー１
２を、横軸心X2周りに上下揺動可能に枢支し、
接地センサー１２が設定適正上下揺動範囲から上
方に外れると押圧切り操作される常閉型上昇用ス
イツチ１３ａ及び設定適正上下範囲から下方に外
れると押圧切り操作される常閉型下降用スイツチ
１３ｂを設けてある。そして、前記両スイツチ１
３ａ，１３ｂを、前記昇降制御用油圧シリンダ１
１の昇降用制御弁１４（第４図参照）における上
昇操作用励磁部１４ａ及び下降操作用励磁部１４
ｂに対して、それを操作できるように接続し、も
つて、刈取処理部の対地高さを設定適正範囲に維
持するように、昇降制御用油圧シリンダ１１を接
地センサー１２の情報に基づいて自動的に伸縮作
動させるように構成してある。 A frame 10 supporting the reaping processing section is pivoted to the machine so as to be able to swing up and down about the horizontal axis X1 , and a hydraulic cylinder 11 for lifting and lowering control is provided to swing the reaping support frame 10 up and down. While providing a second
As shown in the figure, a ground sensor 1 for detecting the height above the ground of the reaping processing section is installed at the free end of the reaping support frame 10.
2 is pivoted so as to be vertically swingable around the horizontal axis X 2 ,
A normally-closed rising switch 13a is operated by pressing down when the ground sensor 12 deviates upward from the proper vertical swing range; It is provided. Then, both the switches 1
3a and 13b are the hydraulic cylinders 1 for lifting/lowering control.
The excitation part 14a for ascending operation and the excitation part 14 for descending operation in the ascending/descending control valve 14 (see FIG. 4) of No. 1
b, so that it can be operated, and then the lifting control hydraulic cylinder 11 is automatically operated based on the information from the ground sensor 12 so as to maintain the height of the reaping processing section above the ground within the set appropriate range. It is constructed so that it can be expanded and contracted automatically.
要するに、機体のピツチング等に拘らず、自動
的に刈高さの一定化を図れるように構成してあ
る。 In short, the structure is such that the cutting height can be automatically kept constant regardless of pitching of the machine body or the like.
第４図に示すように、前記走行クローラ１ａ，
１ｂを駆動する走行用ミツシヨンケース１５内
に、左右走行クローラ１ａ，１ｂの駆動を各別に
断続する一対の操向クラツチ１５ａ，１５ｂを入
り付勢した状態で設け、各クラツチ１５ａ，１５
ｂを各別に切り操作する一対の操向制御用油圧シ
リンダ１６ａ，１６ｂを設ける一方、第３図に示
すように前記刈取処理部の前端部に、機体の刈取
対象茎稈列に対する右方横偏位及び左方横偏位を
検出する左右一対の茎稈接触センサー１７ａ，１
７ｂを、上下軸心Ya，Yb周りに前後揺動可能に
枢支し、且つ、機体横巾方向に沿う姿勢に復帰付
勢した状態で設け、機体が刈取対象茎稈列に対し
て設定許容範囲以上右方に横偏位されると左方の
センサー１７ａにて押圧切り操作される右旋回用
常閉型スイツチ１８ａ及び機体が刈取対象茎稈列
に対して設定許容範囲以上左方に横偏位されると
右方のセンサー１７ｂにて押圧切り操作される右
旋回用常閉型スイツチ１８ｂを設けてある。そし
て、前記両スイツチ１８ａ，１８ｂを、操向制御
用油圧シリンダ１６ａ，１６ｂの操向用制御弁１
９（第４図参照）における左旋回操作用励磁部１
９ａ及び右旋回操作用励磁部１９ｂに対して、そ
れを操作できるように後述の如く接続し、もつ
て、機体の刈取対象茎稈列に対する左右偏位を設
定許容範囲内に維持するように、操向制御用油圧
シリンダ１６ａ，１６ｂを茎稈接触センサー１７
ａ，１７ｂの情報に基づいて自動的に伸縮作動さ
せるように構成してある。 As shown in FIG. 4, the traveling crawler 1a,
A pair of steering clutches 15a and 15b are provided in a traveling transmission case 15 for driving the left and right traveling crawlers 1a and 1b, respectively, in a biased state, and each of the steering clutches 15a and 15b is inserted and biased.
A pair of hydraulic cylinders 16a and 16b for steering control are provided to separately operate the culms, and as shown in FIG. A pair of left and right stem culm contact sensors 17a, 1 that detect the position and left lateral deviation
7b is pivoted so that it can swing back and forth around the vertical axes Ya and Yb, and is biased to return to a posture along the width direction of the machine body, so that the machine body can set it to the target stem culm row to be harvested. When the lateral deviation exceeds the range, the normally closed switch 18a for turning to the right, which is pressed and turned off by the left sensor 17a, and the machine body move to the left beyond the set allowable range with respect to the culm row to be harvested. A normally closed switch 18b for turning to the right is provided, which is pressed and turned off by the right sensor 17b when the vehicle is laterally displaced. Then, both the switches 18a and 18b are connected to the steering control valve 1 of the steering control hydraulic cylinders 16a and 16b.
Excitation part 1 for left turning operation in 9 (see Fig. 4)
9a and the excitation part 19b for right turning operation as described below so that they can be operated, thereby maintaining the left and right deviation of the machine body with respect to the row of stalks to be reaped within the set allowable range. , the steering control hydraulic cylinders 16a, 16b are connected to the culm contact sensor 17.
It is configured to automatically extend and contract based on the information of a and 17b.
要するに、刈取対象茎稈列の屈曲に拘らず、自
動的に機体を刈取対象茎稈列に沿つて進行させる
ことができるように構成してある。 In short, the machine is configured to automatically advance along the row of stalk culms to be reaped, regardless of the bending of the row of stalks to be reaped.
前記昇降制御用油圧シリンダ１１及び操向制御
用油圧シリンダ１６ａ，１６ｂを駆動するに、第
４図に示すように、昇降用制御弁１４を、油圧ポ
ンプ２０に接続し、操向用制御弁１９を、昇降用
制御弁１４に対して、それの中立排油が供給され
る状態に接続する一方、第５図に示すように、昇
降用制御弁１４における一対の励磁部１４ａ，１
４ｂに対する一対の通電断続用リレー２１ａ，２
１ｂを設け、操向用制御弁１９における一対の励
磁部１９ａ，１９ｂに対する一対の通電断続用リ
レー２２ａ，２２ｂを設け、前記一対の昇降がわ
リレー２１ａ，２１ｂの夫々を、前記昇降用スイ
ツチ１３ａ，１３ｂ及び１つのパルス信号発生回
路２３に対して、スイツチ１３ａ，１３ｂが切り
状態となり且つパルス信号発生回路２３の信号が
低レベル状態となる時にのみON状態となる一対
のパルス信号判別回路としてのAND回路２４ａ，
２４ｂを介して接続し、前記一対の操向がわリレ
ー２２ａ，２２ｂの夫々を、前記操向用スイツチ
１８ａ，１８ｂ及び前記パルス信号発生回路２３
に対して、スイツチ１８ａ，１８ｂが切り状態と
なり且つパルス信号発生回路２３の信号が高レベ
ル状態となる時にのみON状態となる一対のパル
ス信号判別回路としてのAND回路２５ａ，２５
ｂを介して接続し、もつて、昇降制御用油圧シリ
ンダ１１及び操向制御用油圧シリンダ１６ａ，１
６ｂを、夫々間欠的に、かつ、それらの１つが作
動している時に他のものを停止させる状態で、１
つの油圧ポンプ２０にて駆動させるように構成し
てある。 To drive the lift control hydraulic cylinder 11 and the steering control hydraulic cylinders 16a and 16b, as shown in FIG. 4, the lift control valve 14 is connected to a hydraulic pump 20, and the steering control valve 19 is connected to the lifting control valve 14 so that its neutral drained oil is supplied to the lifting control valve 14, and as shown in FIG.
A pair of energization/intermittent relays 21a, 2 for 4b
1b, a pair of relays 22a, 22b for energization/intermittent energization for the pair of excitation parts 19a, 19b in the steering control valve 19 are provided, and each of the pair of elevating side relays 21a, 21b is connected to the elevating switch 13a. , 13b and one pulse signal generation circuit 23, as a pair of pulse signal discrimination circuits that are turned on only when the switches 13a and 13b are turned off and the signal of the pulse signal generation circuit 23 is at a low level. AND circuit 24a,
24b, and connect the pair of steering side relays 22a, 22b to the steering switches 18a, 18b and the pulse signal generating circuit 23, respectively.
On the other hand, AND circuits 25a and 25, which serve as a pair of pulse signal discrimination circuits, are turned on only when the switches 18a and 18b are turned off and the signal of the pulse signal generation circuit 23 is at a high level.
b, and are connected to the lift control hydraulic cylinder 11 and the steering control hydraulic cylinder 16a, 1.
6b, each intermittently and with one of them in operation stopping the other.
It is configured to be driven by two hydraulic pumps 20.
尚、実施例では、２個の流体圧アクチユエータ
としての昇降制御用油圧シリンダ１１及び操向制
御用油圧シリンダ１６ａ，１６ｂを設け、その駆
動機構を構成するに、１つのパルス信号発生回路
２３からの信号のうち高レベル部分で両アクチユ
エータ１１，１６ａ，１６ｂの一方を、かつ、低
レベル部分で他方を駆動させるためのパルス信号
判別回路として複数個のAND回路２４ａ……を
設けたものを例示したが、３つ以上の自動制御用
流体圧アクチユエータを設けた場合にも適用でき
るものである。 In the embodiment, the hydraulic cylinder 11 for lifting/lowering control and the hydraulic cylinders 16a, 16b for steering control are provided as two fluid pressure actuators, and the drive mechanism thereof is composed of a single pulse signal generating circuit 23. An example is shown in which a plurality of AND circuits 24a are provided as a pulse signal discrimination circuit for driving one of the actuators 11, 16a, 16b in a high level portion of the signal and driving the other in a low level portion of the signal. However, it can also be applied to a case where three or more fluid pressure actuators for automatic control are provided.
又、駆動機構を構成するに、その動作を指示す
るマイコンを受けて実施してもよい。 Furthermore, the configuration of the drive mechanism may be implemented in response to a microcomputer instructing its operation.
又、本発明を実施するに、複数個の流体アクチ
ユエータ夫々の、単位時間当りの駆動時間は、
種々変更設定できるものである。 Further, in carrying out the present invention, the driving time per unit time of each of the plurality of fluid actuators is as follows:
It can be changed and set in various ways.
又、本発明は、農用トラクタ、及び、土木建設
機械の各種作業車に適用できるものである。 Further, the present invention is applicable to agricultural tractors and various types of work vehicles such as civil engineering and construction machinery.
以上要するに、本発明にかかる作業車の自動制
御装置は、冒記のものにおいて、前記複数個の流
体圧アクチユエータを、１つの流体圧ポンプのみ
で駆動するように、その流体圧ポンプに接続して
あるとともに、前記駆動機構は、間欠的にパルス
信号を発生するパルス信号発生回路と、このパル
ス信号発生回路からの出力信号を高レベル状態か
低レベル状態か判別するパルス信号判別回路とを
設けてあり、前記パルス信号判別回路での判別結
果が高レベルのとき、前記複数個の流体圧アクチ
ユエータにおいて特定された２個の流体圧アクチ
ユエータのうち一方を駆動して他方を停止し、か
つ前記パルス信号判別回路での判別結果が低レベ
ルのとき、前記特定された２個の流体圧アクチユ
エータのうちの前記一方を停止して前記他方を駆
動するように構成してあることを特徴構成とす
る。 In summary, in the automatic control device for a work vehicle according to the present invention, the plurality of fluid pressure actuators are connected to one fluid pressure pump so that the plurality of fluid pressure actuators are driven by only one fluid pressure pump. In addition, the drive mechanism includes a pulse signal generation circuit that intermittently generates a pulse signal, and a pulse signal discrimination circuit that discriminates whether the output signal from the pulse signal generation circuit is in a high level state or a low level state. Yes, and when the discrimination result in the pulse signal discrimination circuit is at a high level, one of the two fluid pressure actuators specified in the plurality of fluid pressure actuators is driven and the other is stopped, and the pulse signal The present invention is characterized in that, when the determination result in the determination circuit is at a low level, the one of the two specified fluid pressure actuators is stopped and the other is driven.
すなわち、複数個の自動制御用流体圧アクチユ
エータを１つの流体圧ポンプのみで駆動するよう
にその流体圧ポンプに接続してあるから、流体圧
アクチユエータごとに流体圧ポンプを設けて駆動
させる従来のものよりも、安価かつ簡単な構造で
駆動できるとともに、特定された２個の流体圧ア
クチユエータは、パルス信号判別回路での判別結
果が高レベルのとき、一方を駆動して他方を停止
し、かつパルス信号判別回路での判別結果が低レ
ベルのとき、前記一方を停止して前記他方を駆動
するように構成してあるから、それら２つの流体
圧アクチユエータを交互に駆動及び停止する間欠
駆動ができて、不快な振動の発生を少なくし、か
つ、流体圧アクチユエータの駆動制御をプログラ
ム等で予め設定するものでないから、その設定に
要する手間やコストをなくし得る等の効果を奏す
るに至つた。 In other words, since multiple automatic control fluid pressure actuators are connected to one fluid pressure pump so that they are driven by only one fluid pressure pump, the conventional method in which a fluid pressure pump is provided for each fluid pressure actuator is used to drive the fluid pressure actuators. The identified two fluid pressure actuators can be driven with a cheaper and simpler structure than Since the structure is such that when the discrimination result in the signal discrimination circuit is at a low level, one of the fluid pressure actuators is stopped and the other is driven, it is possible to perform intermittent drive in which the two fluid pressure actuators are alternately driven and stopped. In addition, since the drive control of the fluid pressure actuator is not set in advance by a program or the like, it has achieved the following effects: the effort and cost required for the setting can be eliminated.
尚、特許請求の範囲の項に図面との対照を便利
にする為に符号を記すが、該記入により本発明は
添付図面の構造に限定されるものではない。 Note that although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.
図面は本発明に係る作業車の自動制御装置の実
施例を示し、第１図はコンバインの測面図、第２
図は接地センサー装着部の側面図、第３図は茎稈
接触センサー装着部の平面図、第４図は油圧回路
図、第５図は電気回路図である。
１１，１６ａ，１６ｂ……自動制御用流体圧ア
クチユエータ、２０……流体圧ポンプ、２３……
パルス信号発生回路、２４ａ，２４ｂ，２５ａ，
２５ｂ……パルス信号判別回路。
The drawings show an embodiment of the automatic control device for a working vehicle according to the present invention, and FIG. 1 is a surface survey view of a combine harvester, and FIG.
3 is a plan view of the culm contact sensor mounting portion, FIG. 4 is a hydraulic circuit diagram, and FIG. 5 is an electrical circuit diagram. 11, 16a, 16b...Fluid pressure actuator for automatic control, 20...Fluid pressure pump, 23...
Pulse signal generation circuit, 24a, 24b, 25a,
25b...Pulse signal discrimination circuit.
Claims (1)
体圧アクチユエータ１１，１６ａ，１６ｂと、こ
れらの流体圧アクチユエータ１１，１６ａ，１６
ｂを制御駆動する駆動機構とを備えた作業車の自
動制御装置であつて、前記複数個の流体圧アクチ
ユエータ１１，１６ａ，１６ｂを、１つの流体圧
ポンプ２０のみで駆動するように、その流体ポン
プ２０に接続してあるとともに、前記駆動機構
は、間欠的にパルス信号を発生するパルス信号発
生回路２３と、このパルス信号発生回路２３から
の出力信号を高レベル状態か低レベル状態か判別
するパルス信号判別回路２４ａ，２４ｂ，２５
ａ，２５ｂとを設けてあり、前記パルス信号判別
回路２４ａ，２４ｂ，２５ａ，２５ｂでの判別結
果が高レベルのとき、前記複数個の流体圧アクチ
ユエータ１１，１６ａ，１６ｂにおいて特定され
た２個の流体圧アクチユエータのうち一方を駆動
して他方を停止し、かつ前記パルス信号判別回路
２４ａ，２４ｂ，２５ａ，２５ｂでの判別結果が
低レベルのとき、前記特定された２個の流体圧ア
クチユエータのうちの前記一方を停止して前記他
方を駆動するように構成してあることを特徴とす
る作業車の自動制御装置。 ２ 前記駆動機構に、その動作を指示するマイコ
ンを設けてある特許請求の範囲第１項に記載の作
業車の自動制御装置。[Claims] 1. A plurality of automatic control fluid pressure actuators 11, 16a, 16b provided in a working vehicle, and these fluid pressure actuators 11, 16a, 16.
The automatic control device for a working vehicle is equipped with a drive mechanism for controlling and driving a hydraulic actuator b, and the fluid pressure actuator 11, 16a, 16b is driven by only one fluid pressure pump 20. The drive mechanism is connected to the pump 20 and determines whether the pulse signal generation circuit 23 intermittently generates pulse signals and the output signal from the pulse signal generation circuit 23 is in a high level state or a low level state. Pulse signal discrimination circuits 24a, 24b, 25
a, 25b are provided, and when the discrimination result in the pulse signal discrimination circuits 24a, 24b, 25a, 25b is at a high level, the two identified in the plurality of fluid pressure actuators 11, 16a, 16b are When one of the fluid pressure actuators is driven and the other is stopped, and the determination result in the pulse signal determination circuits 24a, 24b, 25a, and 25b is at a low level, one of the two identified fluid pressure actuators An automatic control device for a working vehicle, characterized in that the automatic control device is configured to stop one of the two and drive the other. 2. The automatic control device for a work vehicle according to claim 1, wherein the drive mechanism is provided with a microcomputer that instructs its operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9476081A JPS57208919A (en) | 1981-06-17 | 1981-06-17 | Automatic controller of working vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9476081A JPS57208919A (en) | 1981-06-17 | 1981-06-17 | Automatic controller of working vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57208919A JPS57208919A (en) | 1982-12-22 |
| JPH0117648B2 true JPH0117648B2 (en) | 1989-03-31 |
Family
ID=14119050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9476081A Granted JPS57208919A (en) | 1981-06-17 | 1981-06-17 | Automatic controller of working vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57208919A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5817201A (en) * | 1981-07-20 | 1983-02-01 | Yanmar Agricult Equip Co Ltd | Hydraulic apparatus |
| JPS5934102U (en) * | 1982-08-27 | 1984-03-02 | ヤンマー農機株式会社 | hydraulic system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5585320A (en) * | 1978-12-23 | 1980-06-27 | Kubota Ltd | Combined harvester with automatic control mechanism |
-
1981
- 1981-06-17 JP JP9476081A patent/JPS57208919A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5585320A (en) * | 1978-12-23 | 1980-06-27 | Kubota Ltd | Combined harvester with automatic control mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57208919A (en) | 1982-12-22 |
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