JP5285511B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle including a plurality of types of work devices whose operation modes can be changed and adjusted, and a control device that controls the operation modes of the respective work devices.

Like a tractor, a work vehicle that is used in a control mode that supports various types of work, such as paddy field work, field work, or work in a house, is optimal for each work type. The operation mode of each work device is changed and adjusted to a control mode suitable for the use conditions in each work so that the work device is driven in the operation mode.
As a work vehicle including a plurality of types of work devices whose operation modes can be changed and adjusted as described above, those described in [1] and [2] below are known.
[1] A work vehicle provided with a mode switching means using a push button switch in the control device, and by which the operation mode of the work device can be collectively switched to a control mode such as a travel mode or a work mode. When the operation mode of each work device is individually set and changed in the control mode selected at once, when the engine is subsequently stopped and the engine is started again, the control is resumed in the individual setting state when the engine is stopped. (Refer patent document 1).
[2] In a work vehicle in which the control device is provided with mode switching means using a push button switch, and the operation mode of the work device can be switched between the traveling mode and the work mode by using the mode switching means. The setting mode to return to the default value of the operation mode is selected by long-pressing the push button switch, and it is possible to switch to the change mode in which the default value can be individually changed by simultaneously pressing the push button switch and the key switch. (See Patent Document 2).

Japanese Patent No. 4031700 (paragraphs [0074], [0076], FIG. 8, FIG. 10) JP 2007-14278 (paragraphs [0019], [0021], FIG. 6, FIG. 7, FIG. 8)

In the prior art disclosed in Patent Document 1 described above, a single push button switch can be used to switch between a traveling mode and a working mode at once, and each work in the control mode that is collectively selected. The operation mode of the device can be individually changed, and the operation mode of the work device can be restarted in the setting state before the engine stop stored in the nonvolatile memory when the work is resumed after the engine is stopped. Useful.
However, in this conventional structure, when the operation mode of each work device is individually set and changed, the change contents are stored each time, so that it is mistakenly unaware that the setting is changed. Even when the operation tool for setting change is operated or the operation tool for setting change is touched, the operation content may be stored and set as it is. In addition, when it is not desired to store a setting change made for a temporary operation during work, the engine needs to be stopped after returning to the original state.

Further, in the prior art disclosed in the above-mentioned Patent Document 2, it is possible to easily switch and select a traveling mode and a working mode by operating a single push button switch, and when the working mode is switched, the operation of the working device is performed. This is useful in that the configuration can be easily set to the previous setting state stored in the nonvolatile memory.
However, in this conventional structure, for example, when an unfamiliar worker accidentally changes the setting of the operation mode, or after setting the operation mode corresponding to one type of work, another type of operation is subsequently performed. When trying to reset the operation mode to correspond to the work, press and hold the pushbutton switch to switch to the setting mode, once return to the default value, and then change the mode by simultaneously pressing the key switch. The troublesome work of setting again after switching to is required.

  In order to avoid such a problem, even if the setting of the operation mode is changed, the above problem does not occur unless it is stored each time. However, there is another problem in that case. In other words, if the setting change of the operation mode during the control mode is not stored each time, for example, without changing the setting change of the operation mode during one control mode, after switching to another control mode during the work, If you want to return to the original control mode again or switch to another control mode and perform work, the memory before the mode change will be lost, and you will have to re-set the operation mode of each work device again. Necessary.

  It is an object of the present invention to select and switch control modes, whether to change settings in the switched control modes, and change the setting values when operating a plurality of control modes provided for various operations. The object is to simplify the structure and improve the operability by allowing the selection of whether or not to memorize to be performed with a single selection operation tool.

The technical means of the present invention taken in order to achieve the above object has the following structural features and operational effects.
[Solution 1]
The present invention relates to a plurality of types of control target devices whose operation modes can be changed and adjusted, a control device having a plurality of control means for controlling the operation modes of the respective control target devices, and a control state by each control means. And a setting operation tool that can be changed to
Storage means for storing the control state of each control means in correspondence with a plurality of preset control modes, and a selection operation tool capable of selecting one of the plurality of control modes stored in the storage means; A work vehicle configured to control the operation of each control target device based on the state of the control means in the control mode selected by the selection operation tool,
In the state where one control mode is selected, the control device operates the selection operation tool for a time longer than a time set for the selection operation, thereby controlling the control means in the selected control mode. A change setting mode in which the control state can be changed and set by the setting operation tool,
When the selection operation tool is operated again for a time longer than the time set for the selection operation after setting the change setting mode, the changed state of the control means in the selected control mode is The control means in the selected control mode is changed when the operation with respect to the selection operation tool after the setting of the change setting mode is stored within the storage means and the operation within the time set for the selection operation. The change setting mode is escaped without storing the state in the storage means .

[Operation and effect of invention according to Solution 1]
According to the configuration shown in the above solution 1, the selection of the control mode, whether or not the setting can be changed in the switched control mode, and whether or not to store the changed value are selected from the plurality of control modes. One of them can be selected by a combination of an operation order and an operation time by a selection operation tool that can be selected, and a single selection operation tool can be used effectively.
That is, the selection of a plurality of control modes is performed by detecting that the selection operation tool has been operated, and the transition to the change setting mode in the selected control mode is performed because the selection operation tool is selected by the selection operation. The operation is performed by operating for a longer time than the time set in the above, and the operation for storing the changed setting state in the storage means is performed again by the selection operation tool after setting the change setting mode. Is performed by operating for a time longer than the time set for.

As a result, the selection switching of each control mode can be easily performed by the normal selection operation of the selection operation tool, and the setting change in the selected control mode can be performed after the control mode is selected. This is done by shifting to the change setting mode by a long press operation of. And the memory | storage means of the state changed by the setting operation tool in the said change setting mode is performed when the long press of the selection operation tool is again performed after the said setting change.
Therefore, a single operation tool having a simple structure is used as the selection operation tool, and various operation modes appear by combining the operation order and the operation time, and only the control mode switching operation is performed or selected. Each operation of whether to enable the operation mode setting change by the setting operation tool within the control mode or to memorize the changed state is easy to operate with a single selection operation tool. It can be carried out.

The operation mode setting change operation by the setting operation tool in the selected control mode can be performed by a long press by the subsequent selection operation tool when it is operated unconsciously or just touched by mistake. Therefore, there is no problem that an erroneous setting change operation is stored as a setting change result in the control mode.
In addition, even when it is desired to temporarily change the operation mode setting operation with the setting operation tool in the selected control mode, the storage operation by the long press with the selection operation tool after the setting change is not performed. Since it is possible to select a state of not storing, it is possible to use either a temporary setting change or a permanent setting change with good operability without complicated operations.

[Solution 2]
According to another technical means of the present invention taken to solve the above problem, the change setting mode is set on the display unit that displays the control mode of the selection operation target by the selection operation tool. Along with this, there is a feature in that the change setting object is displayed instead of the control mode.

[Operation and Effect of Solution 2]
In the work vehicle of the present invention according to the solving means 2 described above, when the change setting mode is set, the display unit that displays the control mode of the selection operation target by the selection operation tool is used and displayed on the display unit. Since the change setting target is displayed instead of the control mode that has been performed, the overall structure is simplified by sharing the device as compared with the case where these displays are displayed on separate display units. There are benefits to get.
Moreover, since the target displayed on the display unit is the target currently being operated, it is advantageous in that the operator is less likely to misrecognize the operation state.

[Solution 3]
According to another technical means of the present invention taken to solve the above-described problem, as described in claim 3, the control device may include a change setting mode in a part of a control mode of a selection operation target by a selection operation tool. It is characterized in that it has a control mode in which settings are not stored in the storage means.

[Operation and Effect of Solution 3]
As described above, the work vehicle of the present invention according to the solving means 3 includes a control mode in which the change setting mode is not set in a part of the control mode of the selection operation target by the selection operation tool. It is only necessary to provide a work device operation tool that does not need to be changed in the control mode in which the change setting mode is not set, and it is often necessary to perform temporary change settings. Is prepared for the control mode. As a result, even if the temporary change setting is frequently performed and then the long press operation of the selection operation tool is performed, the setting change mode is not set. In this control mode, the change setting is not stored. When the control mode is selected, it can always be operated in the default state.
Therefore, there is an advantage that it is not necessary to return to the original state again after performing the temporary change setting, and can be handled with good operability.

Overall side view of tractor and rotary tiller Schematic diagram showing the transmission structure of the traveling system Top view of tractor front Rear view of tractor and rotary tiller Plan view of side operation panel Top view of the front operation panel Block diagram showing control devices and input / output devices Flow chart showing mode switching control Flow chart showing change setting control

Hereinafter, an example of an embodiment of the present invention will be described based on the drawings.
[Overall structure of tractor]
As shown in FIGS. 1 and 2, an engine 10 is provided at the front of the aircraft supported by the right and left front wheels 1, and the right and left rear wheels 2, and a mission case 3 is provided at the rear of the aircraft. A four-wheel drive tractor, which is an example of a work vehicle, is configured.

As shown in FIG. 2, the tractor includes an operation cylinder 23 for power steering. The right and left tie rods 25 are connected across the operating cylinder 23 and the knuckle arms 24 of the right and left front wheels 1 to constitute a fully hydraulic power steering mechanism.
By operating the steering handle 26 shown in FIG. 1, the operation cylinder 23 is actuated right or left, and the right and left front wheels 1 are steered right or left. As shown in FIGS. 2 and 7, at the base of the knuckle arm 24, the steering angle of the front wheel 1 (the steering angle from the straight traveling position to the right or the steering angle from the straight driving position to the left) is detected. An angle sensor 35 is provided, and a detected value of the steering angle sensor 35 is input to the control device 100.

  As shown in FIG. 2, the power of the engine 10 is transmitted from the main transmission (not shown) and the auxiliary transmission (not shown) inside the mission case 3 to the right and left via the rear wheel differential device 4. Is transmitted to the rear wheel 2. The power branched from immediately before the rear wheel differential device 4 is transmitted to the right and left front wheels 1 through the front wheel transmission device 5, the front wheel transmission shaft 6, and the front wheel differential device 7. The front wheel and rear wheel differential devices 4 and 7 have a differential lock function, and the front and rear wheel differential devices 4 and 7 can be arbitrarily operated in a differential operation state and a differential lock state.

  In the transmission case 3, as shown in FIGS. 2 and 7, a hydraulic multi-plate type standard clutch 8 and a speed increasing clutch 9 are provided in parallel, and the front wheel transmission 5 (the operation mode can be changed and adjusted). Equivalent to a simple working device). The standard and speed increasing clutches 8 and 9 are energized in a disconnected state, and are operated in a transmission state against the energizing force by supplying hydraulic oil. The control valve 19 for supplying / discharging hydraulic oil to / from the standard clutch 8 and the control valve 20 for supplying / exhausting hydraulic oil to / from the speed increasing clutch 9 are configured to be controlled by the control device 100.

That is, as shown in FIGS. 2 and 7, when the standard clutch 8 is operated in the transmission state by the control valve 19 and the speed increasing clutch 9 is operated in the disconnected state by the control valve 20, the front wheels 1 and the rear wheels 2 are substantially the same. A standard four-wheel drive state (4WD) in which power is transmitted to the front wheels 1 and the rear wheels 2 so as to be driven at a speed is obtained.
Further, when the standard clutch 8 is operated in the disconnected state by the control valve 19 and the speed increasing clutch 9 is operated in the transmission state by the control valve 20, the front wheel 1 and the rear wheel 1 are driven such that the front wheel 1 is driven at a higher speed than the rear wheel 2. A speed-up four-wheel drive state (double speed drive) in which power is transmitted to the wheel 2 is obtained.
Then, when both the standard and speed increasing clutches 8 and 9 are operated to be cut off by the control valves 19 and 20, the right and left rear wheels 2 are in the idle state where the power to the right and left front wheels 1 is cut off. A rear two-wheel drive state (2WD) is obtained in which power is transmitted only to.

  As shown in FIGS. 2 and 7, right and left side brakes 11 (operations that can change and adjust the operation mode) are provided at the shaft support portion of the transmission case 3 as shown in FIGS. The right and left side brake pedals 12 for operating the side brake 11 are provided in the control unit. The right side brake 11 and the right side brake pedal 12 are connected via a right operation cylinder 13 and a right linkage rod 14, and the left side brake 11 and the left side brake pedal 12 are operated to the left. The cylinder 13 and the left connecting rod 14 are connected.

  As shown in FIGS. 2 and 7, the right and left operation cylinders 13 are urged toward the expansion side by an internal spring 13 a and are contracted when supplied with hydraulic oil. The right and left side brake pedals 12 are provided with a spring 12a that biases the release position side and a stopper 12b that stops the right and left side brake pedals 12 at the release position. A control valve 21 for supplying and discharging hydraulic oil to the right operating cylinder 13 and a control valve 22 for supplying and discharging hydraulic oil to the left operating cylinder 13 are provided, and the control valves 21 and 22 are operated by the control device 100. Is done.

  As shown in FIGS. 1, 3, and 7, an elevating lever 43 is provided at the front side on the right side of the driver seat 42. The elevating lever 43 can be operated in the range of the highest position A1 and the lowest position A2, and can be held at any operating position within the range of the highest and lowest positions A1, A2. The operating position of the elevating lever 43 is controlled. Input to the device 100.

As shown in FIGS. 3, 5, and 7, various adjustment operation tools (an example of a setting operation tool) for setting operation modes of various work devices on the right side of the driver seat 42 and on the rear side of the elevating lever 43. ) Is provided, and an operation signal of the side operation panel 47 is input to the control device 100.
As the adjustment operation tools provided on the side operation panel 47, a dial operation type working depth switch 48, a push button type lifting / lowering switch 49 (corresponding to a setting operation tool), a push button type rolling change switch 50 ( Equivalent to setting operation tool), dial operation type setting angle switch 51, dial operation type drop speed switch 52, dial operation type sensitivity switch 53, dial operation type height restriction switch 54, push button type auto up switch 55 (equivalent to setting operation tool), push button type backup switch 56 (corresponding to setting operation tool), push button type lower right down switch 57, push button type lower left down switch 58, push button type parallel switch 59 and so on.

As shown in FIGS. 1, 3, and 6, a front right operation panel 70 is provided on the front side of the driver's seat 42 on the right side of the control unit cover 69 that supports the control handle 26 on the lower side. Yes. A left front operation panel 71 is provided on the left side.
The right front operation panel 70 includes a push button type changeover switch 67 (selection operation) that can be selected as an on / off control operation by a key switch 15 for starting the engine and a control means for controlling the operation mode of various working devices. The operation signal of the changeover switch 67 is input to the control device 100.
The left front operation panel 71 has a push button type travel selection switch as various adjustment operation tools for setting the operation mode when the travel drive system control means is selected as the selected various work devices. 45 is provided.

  A display panel 68 (corresponding to a display unit) composed of a liquid crystal screen is provided in an upward surface portion corresponding to the front of the control handle 26 in the control unit cover 69.

[Configuration of rotary tillage device]
Next, the structure regarding the rotary tiller 37 is demonstrated.
As shown in FIGS. 1 and 4, a top link 27, right and left lower links 28 are supported at the rear of the mission case 3 so as to be swingable up and down, and right and left lift arms 29 are swingable up and down. It is supported by. Single-acting right and left lift cylinders 30 (corresponding to working devices capable of changing and adjusting the operation mode) for swinging the right and left lift arms 29 up and down are provided. A double-acting rolling cylinder 31 (corresponding to a working device capable of changing and adjusting the operation mode) is connected to the right lower link 28, and a linkage rod 32 is connected to the left lift arm 29 and the left lower link 28. It is connected.

  As shown in FIG. 7, the lift cylinder 30 and the rolling cylinder 31 are provided with control valves 33 and 34 for supplying and discharging hydraulic oil, and the control valve 33 and 34 are operated by the control device 100. An angle sensor 36 for detecting the vertical angle of the right and left lift arms 29 with respect to the airframe is provided, and a detection value of the angle sensor 36 is input to the control device 100.

  As shown in FIGS. 1 and 4, a rotary tiller 37 is connected to the top link 27 and the right and left lower links 28. A rear cover 37a is supported on the rotary tiller 37 so as to be swingable up and down, and is biased downward by a spring 37b. An angle sensor 38 is provided for detecting the vertical angle of the rear cover 37a with respect to the rotary tiller 37. The detection value of the angle sensor 38 is input to the control device 100.

  As shown in FIGS. 1, 4, and 7, the power of the engine 10 is transmitted to the rotary tiller 37 through the PTO clutch 39 and the PTO shaft 40. The PTO clutch 39 is configured to be energized in a shut-off state and operated in a transmission state when supplied with hydraulic oil. The PTO clutch 39 is provided with a control valve 41 for supplying and discharging hydraulic oil. Thus, the control valve 41 is operated by the control device 100.

  With the above structure, when the right and left lift cylinders 30 are expanded and contracted by the control valve 33, the rotary tiller 37 is moved up and down by the right and left lift arms 29. When the rolling cylinder 31 is expanded and contracted by the control valve 34, the rotary tiller 37 is rolled using the left lower link 28 as a fulcrum.

[Configuration of control device]
A control device 100 for controlling the above various working devices includes a central processing unit, a RAM including a RAM and various control means as a program, a non-volatile memory such as an EEPROM, and a micro including an input / output port. Consists of a computer.
As shown in FIG. 7, the control device 100 includes a weight-type tilt sensor 44 that detects a tilt angle of the aircraft in the horizontal direction with respect to a horizontal plane, a rotation speed sensor 60 that detects the rotation speed of the engine 10, right and left Detection values are input from a traction load sensor 61 that detects a traction load applied to the base portion of the lower link 28 and a stroke sensor 63 that detects the expansion / contraction length of the rolling cylinder 31.

  The control device 100 includes a driving drive system control unit 101 that controls the operation of the front wheel transmission device 5, the right and left side brakes 11, a lifting drive system control unit 102 that controls the lifting operation of the rotary tiller 37, The rolling system control means 103 for performing the rolling control of the rotary tiller 37 and the manual rolling operation, the link raising / lowering control means 104 for performing the auto up control and the backup control of the rotary tiller 37, and the control device 100 are provided. Each control unit includes a control operation selection unit 105 that controls a related operation state of the control unit, and a storage unit 106 including a nonvolatile memory that stores a control result in association with each control unit.

  Among the control means, the driving drive system control means 101 for controlling the operation of the front wheel transmission 5 and the right and left side brakes 11 includes a two-wheel drive control means, a standard four-wheel drive control means, and an increased four-wheel drive control. Means and automatic brake control means.

The two-wheel drive control means controls the front wheel transmission device 5 (standard and speed increasing clutch 8) by the control valves 19 and 20 regardless of the steering angle of the front wheel 1 (whether it is a straight traveling state or a turning state). 9) is operated to the rear two-wheel drive state (2WD).
The standard four-wheel drive control means uses the control valves 19 and 20 to control the front wheel transmission 5 (standard and speed increase) regardless of the steering angle of the front wheel 1 (whether the vehicle is traveling straight or turning). The clutches 8 and 9) are operated to the standard four-wheel drive state (4WD).

  When the steering angle of the front wheel 1 is within the set angle on the right or left from the straight-ahead position (straightly-running state or a state where the front wheel 1 is slightly steered), the speed-increasing four-wheel drive control means uses the control valves 19, 20 When the front wheel transmission 5 (standard and speed increasing clutches 8 and 9) is operated to the standard four-wheel drive state and the steering angle of the front wheel 1 exceeds the right or left set angle (turning state), the control valves 19 and 20 Thus, the front wheel transmission 5 (standard and speed increasing clutches 8 and 9) is operated to the speed increasing four-wheel drive state (double speed driving).

  In the operating state of the speed-up four-wheel drive control means, the automatic brake control means determines that the steering angle of the front wheel 1 is within the set angle on the right or left from the straight drive position (straight drive state or slightly steered the front wheel 1) State), when the right and left side brakes 11 are operated to be released by the control valves 21 and 22, and the steering angle of the front wheel 1 exceeds the right or left set angle (turning state), the control valves 21 and 22 This is operated in an automatic double speed braking state (AD double speed) in which the side brake 11 on the turning center side is braked.

As shown in FIG. 6, a push button type travel selection switch 45 as an adjustment operation tool is provided on the left side of the steering handle 26, and an operation signal of the travel selection switch 45 is input to the control device 100. Yes.
Each time the travel selection switch 45 is pressed, the rear two-wheel drive state (2WD) by the two-wheel drive control means, the standard four-wheel drive state (4WD) by the standard four-wheel drive control means, and the speed-up four-wheel drive control means One of the four-speed driving state (double speed driving) and the automatic double speed braking state (AD double speed) by the automatic brake control means are selected in order.
There is a lamp 46 for indicating which one of the operation state of the two-wheel drive control means, the operation state of the standard four-wheel drive control means, the operation state of the speed-increasing four-wheel drive control means, and the operation state of the automatic brake control means is selected. It is provided in the vicinity of the travel selection switch 45.

  Next, the elevating drive system control means 102 for controlling the elevating operation of the rotary tiller 37 will be described.

  The elevating drive system control means 102 includes position control means, first elevating control means, second elevating control means, draft control means, and laser control means.

The position control means is configured to extend and retract the right and left lift cylinders 30 by the control valve 33 so that the vertical angle of the right and left lift arms 29 becomes the vertical angle corresponding to the operation position of the lift lever 43. is there.
In this case, as shown in FIG. 7, the highest position A1 of the lift lever 43 corresponds to the mechanical upper limit of the right and left lift arms 29, and the lowest position A2 of the lift lever 43 is the right and left lift arms 29. Corresponds to the mechanical lower limit. When the set position is set in advance slightly below the highest position A1 of the lift lever 43 and the lift lever 43 is operated in a range between the lowest position A2 and the set position, the control valve 41 causes the PTO clutch When 39 is operated in the transmission state and the elevating lever 43 is operated in the range between the set position and the highest position A1, the control valve 41 operates the PTO clutch 39 in the disconnected state.

The first elevating control means is configured to extend and retract the right and left lift cylinders 30 by the control valve 33 so that the vertical angle of the rear cover 37a of the rotary tiller 37 is maintained at a set angle.
In this case, as shown in FIGS. 1, 4 and 5, the vertical angle of the rear cover 37 a of the rotary tiller 37 corresponds to the tillage depth of the rotary tiller 37, and the upper and lower of the rear cover 37 a of the rotary tiller 37. By maintaining the angle at the set angle, the tilling depth of the rotary tiller 37 is maintained at the set depth. By operating the working depth switch 48, the set depth can be changed to the “shallow” and “deep” sides.

  The second raising / lowering control means detects a load applied to the engine 10 based on the detection value of the rotation speed sensor 60 in a state where the rear cover 37a of the rotary tiller 37 is lifted upward (a state where the rotary cover 37 is not in contact with the ground). The right and left lift cylinders 30 are expanded and contracted by the control valve 33 so that the load applied to 10 is maintained at the set value. Thereby, the roughing work of the ground by the rotary tiller 37 can be performed.

  The draft control means maintains the detection value of the traction load sensor 61 at the set value in a state where a plow (not shown) is connected to the top link 27 and the right and left lower links 28 instead of the rotary tiller 37. Thus, the right and left lift cylinders 30 are expanded and contracted by the control valve 33.

  The laser control means replaces the rotary tiller 37 with a leveling device (laser leveler) (not shown) having a laser receiver connected to the top link 27 and the right and left lower links 28. The right and left lift cylinders 30 are expanded and contracted by the control valve 33 so that the laser receiver receives the laser of a laser transmitter (not shown) provided at the end of the cylinder. Accordingly, the leveling device can level the ground with high accuracy.

  As shown in FIG. 5, every time the elevation switch 49 as an adjustment operation tool (corresponding to a setting operation tool) is pressed, the operating state of the position control means, the operating state of the first elevating control means, and the second elevating control are performed. One of the operating state of the means, the operating state of the draft control means, and the operating state of the laser control means is selected in order. The side operation panel 47 is provided with a lamp 62 for displaying which one of the operation state of the position control means to the operation state of the laser control means is selected.

  When the lifting lever 43 is operated upward from the lowest position A2 in a state where the first lifting control means, the second lifting control means, the draft control means, and the laser control means are operated, the first lifting control means, the second lifting control means, Prior to the draft control means and the laser control means, the right and left lift cylinders 30 are extended by the control valve 33 by the position control means. When the elevating lever 43 is operated to the lowest position A2, the first elevating control means, the second elevating control means, the draft control means, and the laser control means are activated.

  Thereby, the operating state of the position control means is a state in which only the position control means is operated, and is a state in which the first elevating control means, the second elevating control means, the draft control means, and the laser control means are stopped. The operating states of the first lifting control means, the second lifting control means, the draft control means, and the laser control means are the first lifting control means and position control means (second lifting control means and position control means) (draft control means and The position control means) (laser control means and position control means) is activated.

As shown in FIG. 5, by operating the sensitivity switch 53, the elevation sensitivity of the first elevation control means, the second elevation control means, the draft control means, and the laser control means is changed to the “sensitive” and “insensitive” sides. can do.
By operating the drop speed switch 52 in the position control means, the first elevation control means, the second elevation control means, the draft control means, and the laser control means, the top link 27 and the right and left lower links 28 are connected. The contraction speed of the right and left lift cylinders 30 by the control valve 33 can be changed according to the working device.

  Next, the rolling system control means 103 for performing the rolling control of the rotary tiller 37 and the manual rolling operation will be described.

  As shown in FIG. 7, by detecting the expansion / contraction length of the rolling cylinder 31 by the stroke sensor 63, it is possible to detect the horizontal inclination angle of the rotary tiller 37 relative to the aircraft, and the inclination sensor 44 can detect the horizontal plane. By detecting the horizontal tilt angle of the machine body relative to the horizontal plane, the horizontal tilt angle of the rotary tiller 37 with respect to the horizontal plane can be detected.

The rolling system control means 103 causes the rolling cylinder 31 to extend and contract by the control valve 34 so that the horizontal inclination angle of the rotary tiller 37 with respect to the horizontal plane detected as described above is maintained at a set angle. is there.
In this case, as shown in FIG. 5, the set angle can be changed from “horizontal” to “lower right” and “lower left” by operating the set angle switch 51.

  As shown in FIGS. 1 and 4, when various work devices are connected to the top link 27 and the right and left lower links 28, the positions of the connection points of the right and left lower links 28 to the work devices are different. It may be necessary to change the connection point of the rolling cylinder 31 and the connecting rod 32 to the right and left lower links 28. In this case, correction is required when the expansion / contraction length of the rolling cylinder 31 is detected by the stroke sensor 63 and the horizontal inclination angle of the machine body of the rotary tiller 37 with respect to the machine body is detected.

  As shown in FIG. 5, a plurality of correction values (coefficients) corresponding to various work devices are stored in the control device 100, and each time a rolling changeover switch 50 as an adjustment operation tool is pressed, a plurality of correction values are stored. One of the values (coefficients) is selected in order. A lamp 64 that indicates which of a plurality of correction values (coefficients) has been selected is provided on the side operation panel 47.

  The manual rolling operation means takes priority over the rolling system control means 103 only while the above-mentioned rolling system control means 103 is in operation and is pushing the right downward switch 57 (left downward switch 58). The rolling cylinder 31 is expanded (contracted) by the control valve 34 so that the right side of the device 37 is lowered (so that the left side is lowered), and the right lowering switch 57 (left lowering switch 58) is pushed. When the process is completed, the rolling system control means 103 is activated.

  In the manual rolling operation means, the rolling cylinder 31 is the same as the linking rod 32 in preference to the rolling system control means 103 only while the parallel switch 59 is being pushed in the state where the rolling system control means 103 operates. The rolling cylinder 31 is expanded and contracted by the control valve 34 so that the length (the rotary tiller 37 is parallel to the machine body) so that the length becomes the length. It is supposed to be in an operating state.

As shown in FIG. 5, in addition to selecting a correction value (coefficient), a position control mode can also be set by pressing a rolling changeover switch 50 as an adjustment operation tool.
When the position control mode is set, the setting angle of the setting angle switch 51 is ignored, and the detected value of the stroke sensor 63 at the moment when the position control mode is set is stored, and an external force is applied to the rotary tiller 37. Even if it acts, the rolling cylinder 31 is expanded and contracted by the control valve 34 so that the stored detection value of the stroke sensor 63 is maintained.

  In the position control mode, when the right lowering switch 57 (left lowering switch 58) is pressed, the stored detection value of the stroke sensor 63 is deleted, and the rolling cylinder 31 is extended by the control valve 34 according to the manual rolling operation means ( Contraction) operates. When the pressing operation of the lower right switch 57 (lower left switch 58) is finished, control is performed so that the detected value of the stroke sensor 63 at that moment is newly stored and the stored detected value of the stroke sensor 63 is maintained. The rolling cylinder 31 is expanded and contracted by the valve 34.

  Next, the associated elevation control means 104 that performs auto up control (automatic ascent control) and backup control (reverse ascent control) will be described.

  When the steering angle of the front wheel 1 is within the set right or left angle from the straight-ahead position (a straight-ahead state or a state in which the front wheel 1 is slightly steered), The control means to the laser control means and the rolling system control means 103 are operated to operate the PTO clutch 39 in the transmission state by the control valve 41. When the steering angle of the front wheel 1 exceeds the right or left set angle (turning state), the position control means to the laser control means and the rolling system control means 103 are stopped and the control valve 33 causes the right and left lifts. The cylinder 30 is extended and the rotary tiller 37 is greatly raised from the ground, and the PTO clutch 39 is operated to be disconnected by the control valve 41.

  The backup control means for performing the backup control operates the position control means to the laser control means and the rolling system control means 103 and operates the PTO clutch 39 in the transmission state by the control valve 41 when the aircraft is in the forward state. It is configured. When the aircraft is in the reverse drive state, the position control means to the laser control means and the rolling system control means 103 are stopped, the right and left lift cylinders 30 are extended by the control valve 33, and the rotary tiller 37 is moved. The PTO clutch 39 is operated to be disengaged by the control valve 41 by raising it largely from the ground.

As shown in FIG. 5, every time the auto up switch 55 as the adjusting operation tool is pushed, the operating state and the stopping state of the auto up control means are alternately selected. The side operation panel 47 is provided with a lamp 65 that indicates which of the stopped states has been selected.
In addition, every time the backup switch 56 as the adjustment operation tool is pushed, the operation state and the stop state of the backup control unit are alternately selected. Which of the operation state and the stop state of the backup control unit is selected? A lamp 66 for displaying is provided on the side operation panel 47.

In the position control means, the auto-up control means, and the backup control means, the right and left lift cylinders 30 are extended by the control valve 33 by operating the height restriction switch 54 and the right and left lift arms 29 are operated. It is possible to set and change the upper limit position when swinging upward.
The vertical angle of the right and left lift arms 29 corresponding to the upper limit position is set by the height restriction switch 54, and the detected value of the angle sensor 36 is the upper limit in the position control means, auto up control means, and backup control means. When the vertical angle of the right and left lift arms 29 corresponding to the position is reached, the right and left lift cylinders 30 are stopped by the control valve 33. When the upper limit position is changed to the “high” and “low” sides by the height regulation switch 54 in the state where the right and left lift cylinders 30 are stopped as described above, the detection value of the angle sensor 36 corresponds to the upper limit position. The right and left lift cylinders 30 are expanded and contracted by the control valve 33 so that the vertical angles of the right and left lift arms 29 are maintained.

[Control mode selection control]
Next, the control operation by each control means provided in the control device 100 is controlled by belonging to one of a plurality of control modes selected by the control mode selection control provided in the control operation selection means 105. The
The control modes selected by the control mode selection control are four types of control modes: “paddy field work mode”, “field work mode”, “house work mode”, and “non-work travel mode”.
These control modes are sequentially switched by inputting an operation signal by a push operation of a push button type changeover switch 67 (an example of a selection operation tool) provided in the operation panel 69 portion to the control device 100. The selected control mode is stored in the storage means 106 and displayed on the display panel 68 constituted by the liquid crystal screen of the control panel 69.

When the “paddy field work mode” is selected from the above control modes, the basic setting of the “paddy field work mode” is configured such that each control means performs a control operation with the following items set. Yes.
The state of the up / down changeover switch 49 selects the operating state of the second up / down control means.
-The state of the rolling changeover switch 50 has selected the correction value with respect to the working apparatus suitable for the paddy field work out of several correction value (coefficient).
The state of the auto up switch 55 selects the operating state of the auto up control means.
The state of the backup switch 56 selects the operating state of the backup control means.
The state of the travel selection switch 45 selects the operating state of the speed increasing four-wheel drive control means.

When the “field work mode” of the above control modes is selected, the basic setting of the “field work mode” is configured such that each control means performs a control operation with the following items set. Yes.
The state of the up / down changeover switch 49 selects the operating state of the first up / down control means.
-The state of the rolling changeover switch 50 has selected the correction value with respect to the working apparatus suitable for field work among several correction values (coefficients).
The state of the auto up switch 55 selects the operating state of the auto up control means.
The state of the backup switch 56 selects the operating state of the backup control means.
-The state of the traveling selection switch 45 selects the automatic double speed braking state.

When the “house work mode” is selected from the above control modes, the basic setting of the “house work mode” is configured such that each control means performs a control operation with the following items set. Yes.
The state of the up / down changeover switch 49 selects the operating state of the first up / down control means.
-The state of the rolling changeover switch 50 has selected the correction value with respect to the working apparatus suitable for field work among several correction values (coefficients).
-The state of the auto up switch 55 selects the stop state of the auto up control means.
The state of the backup switch 56 has selected the stop state of the backup control means.
-The state of the traveling selection switch 45 selects the automatic double speed braking state.

When the “non-working travel mode” is selected from the above control modes, the basic setting of the “non-working travel mode” is configured such that each control means performs a control operation with the following items set. Has been.
The state of the up / down selector switch 49 selects the operating state of the position control means.
-The state of the rolling changeover switch 50 selects the position control mode.
-The state of the auto up switch 55 selects the stop state of the auto up control means.
The state of the backup switch 56 has selected the stop state of the backup control means.
The state of the travel selection switch 45 selects the operating state of the two-wheel drive control means.
That is, in this state, the control state accompanied by the automatic related operation of the work device by each control means is turned off.

In the state where each control mode is selected, the changeover switch 67 as the selection operation tool is pressed in the control mode for longer than the operation time set in advance for the selection switching of the control mode (hereinafter referred to as the control mode). Change setting mode in which the operation mode of each device to be controlled can be set and changed in each control mode except for the “non-working travel mode” among the control modes. become.
In the change setting mode, the up / down changeover switch 49, the rolling changeover switch 50, the auto up switch 55, the backup as a setting operation tool for changing the setting of the operation mode of each control target device in each selected control mode. By operating the switch 56 and the travel selection switch 45, the operation mode of each control target device can be individually adjusted as described above to be changed and set to various states.

As described above, in each of the selected control modes, the up / down changeover switch 49, the rolling changeover switch 50, the auto up switch 55, the backup switch as setting operation tools for changing the setting of the operation mode of each control target device. 56. The operation mode of each control target device whose setting is changed by the operation of the travel selection switch 45 is such that when the changeover switch 67 as the selection operation tool is pressed and held again, the result of the setting change is the control device 100. And stored in the storage means 106.
At this time, the operation of the changeover switch 67 is not a long press as described above, but an operation in a short time within an operation time set in advance for switching the control mode (hereinafter referred to as a short press operation). If it is, the operation mode of each control target device whose setting has been changed is not stored in the storage means 106, but the change setting mode is simply exited, and the control mode selection control is terminated.

  In the display unit, when each control mode is switched by short-pressing the changeover switch 67, the changed control mode is displayed on the display panel 68, and the changeover setting is made by long-pressing the changeover switch 67. When the mode is shifted to, the work mode in which the control target device is changed and set by each setting operation tool in the setting change mode is displayed on the display panel 68.

[Flow of control by control operation selection means]
The flow of control by the control operation selection means 105 capable of selecting the on / off state of the control operation by each control means provided in the control device 100 will be described with reference to the flowcharts of FIGS.
FIG. 8 shows control mode selection control provided as a subroutine in a main routine (not shown), and FIG. 9 shows change setting control which is a subroutine in the control mode selection control routine.
In this flowchart, for convenience of explanation, the control mode No. is selected for each of the four control modes that are selected and controlled, ie, “paddy field work mode”, “field work mode”, “house work mode”, and “non-work travel mode”. . Is attached. That is, N = 1 represents “paddy field work mode”, N = 2 represents “field work mode”, N = 3 represents “house work mode”, and N = 4 represents “non- Each of the “work travel modes” is shown.

[1] As shown in FIG. 8, the current control mode is read from the storage means 106, and the read control mode is displayed on the display unit (step # 1).
[2] Next, it is determined whether or not the changeover switch 67 has been turned on. If it is detected that the changeover switch 67 has been turned on, then whether or not the changeover switch 67 is turned on is a “short press operation”. It is determined whether it is a “long press operation”. If the changeover switch 67 is not turned on, the process returns to the main routine (steps # 2 and # 3).
[3] If the ON operation of the changeover switch 67 is “short press operation”, it is determined whether or not the current control mode is “non-working travel mode”. If the ON operation of the changeover switch 67 is not “short press operation”, that is, if it is “long press operation”, the process proceeds to a change setting control subroutine (steps # 3, # 4, # 9).
[4] If the current control mode is not the “non-working travel mode”, that is, if N = 4, the control mode is switched to the control mode next to the current control mode (N = N + 1), and the switched new mode The control mode is displayed (steps # 4, # 5, and # 6).
[5] If the current control mode is “non-working traveling mode”, that is, if N = 4, the control mode is switched to “paddy field working mode” (N = 1), which is the next control mode of the current control mode. Then, the switched new control mode is displayed (steps # 4, # 7, # 8).

Next, a change setting control subroutine for performing control in the change setting mode will be described.
[6] When the subroutine for change setting control is entered, the control mode of the upper routine is indicated, and the indication that the operation mode can be changed is displayed. This is performed on the display unit (step # 10).
[7] Next, any or all of the ascending / descending changeover switch 49, rolling changeover switch 50, auto up switch 55, backup switch 56, and travel selection switch 45 as the setting operation tool are operated to be controlled. When the operation mode of the apparatus is changed and set, the operation mode of the control target apparatus that is changed and set latest is displayed every time the change setting is made (steps # 11 and # 12).
[8] When the changeover switch 67 is turned on during the control in the change setting mode, it is determined whether or not the ON operation of the switch 67 is a “long press operation”. If the ON operation of the switch 67 is a “long press operation”, the operation mode of the control target device changed and set by the setting operation tool is stored in the storage means 106 and then the process returns to the upper routine. If not, that is, if it is a “short press operation”, the process returns to the upper routine without being stored in the storage means 106 (steps # 14 and # 15).

[Other Embodiment 1]
As the control mode selected and switched by the changeover switch 67 as the selection operation tool, the above-described four types of control, “paddy field work mode”, “field work mode”, “house work mode”, and “non-work travel mode”. Not only the mode but various control modes can be set. In addition, the number of control modes is not limited to four, and two or more free numbers can be set, and the mode switching operation order may be set freely.

[Second embodiment]
The changeover switch 67 is not limited to a push button type switch, but may be a swing lever type switch that can be switched by a swing operation, but is configured with a operability as good as possible, such as a one-touch operation. Is desirable.

[3 of another embodiment]
The position where the change-over switch 67 is provided is not limited to the above-described control unit cover 69, but may be any place that can be easily operated by the driver during traveling work. For example, the switch 67 may be provided in an operation box beside the driver seat 42. .

[4 of another embodiment]
In the above-described embodiment, the storage unit configured by the nonvolatile memory uses a form built in the control device 100. However, the present invention is not limited to this, and for example, in an external location connected via an input / output port. It may be provided.

[5 of another embodiment]
As a control object apparatus which can change an operation form, not only what was shown by the above-mentioned embodiment but arbitrary things are employable.

  The present invention can be applied to various work vehicles that are provided with various work devices such as tractors and front loaders and that are used by changing the work mode of the work devices.

5 Front wheel transmission (device to be controlled)
11 Side brake (device to be controlled)
30 Lift cylinder (device to be controlled)
31 Rolling cylinder (device to be controlled)
45 Travel selection switch (setting operation tool)
49 Elevation switch (setting operation tool)
50 Rolling selector switch (setting operation tool)
55 Auto-up switch (setting operation tool)
56 Backup switch (setting operation tool)
67 selector switch (selection tool)
68 Display panel (display unit)
DESCRIPTION OF SYMBOLS 100 Control apparatus 101 Traveling drive system control means 102 Lifting drive system control means 103 Rolling system control means 104 Linkage raising / lowering control means 105 Control action selection means 106 Storage means

Claims (3)

A plurality of types of control target devices capable of changing and adjusting the operation mode, a control device having a plurality of control means for controlling the operation mode of each control target device, and a control state by each control unit can be artificially changed And a setting operation tool.
Storage means for storing the control state of each control means in correspondence with a plurality of preset control modes, and a selection operation tool capable of selecting one of the plurality of control modes stored in the storage means; A work vehicle configured to control the operation of each control target device based on the state of the control means in the control mode selected by the selection operation tool,
In the state where one control mode is selected, the control device operates the selection operation tool for a time longer than a time set for the selection operation, thereby controlling the control means in the selected control mode. A change setting mode in which the control state can be changed and set by the setting operation tool,
When the selection operation tool is operated again for a time longer than the time set for the selection operation after setting the change setting mode, the changed state of the control means in the selected control mode is The control means in the selected control mode is changed when the operation with respect to the selection operation tool after the setting of the change setting mode is stored within the storage means and the operation within the time set for the selection operation. A working vehicle configured to exit the change setting mode without storing the state in the storage means .   2. The operation according to claim 1, wherein the change setting target is displayed in place of the control mode in accordance with the setting of the change setting mode on the display unit that displays the control mode of the selection operation target by the selection operation tool. car.   The work vehicle according to claim 1, wherein the control device includes a control mode in which the setting of the change setting mode is not stored in the storage unit as a part of the control mode to be selected by the selection operation tool.

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