JPH0999848A - Agricultural machine steering device - Google Patents

Abstract

[PROBLEMS] To provide a steering device for an agricultural work machine, which is capable of automatically traveling at the time of work or the like, and assisting manual steering when largely changing the direction of the machine body. SOLUTION: A steering wheel 10 and a steering wheel shaft 9 of a steering wheel 8 are interlockingly connected via a steering operation mechanism 10, and a steering operation mechanism 10 is detected based on a detection result of a torque sensor 11 which detects a torque of the steering wheel shaft 9.
Power steering control means P for controlling to operate the electric motor 13 which gives an operation force for auxiliary operation of
Is provided, and the switching means 22 for selectively switching between the manual steering mode in which the steering handle 8 is manually operated and the automatic steering mode in which the vehicle body 3 is automatically traveled by the automatic control means 25.
The steering handle 8 and the steering operation mechanism 10 are interlockingly connected in the manual steering mode, and the connection / disconnection mechanism D disconnects the steering handle 8 and the steering operation mechanism 10 in the automatic steering mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device for an agricultural work machine equipped with a power steering device.

[0002]

2. Description of the Related Art Heretofore, as a steering apparatus for an agricultural working machine of this type, there has been known a steering apparatus having a structure in which steering is manually assisted by an electric motor to perform power steering.

[0003]

By the way, in the above-mentioned conventional structure, since the electric motor is always used for assisting the steering during artificial maneuvering, seedling planting like a rice transplanter is carried out. Similar power assist was performed when steering was performed to maintain straight running, that is, to maintain a predetermined traveling state, and when the aircraft was turned around at a headland or the like. . for that reason,
Since the steering is light when traveling for a predetermined work stroke, the operator must perform careful steering so that the aircraft does not significantly deviate from the work stroke during steering operation. Since the vehicle must be steered frequently for correction, there is a risk that it will be bothersome for the operator and may impose a burden on one's heart.

The present invention has been made in view of the above circumstances. For example, when a work is carried out, the machine can be automatically traveled, but the machine can be enlarged to a work stroke. It is an object of the present invention to provide a steering device for an agricultural work machine capable of assisting manual steering when changing directions.

[0005]

[Means for Solving the Problems]

(Structure) A steering device for an agricultural working machine according to claim 1 of the present invention interlocks and connects a steering wheel and a handle shaft of a steering handle via a steering operation mechanism, and
A torque sensor for detecting the torque of the steering shaft of the steering wheel is provided, and based on the detection result of the torque sensor, power for controlling to operate an electric motor that provides an operation force for auxiliary operation of the steering operation mechanism. A steering control means is provided, and a switching means is provided for selectively switching between an artificial steering mode in which the steering wheel is artificially steered to steer and an automatic steering mode in which the aircraft automatically travels by the automatic control means. When the manual steering mode is set, the steering handle and the steering operation mechanism are interlocked with each other, and when the automatic steering mode is set, the steering handle and the steering operation mechanism are disconnected from each other. It is characterized by having an intermittent mechanism.

(Operation) According to the structure of claim 1,
If you switch to an automatic steering mode that can automatically steer the aircraft so that you can travel a predetermined traveling path etc. by automatic control, you can run automatically without manual steering, and the steering during that automatic driving is artificial steering. It can be performed by using an electric motor for assisting the time. Further, when changing the direction of the machine body in a headland or the like, it is possible to steer lightly while switching to the manual steering mode to obtain assistance from the electric motor.

(Effect) Therefore, according to the configuration of the above-mentioned claim 1, it is possible to automatically steer during desired work traveling without performing artificial steering, and at the time of changing the direction of the machine body, artificial steering is possible. Since steering can be performed and it is not necessary to perform artificial steering at the time of work, the operator can easily operate the vehicle and can perform accurate work. Further, since the electric motor for assisting the power steering can be used to perform the steering during the automatic traveling, it is not necessary to provide a separate actuator for the automatic steering, and the parts cost can be reduced.

(Structure) The steering apparatus for an agricultural working machine according to claim 2 of the present invention is the structure of claim 1, wherein the automatic steering mode is set in association with the operation of engaging the working clutch. The working clutch and the switching means are linked so that the manual steering mode is set in association with the disengagement operation of the working clutch.

(Operation) According to the structure of claim 2,
The automatic steering mode and the manual steering mode are switched in conjunction with the on / off operation of the work clutch.Therefore, the automatic steering mode is always set when the vehicle is running, and the manual steering mode is set when the vehicle is not working. Therefore, it is not necessary to separately provide a dedicated switch or the like for mode switching.

(Effect) Therefore, according to the configuration of the above-mentioned claim 2, the operation clutch is not bothered to change the switch and the working clutch is not provided. It has become possible to switch modes by a simple operation of simply operating and an inexpensive structure.

(Structure) The steering apparatus for an agricultural work machine according to claim 3 of the present invention has the structure according to claim 1 or 2, wherein the steering handle is interlocked with the switching of the steering mode to the automatic steering mode. It is characterized in that a fixed holding means for fixedly holding the steering wheel is provided.

(Operation) According to the configuration of claim 3,
When switched to the automatic steering mode, the steering handle is fixedly held so that it cannot be operated, so that the operator can support the body with the steering handle even when the driver performs the automatic steering while riding.

(Effect) Therefore, according to the configuration of the above-mentioned claim 3, the body of the operator on board the aircraft can be supported by the fixed steering handle during traveling in the automatic operation mode, and during automatic traveling. There is an advantage that the posture of the operator can be stabilized.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 4 shows a riding-type rice transplanter as an example of an agricultural work machine. In this riding type rice transplanter, an engine 4, a control unit 5, a seedling planting device are mounted on a body 3 supported by front wheels 1 and 1 as a pair of left and right steered wheels and a pair of left and right rear wheels 2 and 2 so as to be able to run. It is equipped with 6 etc.

As shown in FIGS. 1 to 4, a handle post 7 is erected on the control section 5, and
A steering handle 8 is provided on the handle post 7. A steering shaft 9 of the steering handle 8 is linked to front wheels 1, 1 as steering wheels via a steering operation mechanism 10 such as a steering gear box or a pitman arm. Further, the handle shaft 9 is provided with a torque sensor 11 for detecting the torque of the handle shaft 9, and a detection signal of the torque sensor 11 is input to a control device 12 provided in the machine body 3. An electric motor 13 that gives an assisting force to the handle shaft 9 by a drive signal based on the detection result of the torque sensor 11 from the control device 12 is provided. Electric motor 1
The output shaft of 3 is a gear pair 14 including a small diameter gear and a large diameter gear.
It is linked to the handle shaft 9 via. Here, the control device 9 includes a power steering control means P for assisting the operation of the steering handle 8 during manual steering.

Further, as shown in FIGS. 1 to 3, at the upper portion of the handle post 7, the steering handle 8 and the handle shaft 9 are separated from each other, so that they can be connected and disconnected by the clutch 15. It is configured to connect to. More specifically, the support shaft portion 8A of the steering handle 8 supported by the handle post 7 and the handle operating shaft 9 located below the support shaft portion 8A are arranged coaxially, and projectingly provided at the upper end of the handle shaft 9. The pin 9a is fitted in a recessed hole 8a formed in the support shaft portion 8A so as to be relatively rotatable. The lower outer peripheral portion of the support shaft portion 8A and the upper outer peripheral portion of the handle shaft 9 are splined, and the shift member 16 is slidable up and down while being engaged with the spline. When the shift member 16 is fitted, the shift member 16 is externally fitted to both the support shaft portion 8A and the handle shaft 9, and the shift member 16 is slid upward to support the support shaft portion 8.
An electromagnetic actuator 17 is provided which is a solenoid that can be repositioned so that it can be externally fitted only to A. The electromagnetic actuator 17 is driven and operated by a drive signal from the control device 12. Further, as shown in FIG. 2, a plurality of teeth 18 are arranged side by side along the circumference in an annular shape at appropriate intervals on the upper surface of the shift member 16, and the inner wall of the upper part of the handle post 7 An engaging pin 19 is provided so as to project inward. The engagement pin 19 is adapted to engage between the teeth 18 when the shift member 16 is positioned above so that the shift member 16 is spline-fitted only to the support shaft portion 8A. Thus, when the interlocking connection state of the support shaft portion 8A and the handle shaft 9 is released by the displacement of the shift member 19, the steering handle 8 is rotated by the engagement of the tooth portions 18 ... It is designed so that it does not exist, that is, it is fixed. Here, the spline structure of the support shaft portion 8A and the handle shaft 9, the shift member 16, and the electromagnetic actuator 17 are the disconnecting mechanism D.
And the engaging pin 19 and the tooth portion 18 ...
And the like constitute a fixed holding means K.

Then, as shown in FIGS. 1 and 4, on the operation panel of the control section 5, work for turning on / off the power transmission to the seedling planting device 6 is performed with or without seedling planting work. A planting clutch lever 21 for operating the planting clutch 20 as a vehicle clutch is provided. A limit switch 22 is provided for detecting the on / off operation state of the planted clutch lever 21 by switching by contacting the lever. The switching signal of the limit switch 22 is input to the control device 12, and
When the signal indicating that the planted clutch lever 21 is turned on is input, the control device 12 automatically sets the control state to the automatic steering mode and also drives the electromagnetic actuator 17 upward. Is output. As a result, the steering handle 8 is fixedly held by the handle post 7.

The limit switch 22 is also used as a switching means for switching between an automatic steering mode for automatically traveling the machine body and a manual steering mode. To elaborate,
When a switching signal is input to the control device 12 in response to an operation of engaging the planting clutch lever 21 of the limit switch 22, the control device 12 causes the gyro sensor 23 mounted on the machine body 3 to drive the planting vehicle while going straight. Control is performed to drive the electric motor 13 for steering so that the work is performed automatically, and the electromagnetic actuator 17 is operated to raise the shift member 16. on the other hand,
When a switching signal associated with the disengagement operation of the planted clutch lever 21 of the limit switch 22 is input to the control device 12, the control device 12 immediately outputs the gyro sensor 23.
The control signal is output to the electric motor 13 for power steering based on the detection signal from the torque sensor 11 associated with the manual steering.

The control in the automatic steering mode based on the detection signal of the gyro sensor 23 will be briefly described. That is, the potentiometer 26 for detecting the steering angle is provided in the steering operation mechanism 10, and the gyro sensor 23 for detecting the traveling direction is provided in the machine body 3. The predetermined traveling direction is set in advance by a control program or teaching, and when the automatic steering mode is set, the electric motor 13 is driven so as to go straight in only a certain direction until the artificial steering mode is switched to next. Have control. Here, the control device 12 includes an automatic control means 25 that performs automatic steering in this automatic steering mode.
If the planting position deviates from the previously planted line in the lateral direction of the machine, the machine position should be corrected by fine adjustment to correct it. An adjusting switch 24 that is freely operable and automatically returns to the neutral state when not operated is provided on the panel portion of the control unit 5. The adjustment signal from the adjustment switch 24 is the control device 12 described above.
Is input to That is, the control device 12 prohibits the steering based on the signal of the gyro sensor 23 while manipulating the adjustment switch 24 leftward or rightward, so that the adjustment switch 24 is operated to the operated side. It is set to perform an interrupt operation to steer to an extremely small steering angle. When the operation of the adjusting switch 24 is released, the adjusting switch 24 automatically returns to neutral, and the neutralizing return causes the control device 12 to travel straight along a predetermined direction based on the detection signal of the gyro sensor 23. Return to the automatic steering control state.

With the above configuration, the planted clutch lever 21
When the switch is operated, the limit switch 22 detects the switch operation state, and the control signal is detected by the detection signal.
Switches the control mode to the automatic steering mode, disconnects the steering handle 8 and the handle shaft 9 by driving the electromagnetic actuator 17, and detects the detection result of the gyro sensor 23 in advance regardless of the presence or absence of the signal of the torque sensor 11. While performing steering correction by driving the electric motor 13 based on the comparison result with the set predetermined azimuth, the automatic planting traveling control along the predetermined azimuth is performed. When the planting work of a predetermined process is completed and the headland is reached, the operator operates the planting clutch lever 21 to the cut side. Then, along with it,
While the seedling planting device 6 is raised from the planting position,
The control mode is switched to the manual operation mode, the steering handle 8 and the handle shaft 9 are connected by driving the electromagnetic actuator 17, and the steering handle 8 can be used for artificial steering in this state. At the time of this artificial steering, the control device 12 operates based on the detection signal of the torque sensor 11 associated with the steering operation.
The electric motor 13 is driven to apply an assist force to the handle shaft 9 to make steering light.

[Other Embodiments] When the automatic steering mode is set, the steering handle and the handle shaft may be disconnected from each other and the steering handle may be freely rotatable instead of being fixed. The switching means for switching between the automatic steering mode and the manual steering mode should not be the switching that interlocks with the engagement and disengagement of the work clutch, but should be composed of a dedicated switching means capable of performing the appropriate switching. The automatic steering in the automatic steering mode is changed to the steering based on the gyro sensor to detect the optical signal or the like for guiding a predetermined traveling stroke to control the steering, or to image the working stroke of the place where the work has already been done. Alternatively, the steering control may be performed so that a predetermined traveling path is calculated based on the imaged result and the vehicle automatically travels.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view showing a steering device and the like.

FIG. 2 is a vertical sectional side view showing a clutch structure of a steering wheel.

FIG. 3 is a cross-sectional plan view showing a clutch structure of a steering wheel.

FIG. 4 is an overall side view showing a riding type rice transplanter.

[Explanation of Codes] 1 Steering Wheel 3 Airframe 8 Steering Handle 9 Handle Shaft 10 Steering Operation Mechanism 11 Torque Sensor 13 Electric Motor 20 Work Clutch 22 Switching Means 25 Automatic Control Means D Interruption Mechanism K Fixed Holding Means P Power Steering Control Means

Claims (3)

[Claims] 1. A steering wheel (1) and a steering wheel shaft (9) of a steering wheel (8) are interlockingly connected through a steering operation mechanism (10), and a steering wheel shaft (9) of the steering wheel (8). A torque sensor (11) for detecting the torque of the
Based on the detection result of 1), a power steering control means (P) is provided for controlling to operate an electric motor (13) for giving an operation force for auxiliary operation of the steering operation mechanism (10), and A switching means (22) for selectively switching between an artificial steering mode in which the steering handle (8) is manually operated to steer and an automatic steering mode in which the vehicle body (3) is automatically driven by an automatic control means (25). ) Is provided, and when the artificial steering mode is set, the steering handle (8) and the steering operation mechanism (10) are interlockingly connected, and
When the automatic steering mode is set, the steering handle (8) and the steering operation mechanism (1
0) A steering device for an agricultural work machine, which is provided with an intermittence mechanism (D) that disconnects from the linkage with 0). 2. The automatic steering mode is set in association with the operation operation of the work clutch (20), and the artificial steering mode is set in association with the operation operation of the work clutch (20). , The work clutch (2
0) and the switching means (22) are linked together.
Steering device for the agricultural work machine described. 3. The fixed holding means (K) for fixedly holding the steering handle (8) in a non-steerable manner in association with switching of the steering mode to the automatic steering mode. Steering device for agricultural work machines.