Agricultural working machine

Abstract

To provide an agricultural implement that can be properly driven while living up to SDGs Goal 12 "responsible consumption and production."SOLUTION: An agricultural implement includes an input shaft, a work part, a control part, and a correction control part. For the input shaft, a rated number of rotations suitable for the work part is determined. The work part has various operation members. The control part controls the drive of the operation members. The correction control part selects operation members to be corrected, and corrects the drive of them when an input shaft number of rotations different from the rated number of rotations is detected, or an input shaft number of rotations different from the rated number of rotations is set.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to agricultural working machines.

Background Art

[0002] As an agricultural working machine, Patent Document 1 describes a wrapping machine that picks up a roll bale placed in a field and wraps it with a film.

[0003] In an agricultural working machine, there is a certain sequence. For example, in the case of a wrapping machine, there is a series of sequences such as picking up a roll bale placed in a field, placing it on a turntable, rotating the turntable to wind a wrap film, and placing the roll bale wrapped with the wrap film back in the field. During those series of sequences, operating members such as various hydraulic cylinders and hydraulic motors are driven to perform the operation of winding the film around the roll bale.

[0004] During a series of sequences, the control unit controls so as to achieve an appropriate timing for driving operating members such as hydraulic cylinders and hydraulic motors. In order for the control to function correctly, the rotational speed of the input shaft of the wrapping machine is determined, for example, to be 540 rotations, 1080 rotations, etc., and it is manually determined to operate at the determined rotational speed (hereinafter referred to as "rated rotational speed"). An operator operates the input shaft speed change to the first speed, second speed, etc. in order to set the rotational speed of the input shaft of the agricultural working machine to the rated rotational speed. The control by the control unit is optimized for the rated rotational speed, and various operating members of the working unit can be operated at an accurate timing.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Non-Patent Documents

[0006] [Non-Patent Document 1] Compiled by the Production Bureau of the Ministry of Agriculture, Forestry and Fisheries and the Japan Agricultural Mechanization Association, "Manual for Energy-Saving Use of Agricultural Machinery for Countermeasures against Global Warming - Revised Numerical Edition for Fiscal Year 2008 -", published in March 2009, URL: https: / / www.maff.go.jp / j / seisan / sien / sizai / s_kikaika / pdf / nouki_manual2.pdf [Summary of the Invention] [Problems to be Solved by the Invention]

[0007] In recent years, the SDGs (Sustainable Development Goals) have been adopted at the United Nations Summit, and the momentum has been growing to fulfill the "Responsibility to Produce and Use Responsibly" of Goal 12, which aims to ensure sustainable consumption and production patterns, even in the agricultural sector. As described in the following Non-Patent Document 1, there has been a desire to reduce fuel consumption and fulfill the "Responsibility to Produce and Use Responsibly" of Goal 12 even in agricultural work machines where the rated rotational speed of the input shaft is determined manually.

[0008] In the section "(1) Operate with an appropriate engine speed" on page 8 of Non-Patent Document 1, it is described as follows. "(1) Operate with an appropriate engine speed Generally, when operating at an engine speed higher than necessary, fuel efficiency deteriorates. <Example> When performing rotary tillage with a load of about 50% of the maximum output using a 30-horsepower tractor, by adjusting the travel speed stage and PTO speed stage to keep the travel speed and PTO rotational speed unchanged and reducing the engine speed from the rated speed (2,600 rpm) to 1,800 rpm, the fuel consumption can be reduced by about 20% (about 3.5 liters / ha). When performing fertilization work using a broadcaster with a load of about 20% of the maximum output, similarly, by keeping the travel speed and PTO rotational speed unchanged and reducing the engine speed from the rated speed (2,600 rpm) to 1,800 rpm, there is a measurement example showing that the fuel consumption can be reduced by about 30% (about 0.2 liters / ha). Let's work with the appropriate engine speed according to the load condition. When reducing the engine speed below the rated speed for work implements such as broadcasters, lime spreaders, boom sprayers, etc., where the PTO rotation speed is determined, set the PTO speed step and engine speed to achieve the predetermined PTO rotation speed.

[0009] In agricultural work implements where the rotation speed of the input shaft such as the PTO shaft is determined by the rating, it is possible to reduce the engine speed to save fuel and lower the traveling speed of the agricultural work implement without reducing the rotation speed of the input shaft, but it is difficult to adjust, and as a result, the rotation speed of the input shaft may be lower than the rated rotation speed. In agricultural work implements where the rotation speed of the input shaft to the working part of the agricultural work implement is determined by the rated rotation speed, when the rotation speed of the input shaft unintentionally becomes lower or higher than the rated rotation speed by setting the engine speed low or high, or when intentionally setting the rotation speed of the input shaft lower or higher than the rated rotation speed, the timing at which various operating members of the working part move may shift, and the work process may not be carried out properly. An object of the present invention is to provide an agricultural work implement that can be properly driven while fulfilling the "responsibility to produce and responsibility to use" of SDGs Goal 12.

Means for Solving the Problems

[0010] The present invention includes an input shaft, a working part, a control part, and a correction control part. The input shaft has a rated rotation speed determined to be suitable for the working part. The working part has various operating members. The control part controls the driving of the operating members. The correction control part selects the operating members to be corrected and corrects their driving when detecting an input shaft rotation speed different from the rated rotation speed or when the input shaft rotation speed is set to be different from the rated rotation speed, thereby solving the problem.

Effects of the Invention

[0011] Even if the rotational speed of the input shaft becomes lower or higher than the fixed rotational speed, it has become possible to appropriately drive the working member of the working unit. The present invention can contribute to the "responsibility for production and consumption" of SDGs Goal 12.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same reference numerals in different drawings indicate parts having the same function, and duplicate descriptions in each drawing are appropriately omitted.

[0014] As an example of an agricultural working machine, the wrapping machine 1 will be described. However, the present invention is not limited to the wrapping machine 1, and can be applied to any agricultural working machine that is manually determined to be used at its rated rotational speed. For example, there are broadcast spreaders, lime sowers, boom sprayers, tedders, and the like.

[0015] The roll bale R referred to in the present invention is obtained by compressing and molding a crop into a cylindrical shape using a roll bale forming device such as a roll baler, and is in a state of being wrapped (wound) with a wrap film. Unless otherwise specified, such as "before wrapping roll bale R", when simply referring to "roll bale R", it means the state in which the wrap film is wrapped (wound).

[0016] The roll bale R is placed in the field in a vertically placed state by the wrapping machine 1 of the embodiment. Here, the state where the roll bale R has fallen is a state in which the axis of the roll bale R is parallel to the field surface, and the circumferential surface of the cylindrical roll bale R has fallen so as to be in contact with the ground. On the other hand, the state where the roll bale R is vertically placed is a state in which the axis of the roll bale R is perpendicular to the field surface, and the bottom surface of the cylindrical roll bale R is in contact with the ground and is standing upright.

[0017] The various hydraulic cylinders used in the embodiment are double-acting types and require hydraulic pressure both when extending and when retracting.

[0018] (Embodiment) The embodiment is an example in which the wrapping machine 1 is used as the agricultural working machine of the present invention. First, the structure of the wrapping machine 1 of the present invention will be described. The wrapping machine 1 is an agricultural working machine that picks up the roll bale R before wrapping from the field and wraps the surface with a resin wrap film. The cylindrical roll bale R before wrapping will have all of its bottom surface, top surface, and circumferential surface covered with the wrap film after wrapping.

[0019] The bottom (top surface) of the roll label R has multiple and thick overlaps of the wrap film compared to the circumferential surface of the cylindrical roll label R. Therefore, a technique has been developed in which the roll label R is placed vertically with the bottom surface where the wrap film is multiple and thick facing downwards, making it difficult for protrusions such as stumps to pierce and for holes to form in the wrap film. This is the so-called vertical placement mechanism of the roll label R. The vertical placement mechanism of the roll label R is a mechanism that grounds the bottom surface of the roll label R where the wrap film layer is thick on the field, rather than grounding the circumferential surface of the roll label R on the field. The embodiment relates to a wrapping machine 1 equipped with a vertical placement mechanism.

[0020] FIG. 1 is an explanatory diagram of the wrapping machine 1, and FIG. 1(A) is a front view of the wrapping machine 1 viewed from the tractor side. On the tractor side of the wrapping machine 1, an input shaft 4 is provided for connecting to the PTO shaft of the tractor. The power received from the input shaft 4 varies depending on the model of the machine and the type of agricultural work machine, but in some cases, it is used to mechanically drive the operating members as mechanical power as it is, such as through a gear mechanism. Also, the power received from the input shaft 4 may be used to drive a hydraulic pump and is used to drive hydraulic operating members such as hydraulic cylinders and hydraulic motors.

[0021] FIG. 1(C) is a side view of the wrapping machine 1. The reference numeral 2 shown in FIGS. 1(A) and 1(C) is an electromagnetic control valve block. The opening and closing of the electromagnetic control valve block 2 is controlled by the control unit 6. The oil pressurized by an oil pump (not shown) from the oil tank 41 is sent to various hydraulic drive actuators mounted on the wrapping machine 1 through the electromagnetic control valve block 2. The lift arm 123 is driven by the lift arm cylinder 121 and rotates about the lift arm rotation shaft 125.

[0022] In the case of an agricultural working machine that is manually determined to be used at the rated rotational speed, the operating timing of operating members driven by mechanical drive or hydraulic drive is controlled on the premise that they are driven at the rated rotational speed. By not maintaining the rated rotational speed, the operating timing of these operating members driven by mechanical drive or hydraulic drive may shift, resulting in the inability to perform normal operations. Hereinafter, while explaining the operations of hydraulic cylinders, motors, etc. of the wrapping machine 1 of the embodiment, an embodiment of the present invention that can perform normal operations even at a rotational speed other than the determined rated rotational speed will be described.

[0023] The wrapping machine 1 of the embodiment is configured to detect the rotational speed of the input shaft 4 by an encoder (not shown). The rotational speed of the input shaft 4 is used for correction by a correction control unit 71 described later. Instead of the rotational speed of the input shaft 4, the rotational speed of the PTO shaft may be measured, or when the tractor is equipped with a sensor for detecting the rotational speed of the PTO shaft, the data may be input to the control unit 6. The key is to be able to detect the power input to the wrapping machine 1 (agricultural working machine), regardless of the detection means.

[0024] (Main operating members of the wrapping machine) The lift arm 12 shown in the perspective view of Fig. 1(B), the side view of Fig. 1(C), and the rear view of Fig. 1(D) holds the roll bale R before and after wrapping. At the tip of the lift arm 12, a head 122 for pivotally supporting a pair of rotating rollers 123 is provided. Each rotating roller 123 is configured to be rotatable about the roller rotation shaft 124.

[0025] Fig. 1(A) shows a state where the lift arm 12 holds the roll bale R. The lift arm 12 is driven by a lift arm cylinder 121. The drive of the lift arm cylinder 121 is under the control of the control unit 6.

[0026] FIG. 1(B) is a perspective view of the wrapping machine 1, and FIG. 1(C) is a side view of the wrapping machine 1. The turntable 13 is provided with a belt 134 stretched between a pair of rollers 133, and the cylindrical roll web R before wrapping placed on the belt 134 can be rotated about its axis. The rotation of the belt 134 is under the control of the control unit 6.

[0027] The machine base 135 in FIG. 1(C) supports both the turntable 13 and the lift arm 12. FIG. 2(A) is a perspective view showing the working posture before loading the roll web R before wrapping of the wrapping machine 1. The dump cylinder 131 is housed in the traveling machine frame 15 of the wrapping machine 1. One end of the dump cylinder 131 is attached to the traveling machine frame 15, and the other end is attached to the machine base 135. The dump cylinder 131 moves the machine base 135 in FIG. 1(C) to the posture in FIG. 2, and rotates the turntable 13 and the lift arm 12 to the state in FIG. 2(A) about the machine base rotation axis 136 in FIG. 1(C). The drive of the dump cylinder 131 is under the control of the control unit 6.

[0028] FIG. 1(D) is a rear view of the wrapping machine 1 on the side where the roll web R is loaded and unloaded. Details of the vertically placed arm 5 will be described later, but the vertically placed arm 5 is normally in a horizontal state and rises as shown when the roll web R is placed vertically. The vertically placed arm 5 is driven by a raising cylinder 51, and the raising cylinder 51 is under the control of the control unit 6.

[0029] The following loading process to the vertical placement process is automated by the control of the control unit 6, and the operator can automatically wrap and vertically place the roll web R without any special operation.

[0030] (Loading process) FIG. 2(B) is an explanatory diagram for explaining the position of the lift arm 12 during the loading process of the roll label R before wrapping. The operator operates the wrapping machine 1 so that the circumferential surface of the roll label R before wrapping placed fallen in the field faces the turntable 13 that has been rotated until it becomes substantially vertical. Then, the operator lowers the lift arm 12 and moves it so as to sandwich the roll label R between the pair of rotating rollers 123 and the turntable 13. The rotating roller 123 strongly presses the roll label R so that it does not fall from the turntable 13 when loading the roll label R before wrapping.

[0031] Thereafter, the dump cylinder 131 is driven, and the roll label R before wrapping is loaded into the wrapping machine 1. Although the roll label R is not shown in FIG. 1(C) for the sake of explanation, the loaded roll label R before wrapping is placed in a state where its circumferential surface abuts on the turntable 13 shown in FIG. 1(C). The driving of the dump cylinder 131 at this time is under the control of the control unit 6.

[0032] The loading process of the embodiment is a process that is less affected by not maintaining the rated rotational speed. In the embodiment, the completion of loading the roll label R before wrapping is detected by the contact of the machine base 135 with a sensor (not shown) provided on the traveling machine frame 15. The control unit 6 of the embodiment determines the completion of loading the roll label R with the sensor and ends the control of this process. The driving of the dump cylinder 131 drives at a slow speed if the hydraulic pressure is low, but only the time until the loading is completed changes, and finally it continues until the turntable 13 contacts the sensor, so things like the turntable 13 stopping halfway do not occur.

[0033] Thus, there are also processes that are not affected even if the rated rotational speed is not maintained. However, whether it is affected or not depends not only on the type of process but also on various factors. Depending on the control method, not maintaining the rated rotational speed may have a significant impact. The power from the input shaft 4 drives the hydraulic pump and raises the hydraulic pressure in the hydraulic circuit. The rotational speed of the input shaft 4 affects the height of the hydraulic pressure. In the case of the wrapping machine 1 where the control unit 6 controls to drive the dump cylinder 131 for a predetermined time on the premise that the rated rotational speed is maintained, the driving speed of the dump cylinder 131 varies depending on the height of the hydraulic pressure, so the time until loading is completed changes. When the hydraulic pressure is low, the dump cylinder 131 will not complete the loading and will stop driving halfway through after a predetermined time has elapsed. Also, when the hydraulic pressure is high, the dump cylinder 131 will complete the loading in a short time and become immovable. However, even after that, oil will continue to be sent until a predetermined time has elapsed, and the relief valve that protects the hydraulic circuit may operate due to the increase in pressure within the hydraulic circuit. As a result, it will result in using wasted power.

[0034] Also, the movement of the lift arm 12 immediately after the start of the loading process is not loaded at all until it contacts the roll bail R. That is, whether the hydraulic pressure is high or low, the operating time hardly changes, and it is not easily affected even if the rated rotational speed is not maintained. However, the lift arm 12 also serves to press the roll bail R before wrapping against the turntable 13 with a strong force to hold the roll bail R so that it does not fall. Therefore, there remains a possibility that the high or low hydraulic pressure will affect the force with which the lift arm 12 holds the roll bail R before wrapping. Thus, the impact of not maintaining the rated rotational speed can vary depending on various factors.

[0035] (Wrapping process) Before wrapping, the roll label R is placed on the turntable 13 that is horizontal as shown in FIG. 1(C). The turntable 13 rotates together with the roll label R placed around the rotation axis 132. A wrap film fed out by the wrapping mechanism 14 is wound around the rotating roll label R before wrapping. At this time, the roll label R before wrapping placed on the belt 134 rotates on the belt 134 that moves by driving the roller 133. Also, the turntable 13 rotates by a hydraulic motor (not shown). The roll label R before wrapping is wrapped with the wrap film around it due to the combined rotation of the turntable 13 and the rotation of the belt 134 (roller 133). The number of rotations of the turntable 13 and the roller 133 that drives the belt 134 is counted by sensors (not shown), respectively. The hydraulic motor of the turntable 13 and the roller 133 that drives the belt 134 are under the control of the control unit 6 so that the periphery of the roll label R is completely covered with the wrap film.

[0036] The wrapping process of the embodiment is under the control based on the number of rotations of the turntable 13 and the roller 133 that drives the belt 134, and thus continues to move until a predetermined number of rotations is counted. Whether the speeds of the turntable 13 and the roller 133 are slow or fast, since the control is performed until a predetermined number of rotations is counted, it is less likely to be affected even if the rated rotational speed is not maintained. If, instead of control based on the number of rotations, control based on the rotation time is performed, it is more likely to be affected by not maintaining the rated rotational speed. If the rated rotational speed is not maintained, the rotational speed of the turntable 13 changes, and even if the rotation is performed as commanded by the control unit 6, the wrapping process may end with the periphery of the roll label R not being completely covered with the wrap film, or the wrapping process may continue even though the periphery is completely covered with the wrap film, resulting in the problem of being uselessly covered with the wrap film.

[0037] (Loading and unloading process) Figure 1(D) is a rear view of the side where the roll label R is loaded and unloaded. The vertical arm 5 is a member used in the process of loading and unloading the roll label R and the vertical placement process. In other working processes, it is in a state of being laid down horizontally, that is, parallel to the traveling base of the wrapping machine 1. The states of the vertical arm 5 in Figures 1(C) and 1(D) show the states during loading and unloading. The lifting cylinder 51 is a member that is driven when lifting or laying down the vertical arm 5, and it is under the control of the control unit 6. The angle of the vertical arm 5 is detected by an angle sensor (not shown) and is controlled to an angle that is optimal for vertical placement.

[0038] The wrapped roll label R placed on the turntable 13 is pressed against the turntable 13 side by the rotating roller 123 of the lift arm 12 so as not to roll off during loading and unloading. Then, the dump cylinder 131 is driven, and once the turntable 13 is lifted around the machine base rotation axis 136. The force of the dump cylinder 131 is required until the turntable 13 is lifted to a predetermined height (apex). However, when it exceeds the apex, the turntable 13 begins to descend under the weight of the roll label R. Figure 3 is an explanatory diagram of the loading and unloading process, and the roll label R is loaded and unloaded in the order from (A) to (B). Eventually, when the roll label R touches the ground, the rotation ends.

[0039] (Vertical Placement Process) Figure 4 is an explanatory diagram of the vertical placement process, and it is vertically placed in the order of (a) to (e). In the embodiment, it is the process that is most affected when the rated rotation speed is not maintained. At the start of vertical placement (Figure 4(a)), the vertical placement arm 5 is in contact with the circumferential surface of the roll label R, and the roll label R is sandwiched between the field and the roll label R. When the vertical placement starts, the roll label R is lifted together with the turntable 13 by the drive of the dump cylinder 131 while being supported by the vertical placement arm 5. At this time, the roll label R may roll in the direction away from the turntable 13, and if so, vertical placement can no longer be performed. When the vertical placement arm 5 is raised parallel to the axis of the cylindrical roll label R on the circumferential surface of the roll label R, the vertical placement arm 5 becomes a guide and easily moves in the direction away from the turntable 13. There is a high possibility that the roll label R rolls on the field as it is and the vertical placement fails. To prevent this, the vertical placement arm 5 is tilted and raised so as to be oblique to the axial direction of the roll label R, like the vertical placement arm 5 shown in Figure 1(D). The angle of the vertical placement arm 5 at this time is detected by a vertical placement arm angle sensor (not shown). The control unit 6 controls the lifting cylinder 51 of the vertical placement arm 5 until the detected value of the vertical placement arm angle sensor reaches a predetermined value. Also, the rotation roller 123 of the lift arm 12 is controlled by the control unit 6 so as to lightly contact the circumferential surface of the roll label R, preventing the roll label R from rolling down.

[0040] One side of the roll label R is supported by the vertical placement arm 5, and the other side touches the ground on the field and starts to rotate about the fulcrum R1 (Figure 4(b)). The control unit 6 controls the dump cylinder 131 for a set time and stops lifting the roll label R together with the vertical placement arm 5 to a predetermined height. This set time is determined on the premise that the rated rotation speed is maintained. When the rotation speed is lower than the rated rotation speed, the dump cylinder 131 that lifts the vertical placement arm 5 with one end of the roll label R placed on it together with the turntable 13 may stop halfway, and the vertical placement may fail.

[0041] Furthermore, the lift arm 12 is under the control of the control unit 6 so as to separate from (release) the roll bale R after a set time from the start of the vertical placement process (Fig. 4(a)). When the rotational speed is higher than the rated rotational speed, the speed at which the dump cylinder 131 lifts the vertical placement arm 5 together with the turntable 13 becomes faster, and when the set time elapses, the vertical placement arm 5 is lifted high. At the same time, the timing at which the lift arm 12 separates from the roll bale R becomes erratic because the rated rotational speed is not maintained. For this reason, the roll bale R fails to be placed vertically and falls over. When the roll bale R falls over forcefully, holes may be opened in the peripheral surface by the remaining trunks left in the field.

[0042] (Correction control) Fig. 5 is an explanatory diagram regarding the control of the wrapping machine 1. The controller 7 can be provided in the driver's seat or the like and is connected to the control unit 6 by CAN communication or the like. By connecting the controller 7 to the wrapping machine 1, the correction control unit 71 functions. As a result, the wrapping machine 1 with the rated rotational speed of the input shaft 4 determined can be used at a rotational speed different from the rated rotational speed. In addition, since the embodiment is configured such that the controller 7 can be retrofitted, it is made installable in the driver's seat. However, the control unit 6 mounted on the wrapping machine 1 can also be provided with the function of the correction control unit 71. The position of the correction control unit 71 is appropriate. Also, the correction control unit 71 may be a software module and does not need to exist as a physical entity.

[0043] The controller 7 is detachable. When the controller 7 is removed, the agricultural work machine (wrapping machine 1) for which it is manually specified to work at the rated rotational speed is under the control of the mounted control unit 6. Also, the sensor is used to detect the movement of these actuators and provide feedback to the control unit 6.

[0044] The rotational speed of the input shaft 4 is detected as a pulse wave by an encoder (not shown). The obtained input data is sent to an externally attached controller 7 via the control unit 6. The controller 7 is provided with various switches for settings and the like. Also, a display provided on the controller 7 displays various information to the operator. Then, the input data (pulse wave including the rotational speed information of the input shaft 4) sent from the control unit 6 is sent to the correction control unit 71. FIG. 6 is an explanatory diagram showing the flow of the rotational speed calculation process of the input shaft 4.

[0045] FIG. 6 is an explanatory diagram of the correction control. When the correction control unit 71 receives input data including a pulse signal from the encoder provided on the input shaft 4, it measures the pulse interval t in step S1A. The correction control unit 71 calculates pulse widths such as t1 and t2 from the output of the encoder in FIG. 5. Step S1B is a step of calculating the rotational speed of the input shaft 4 from the obtained pulse interval t. The embodiment adopts a method of calculating the rotational speed by measuring the pulse interval t, but it can be replaced by appropriate means such as the number of pulses per unit time. The subsequent step S1C is a step of calculating the difference from the rated rotational speed. This series of steps is the process of step S1 (rotational speed calculation process) in FIG. 7, and the obtained difference from the rated rotational speed is sent to step S2 in FIG. 7.

[0046] FIG. 7 is an explanatory diagram showing the outline of the correction control. Step S2 is a step of determining whether the difference from the rated rotational speed sent from step S1 is within the allowable range. If it is Yes, control based on the rated rotational speed is performed in step S8, and the actuator is driven in step S7 according to that control. This is the control itself performed by the wrapping machine 1 determined to operate at the original rated rotational speed. On the other hand, if it is No, the correction control unit 71 selects the process to be corrected based on the degree of the difference from the rated rotational speed in step S3.

[0047] (Selection of the process to be corrected) As described above, even if the rated rotational speed is not maintained, problems do not occur in all processes. The correction control unit 71 has a correction information database. In step S3, the process to be corrected is selected in consideration of the information from the correction information database. Next, in step S4, the actuator to be corrected is selected from among the actuators that operate during the process to be corrected. In the case of the vertical placement process, the operation of the vertical placement cylinder 51 is controlled so that the rotation of the vertical placement arm 5 becomes a predetermined angle by a vertical placement arm angle sensor (not shown). Even if the rated rotational speed is not maintained, this rotation only results in a difference in whether the rotation speed becomes faster or slower, and even if the difference from the rated rotational speed is large, it is not selected as the actuator to be corrected in step S4. On the other hand, the dump cylinder 131 and the lift arm cylinder 121 are actuators that have a significant impact on the success or failure of vertical placement, and are selected as the actuators to be corrected in step S4. The selected actuator A (dump cylinder 131) and the selected actuator B (lift arm cylinder 121) shown in FIG. 7 indicate that they have been selected as the actuators to be corrected. These selections are made by considering the information from the correction information database as described above.

[0048] (Correction information database) The correction information database may be created in advance according to the agricultural work machine or model, but it can also be created by the operator himself / herself. The operator switches the agricultural work machine (wrapping machine 1) from the automatic operation mode to the manual operation mode, for example, sets the rotational speed of the input shaft 4 lower than the rated rotational speed, and repeats the vertical placement process. The correction control unit 71 collects the data on successful vertical placement and obtains the optimal data. Then, the proper movement of the actuator for successful vertical placement is stored as a combination of the process to be corrected, the actuator to be corrected, the correction parameter, and the correction value. Here, the correction parameter means a parameter to be corrected, such as whether to control by time, by speed, or by the expansion and contraction length of the cylinder. That is, the information stored in the correction information database is set information such as the difference from the rated rotational speed (for example, minus 300 rotations per minute), the target process (vertical placement process, etc.), the target actuator (dumping cylinder 131, etc.), the control parameter (operation time, etc.), and the correction value (plus 5 seconds, etc.). The time to be corrected can vary depending on the target process such as the time to continue driving, the time to start driving, and the time to end driving.

[0049] (Correction parameter) The correction parameter is preferably the same parameter as the control parameter of the target actuator of the target model of the target agricultural machine. For example, when the model of the wrapping machine 1 owned by the operator controls the dumping cylinder 131 by the operation time (control parameter), the correction parameter is preferably the operation time. In that case, the correction value is a time such as plus 3 seconds. If the correction parameter is set as the extended length of the dumping cylinder 131, it is necessary to attach a new sensor for measuring the length to the dumping cylinder 131, resulting in increased costs. However, depending on the type and model of the agricultural machine, it may be necessary to add a sensor, and a mode in which the correction parameter does not match the control parameter of the target model is not excluded.

[0050] Furthermore, assume there is a wrapping machine 1 that controls the dumping cylinder 131 by the operation time. The rotational speed of the input shaft 4 affects the output (hydraulic pressure value) of the hydraulic pump driven by the input shaft 4, and in some cases, the operating speed of the dumping cylinder 131 can be indirectly derived from the rotational speed of the input shaft 4 and the operation time. In such a case, it is also possible to select the operating speed as the correction parameter.

[0051] In addition, the correction parameters can be in various forms. In the vertical placement process, as shown in FIG. 4(e), the correction parameter may be the timing of raising the lift arm 12 (the timing of the operation of the lift arm cylinder 121). Also, the timing of the end of the operation of the actuator may be used as the correction parameter. The correction parameter can also be the strength or weakness, such as strongly contacting the roll bale R or weakly contacting the roll bale R with the rotary roller 123. Thus, the correction parameter can vary in various ways according to the type of agricultural work machine, model, type of process, type of actuator, type of sensor, etc.

[0052] When controlling the speed of the actuator, the control unit 6 can lower the hydraulic pressure of the hydraulic circuit by means such as controlling the set value of the relief valve or opening and closing the valve by the duty ratio for control.

[0053] (Display of correction value and correction actuator) Step S6 is a step of displaying the process selected in step S3, the actuator selected in step S4, the correction parameter and correction value determined in step S5, etc. on the display unit of the controller 7. Due to external factors such as the state of the field, the vertical placement may not go well according to the information in the correction information database. The operator can also view the state of the failed vertical placement and adjust it by adding or subtracting the correction value.

[0054] (Drive of actuator) Step S7 is a step of driving the selected actuators using the selected correction parameter and correction value respectively. In the embodiment, the function of the correction control unit 71 enables it to be used well even for an agricultural work machine manually specified to operate at the rated rotational speed or at a rotational speed of the input shaft 4 different from the rated rotational speed.

[0055] (Modification example) The embodiment was a mode in which the rotational speed of the input shaft 4 was detected by an encoder and the rotational speed calculation process of FIG. 6 was performed. Instead of detecting the rotational speed of the input shaft 4, it may be detected that the rotational speed of the input shaft 4 (PTO rotational speed) different from the rated rotational speed is set. For example, a tractor can select the rotational speed of the PTO shaft by two gears, one speed of 540 rotations and two speeds of 1080 rotations. It is also possible to omit the rotational speed calculation process by detecting which one is selected.

[0056] (Summary) Summarizing the above embodiments, it is as follows. The embodiment is a wrapping machine 1 including an input shaft 4, a working unit, a control unit 6, and a correction control unit 71, and the input shaft 4 has a rated rotational speed determined to be suitable for the working unit. The working unit has various operating members such as a dump cylinder 131. When the rated rotational speed is maintained, the control unit 6 controls the drive of the operating member. When the correction control unit 71 detects an input shaft rotational speed different from the rated rotational speed, or when the input shaft rotational speed is set to be different from the rated rotational speed, it selects an operating member to be corrected and corrects its drive.

[0057] (Contribution to SDGs) In the embodiment, it has been explained that the rotational speed of the input shaft 4 different from the rated rotational speed may be a lower input rotational speed or a higher input rotational speed than the rated rotational speed. In particular, setting the rotational speed of the input shaft 4 to be lower than the rated rotational speed in order to suppress fuel consumption can contribute to the "Responsibility to Produce · Responsibility to Use" of SDGs Goal 12. On the other hand, setting the rotational speed of the input shaft 4 higher than the rated rotational speed may not seem to contribute to the "Responsibility to Produce, Responsibility to Use" of SDGs Goal 12 at first glance. However, for example, there are often situations where it is necessary to quickly finish agricultural work before it rains. In such cases, it is required to increase the engine's rotational speed and operate at an input rotational speed higher than the rated rotational speed. In the wrapping operation of the roll bale R, if the cut grass gets wet, the fermentation of the roll bale R may not proceed well and the quality may deteriorate, so quick work may be required. Even in such cases, the present invention can contribute to the "Responsibility to Produce, Responsibility to Use" of SDGs Goal 12 because a large amount of high-quality roll bale silage can be obtained as a result, and the amount of roll bale silage discarded due to poor quality can be reduced.

[0058] In addition, although examples that can be changed everywhere have been described, as long as there are no particular contradictions or problems in their purpose and configuration, etc., it is possible to cross-use and combine each other's technologies.

Explanation of Reference Numerals

[0059] 1 Wrapping Machine 12 Lift Arm 121 Lift Arm Cylinder 122 Head 123 Rotating Roller 124 Roller Rotation Shaft 125 Lift Arm Rotation Shaft 13 Turntable 131 Dump Cylinder 132 Turntable Rotation Shaft 133 Roller 134 Belt 135 Machine Base 136 Machine Base Rotation Shaft 14 Wrapping Mechanism Section 15 Traveling Machine Frame 2 Electromagnetic Control Valve Block 4 Input Shaft 41 Oil Tank 5 Vertically Placed Arm 51 Starting Cylinder 6 Control Unit 7 Controller 71 Correction Control Unit R Roll Label R1 Fulcrum

Claims

1. An agricultural working machine comprising an input shaft, a working unit, a control unit, and a correction control unit, wherein the input shaft has a rated rotational speed determined to be suitable for the working unit, the working unit has various operating members, the control unit controls the drive of the operating members, and the correction control unit, when detecting an input shaft rotational speed different from the rated rotational speed or when a setting of an input shaft rotational speed different from the rated rotational speed is made, selects an operating member to be corrected and corrects its drive.

2. The agricultural working machine according to Claim 1, wherein the correction of the drive corrects the time for which the drive of the various operating members continues, the time to start the drive, the time to end the drive, or the drive speed.

3. The agricultural working machine according to any one of Claims 1 or 2, wherein the different input rotational speed is a rotational speed lower than the rated rotational speed.

4. The agricultural working machine according to any one of Claims 1 or 2, wherein the different input rotational speed is a rotational speed higher than the rated rotational speed.

5. The agricultural working machine according to any one of Claims 1 to 4, wherein the agricultural working machine is a wrapping machine.

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