公开(公告)号：JPS5660709A

公开(公告)日：1981-05-25

申请号：JP13480279

申请日：1979-10-18

Applicant: KUBOTA LTD

Inventor： NAKAMURA NORIMI ,  HASHIMOTO OSAMI ,  OKUYAMA SHIGEAKI

IPC: B60G17/00 ,  B60G17/015 ,  B60G17/0165 ,  B60G17/033

Abstract: PURPOSE:To automatically maintain a machine body of a farm tractor in a horizontal or substantially horizontal position regardless of ground conditions to reduce fatigue of a driver of the farm tractor by providing the farm tractor with actuating devices for moving four wheels up and down individually relative to the machine body to maintain the machine body always in a horizontal position. CONSTITUTION:Front wheels 1a, 1b actuatable by respective hydraulic motors M1 and rear wheels 2a, 2b actuatable by a common hydraulic motor M2 are designed to be moved up and down relative to a machine body by means of hydraulic cylinders 5, 7, 8. A control valve V1 for the cylinder 8 can be operated by a manually operable member 10 while other control valves V2 for the cylinders 5, 7 have each an electromagnetic operating part 11 which is controlled by a valve operating mechanism 13 in response to an output of a device 12 for detecting an inclination in a forward and a backward direction and in a leftward and a rightward direction of a self-travelling machine body. Additionally, an alarm mechanism 32 is provided in a controlling station whereby a buzzer 23 or 24 is operated when an inclined angle of the machine body is less than a predetermined level.

公开(公告)号：JPS5460109A

公开(公告)日：1979-05-15

申请号：JP12791277

申请日：1977-10-22

Applicant: KUBOTA LTD

Inventor： HASHIMOTO OSAMI

IPC: A01B63/00 ,  A01B63/10 ,  A01B63/112 ,  G01L5/13

公开(公告)号：JPS6152014B2

公开(公告)日：1986-11-11

申请号：JP14487079

申请日：1979-11-06

Applicant: KUBOTA LTD

Inventor： NAKAMURA NORIMI ,  HASHIMOTO OSAMI ,  OKUYAMA SHIGEAKI

IPC: B60K17/356 ,  B60K17/10 ,  B60K20/02

公开(公告)号：JPS58178412A

公开(公告)日：1983-10-19

申请号：JP6207982

申请日：1982-04-13

Applicant: Kubota Ltd

Inventor： HASHIMOTO OSAMI ,  FURUBAYASHI MITSUGI ,  TANAKA SHIGERU

IPC: A01B69/00 ,  G05D1/02

CPC classification number: G05D1/0234 ,  G05D2201/0201

Abstract: PURPOSE:To run an agricultural machine accurately on a prescribed run course by installing ancillary facilities on the ground where the machine deviates from the run cource, and allong two photodetectors and an arithmetic device on the machine body side to calculate the absolute ground postion of the machine body all the time. CONSTITUTION:The photodetectors 2 and 3 are provided at two front and rear positions on the running machine body 1 while differing in height, and the intermediate part 4' of the supporter 4 of the front photodetector 2 arranged at the upper part is made of a transparent material to prevent light incident to the rear photodetector 3 from being cut off. The photodetectors 2 and 3 are each provided with plural photosensors 7 around a rotary cylinder member 6 turned by an individual motor 5. The output of each sensor 7 is led out through a rotary encoder 8 and the photodetection angle of any sensor 7 is detected. Current coordinates which are detection results and command values are compared with each other through a microcomputer (not shown in figure) by using a sine- wave theorem and the machine body is run accurately in the prescribed run course on the basis of the arithmetic results.

Abstract translation: 目的：通过在机器偏离运行源的地面上安装辅助设备，以及机身侧的两个光电探测器和运算装置，在规定的跑道上准确运行农机，以计算机身侧的绝对地面位置 机身所有的时间。 结构：光电检测器2和3设置在行进机体1上的两个前后位置，同时高度不同，并且布置在上部的前光电检测器2的支撑件4的中间部分4'由 透明材料，以防止入射到后部光电检测器3的光被切断。 光电检测器2和3分别设置有由单个电动机5转动的旋转圆筒构件6周围的多个光电传感器7.每个传感器7的输出通过旋转编码器8被引出，并且检测到任何传感器7的光检测角度。 通过使用正弦波定理通过微型计算机（图中未示出）将作为检测结果和指令值的当前坐标进行比较，并且基于运算结果在规定的运行过程中精确地运行机体。

公开(公告)号：JPS58176711A

公开(公告)日：1983-10-17

申请号：JP6021482

申请日：1982-04-10

Applicant: KUBOTA LTD

Inventor： FURUBAYASHI MITSUGI ,  HASHIMOTO OSAMI ,  TANAKA SHIGERU

IPC: G01S1/70 ,  G05D1/02

Abstract: PURPOSE:To ensure an automatic control of traveling of a work truck in a fixed direction, by performing the control based on the result of detection for the photodetecting position on a photodetecting surface so that the beam light is received by photodetecting elements of a standard train. CONSTITUTION:The laser light 2 is projected from a projector 1 set at a prescribed position on the ground. The light 2 is received at a receiving device 4 provided at the front part of a mowing truck 3. A control is carried out so as to obtain a reference photodetecting train on the basis of the result of detection showing the receiving area of the photodetecting element. Thus the truck 3 is guided along the light 2 and therefore ontrolled automatically to travel in a prescribed direction.

公开(公告)号：JPS58149514A

公开(公告)日：1983-09-05

申请号：JP3121982

申请日：1982-02-26

Applicant: KUBOTA LTD

Inventor： HASHIMOTO OSAMI ,  FURUBAYASHI MITSUGI ,  TANAKA SHIGERU ,  YOSHIMURA SHINGO

IPC: A01B69/00 ,  B62D1/24 ,  G05D1/02

Abstract: PURPOSE:To make a high-precision automatic traveling possible, by providing an actuator operating means which turns a steering wheel in the reverse direction for a certain time after turning the steering wheel up to one steering angle limit. CONSTITUTION:In a controlling circuit of a solenoid valve, a one shot circuit 20 generates an output signal for a certain time by the rise of turning-on of a start switch 19. Since this time is longer than the time when an oil pressure cylinder is moved for a maximum stroke, the steering wheel is steered to the left limit even if it is placed in the right end. Thereafter, the second one shot circuit 21 is connected to the one shot circuit 20 through an inverter 22 so that the one shot circuit 21 generates an output signal for a certain time by the fall of the output of the one shot circuit 20. Since this time is the time when the oil pressure cylinder is moved back for the half of the maximum stroke, the steering wheel moved to the left limit is neutral in the state with the play drawn left.

公开(公告)号：JPS58144906A

公开(公告)日：1983-08-29

申请号：JP2852982

申请日：1982-02-23

Applicant: KUBOTA LTD

Inventor： FURUBAYASHI MITSUGI ,  OKUYAMA SHIGEAKI ,  TOYOKUNI KAZUO ,  HASHIMOTO OSAMI ,  ITOU KATSUMI

IPC: G05B11/16 ,  G05B11/36 ,  G05B19/42 ,  G05D1/02

Abstract: PURPOSE:To eliminate a timing shift for a controller of a device like an unmanned lawn mower, etc. which follows the target value that carries momentarily by storing the target value and the forward and backward working time bands of an actuator and at the same time producing a signal which actuates the actuator for a certain time in an early period together with a feedback control signal which is based on the target value. CONSTITUTION:In a teaching play-back time, the steering off-angle detected by a potentiometer 13 and the voltages generated by bias resistances 17 and 18 with operation of left and right solenoids 9 and 10 by turning on and off switches 15 and 16 are recorded on different tracks of a tape recorder 12. These ON and OFF signals are applied to one-shot circuits 25 and 26 which generate the voltage for a fixed time (dead zone width of response speed of actuator, etc.) with the ON signal. The outputs of the circuits 25 and 26 are fed to switching transistors 23 and 24 respectively. As a result, the start delay can be avoided for operation of the actuator. Thus a timing shift is eliminated.

公开(公告)号：JPS5715021A

公开(公告)日：1982-01-26

申请号：JP8987580

申请日：1980-06-30

Applicant: KUBOTA LTD

Inventor： HASHIMOTO OSAMI ,  SAKAMITSU MASATOSHI

IPC: B60K17/356 ,  B60K17/34 ,  B60K23/08

Abstract: PURPOSE:To prevent a lowering of travelling nature on a speed change by interlocking disconnection of locking between a speed changer of one side and a tool for speed change operation with connection between a speed changer of the other side and a tool for speed change operation in the tractor mentioned on the top equipped with a hydraulic speed change driver on front and rear wheels. CONSTITUTION:When a knob member of a tool 22 for speed change operation is, on speed change operation, operated with a knob, through a wire 32 a coupling member 31 is actuated, allowing a rocking arm 29 and an arm 21 to be connected in a body through engagement of a boss part not illustrated. Accordingly, a speed change operation part 9 and the rocking arm 29 for the second pump P2 of the second hydraulic device 6 are connected through a rod 30. As the result it is possible to operate in a body the first and the second hydraulic stepless speed changers 5, 6. With such a constitution, it is possible to prevent a lowering of travelling nature that occurs on artificial speed change operation.

公开(公告)号：JPS5715020A

公开(公告)日：1982-01-26

申请号：JP8987480

申请日：1980-06-30

Applicant: KUBOTA LTD

Inventor： HASHIMOTO OSAMI ,  KUROIWA RIYOUZOU ,  SAKAMITSU MASATOSHI

IPC: B60K17/356 ,  B60K17/34 ,  B60K23/08

Abstract: PURPOSE:To improve performance for rapid swivel by disconnecting interlock between both speed changers and by reducing a circumferential speed of a nonoperated wheel by a speed change control device for operating put side by side when an operating angle of the tractor mentioned on the top equipped with a hydraulic stepless speed changer on each of front and rear wheels exceeds a prescribed value. CONSTITUTION:With front wheels 1 operated by a control handle, if the operating angle exceeds a fixed value, a claw member 31 is disconnected from an engaged tooth part, and interlock between the first and the second speed change drivers is disconnected allowing the second speed change driver 6 to become independent. At the same time with handle operation a limit switch L is actuated to interrupt an input signal from an arithmetic unit 15 to a comparator 18, while a detected speed from the arithmetic unit 15 is stored and a speed lower than the detected speed is inputted from a setting device 36 to the comparator 18, allowing a circumferential speed of nonoperated wheels 2 to be made to be lower than that of operated wheels 1. Through the process, rapid swivel performance is improved.

公开(公告)号：JPS5660728A

公开(公告)日：1981-05-25

申请号：JP13683179

申请日：1979-10-22

Applicant: KUBOTA LTD

Inventor： HASHIMOTO OSAMI ,  NAKAMURA NORIMI

IPC: B60K17/348 ,  B60K17/34 ,  B60K17/346 ,  B60K23/08

Abstract: PURPOSE:To provide optimum wheel drive in accordance with traveling conditions such as straight traveling on agricultural field, turning with a small radius and road traveling, by fitting a three-way transmission gear in a power transmission channel to a differential gear for front wheels. CONSTITUTION:A transmission gear 12, put in a power transmission gear to a front differential gear 9 of a four-wheel drive tractor, is composed of a planetary differential gear 12A and a shifter gear 12B which can be shifted in three ways: engagement and disengagement with the differential gear 12A and engagement with a reversing gear 14 which branches off a driving power transmission gear 13 to a rear differential gear 10. For traveling on a field, the transmission gear 12 is thrusted in the first position for four-wheel drive with the shifter 18 being engaged with a differential case 17, for traveling on a road the shifter 18 is free in the third position for rear drive, and for turning with a small radius, the shifter 18 is put in the second position, being engaged with the reversing shaft 14A.