JPS59102304A - Earth working car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides, for example, a riding type plowing machine in which a single rotor tilling device is installed in a substantially horizontal position relative to the ground. 8, and
A ground working device such as the tilling device, a plaque device, a scraper, etc. is freely raised and lowered on the traveling vehicle body via a first drive mechanism, so that the plowing depth can be kept almost constant to perform the plowing operation well, and A first sensor is provided, which is mounted so as to be tiltable in the left-right direction of the vehicle body via a second drive mechanism, and which detects the ground level of the working device.
Is the height above the ground of the work equipment in conjunction with ft? Provided with a first control mechanism for maintaining within a set range,
A second sensor is provided for detecting the left and right tilting state of the working device with respect to the horizontal plane f, and a second sensor f and j
II41! P. Concerning a ground work vehicle equipped with a structure.

1] Conventionally, when configuring the second control ridge structure in the writing process, a second sensor 5r such as a horizontal nanzer is attached to the working device.
Please install it.

However, when installing all different types of work equipment on a moving vehicle,
It is difficult to replace the second sensor, which is inconvenient in practice.In addition, when the work equipment vibrates due to ground reaction force or its own driving reaction force, the action of the first control mechanism The accuracy of detecting the inclination state due to the height of the second center C is lowered due to the influence of the swing width 11 and the position of the thousand wheels, and the second control There was a drawback that the jBIJ control accuracy of the mechanism was reduced.

In view of the above-mentioned points, the inventors have developed a first control mechanism that eliminates the need to attach the second sensor when replacing the attachment of the attached working device, and also keeps the height of the working device constant from the ground. The object of the present invention is to avoid a decrease in the control accuracy of the second control mechanism due to vibrations of the work equipment itself.

In order to achieve the above object, in the above-mentioned ground work vehicle, the second sender B is attached to the traveling vehicle body, and the horizontal surface 1 of the working device is set against the horizontal surface 1 of the traveling vehicle body from the left and right inclined state with respect to the horizontal surface. Detect the left/right tilt state, and based on the detected M diagonal curve, tilt the work device α by the amount equivalent to the tilt in the direction of the tilt tilt direction.
The IFL 21R control mechanism is configured to automatically operate the PC4F+ 2nd awesome machine A load, and has a henchman feature.

The effects of the above configuration are as follows.

That is, a second sensor is attached to the traveling vehicle body, and the second sensor detects the horizontal tilt state of the traveling field with respect to the ground,
Based on this, the second drive mechanism is actuated to tilt the working device M in the direction opposite to the inclination direction of the traveling vehicle body, and the first working device is naturally horizontal in the left and right direction. It is.

The effects of the five functions are shown below.

In other words, it is no longer necessary to replace the second sensor when replacing the conventional working device, making it easy to handle, practical, and extremely convenient. Moreover.

Even if the vibration of the work equipment itself due to the anti-acid 1132' force of work equipment a and its own drive reaction force is transmitted, the strain will not be relaxed and will be transmitted to the towing vehicle body, causing the work equipment to It is possible to suppress disturbances being applied to the second sensor due to the drive of the surface itself, and even if the working device is displaced up and down by the first control mechanism, the second sensor is not affected by the displacement at all,
The detection accuracy of the second sensor rC can be improved, and accordingly, the control accuracy of the second control mechanism can be improved. It has become possible to perform ground work using work equipment, such as being able to maintain a nearly horizontal position.

Hereinafter, embodiments of the Kibatsu 11II-1 will be described in detail based on illustrative drawings.

Fig. 1 shows a riding tiller J, which is connected to the rear of an agricultural tractor +1) via a three-point linkage mechanism (2) consisting of a top link (2a) and a pair of left and right lower links (2b), (2b). The rotary tilling device (3) is connected to the lower links (2b), (2b) and a pair of left and right lift arms i4), +41 installed on the upper part of the tractor (+) at lift rods) t51, +61, respectively. The rotary tilling device (3) is connected and the 7 toe arms I4), 14) are integrally swung under E by one single-acting hydraulic cylinder (7) [hereinafter referred to as lift arm cylinder]. ) can be raised by hydraulic pressure and lowered by its own weight.

One of the lift rods f51 (61) is composed of a dead-acting hydraulic cylinder (hereinafter referred to as a lift-rond cylinder), and this lift-rond cylinder (
5) Left and right lower links (2h) by extending and contracting L
, (2b) and change the height of rotary ffj device (3).
There are buttons that allow you to change and adjust the left and right (@ diagonal postures).

The lift arm cylinder (711d) can be moved upward by 49 degrees at a position corresponding to the operation position of the operation lever (8) equipped on the tractor (1), and the hydraulic cylinder (5) as one lift rod equipped with h
Based on the detection results of the rt analog left and right tilt sensor 19), the rotary tilling device (3) is deactivated as described below.
It is configured to perform automatic control (rolling control) to always maintain the surface horizontally.

Figure 2 shows +i + both hIJ pressure cylinders +51, +7
This figure shows the configuration of the hydraulic drive circuit of +, in which the pump fP] driven by the engine output of the tractor (1) is connected to the flow priority pulp (10), and the flow μ discrimination port fal of this pulp 001 is connected to the flow priority pulp (10). The hydraulic circuit for rolling control (to A+, father, surplus boat) is connected to the hydraulic circuit for raising and lowering the lift arm (Bl).Also.

Port + ring) Return oil path f of bird oil FE circuit IA)
cl is the pressure oil supply path fd of the lift arm hydraulic circuit fBl
Connect to l and b.

The lift arm cylinder (7) is connected to a control valve 111 linked to the operating lever (8), and when the lift arm (4) swings due to the operation of the lift arm cylinder (7), This is fed back to the pulp spool through the link mechanism (121), and the operation reno (-(8)
When the lift arm (4) is moved up or down at a position corresponding to the operating position, the control valve (177) is automatically switched to neutral position and the lift arm (4) is stopped. Tsut31J
The foot arm (4) is configured so that its position can be changed at will by mechanical position control.

The lift rond cylinder (51 includes a cylinder (5)
A stroke sensor (13) consisting of a linear potentiometer is equipped to detect the amount of expansion and contraction of lf.
The tilt sensor (9) and the stroke sensor 031 control the electromagnetic control valve 04) of the lift rond cylinder (5).
The electric control circuit for operating the electric control circuit of the cylinder (5), which is configured to automatically switch the cylinder (3) and horizontally adjust the rotor mechanism (3), will now be described.

In other words, as shown in Fig. 3, the input from the tilt sensor (9) configured as a rotary potentiometer using a single weight is input to the detection side 8(θ)t/i calculation circuit (16), where the rotary # is input. The extension MW of the lift rond cylinder (5) which is perpendicular to leveling the device +31 ft is the target city month +
Calculate iB(L, I(!-L,
1 The detection side from 1
, Based on the determination result, the electromagnetic I+J a valve (141
The drive q1 circuit (1η) is made 1σ1 to bring the liftrond cylinder (5) closer to the target elongation N Rk.In other words, the tilling device α (3) is The left and right tilting state with respect to the horizontal plane is detected, and based on the tilted table, the tilling device (3) is tilted in the direction opposite to the vehicle body tilt direction by the amount corresponding to the tilt, and the tilling device (3) is moved in the vehicle body left and right direction. It should be in a horizontal or almost horizontal position.

It is located in the middle of the pressure oil supply path to the lift arm cylinder (7), on the downstream side of the control valve (11).

A return path a (to) that releases the supply pressure M1 is connected in communication, and an opening adjustment valve 11 (to) is interposed in the return path (I81), and by adjusting the opening of the valve (19), the lift arm cylinder [7] Adjust the balance between the back pressure of ii and the pressure of the pressure oil supplied to the cylinder (7), and operate the rotary tiller (3) in a state where the pressure balance between the two is maintained in equilibrium.
The structure is such that the height is maintained stably.

In the rotary tillage device (3), the rotary cover 1 is aligned with the axis fQl) i! Rotary frame freely in the fl! 2I), and the swing arm 1 is interlocked with its rotary cover +21111.
2z and the link mechanism 17A that is interlocked and connected to the opening adjustment valve +19) are connected via a push-pull wire 241, and the plowing depth setting lever 12 is connected to the link mechanism -.
51 are interlocked and connected, and when the plowing depth by the rotary tiller (3) changes, the cover 1201 is displaced accordingly.

Due to the displacement of the cover 120), the opening adjustment valve (1 (to)
The tilling depth control @ mechanism 1261 is configured to automatically operate the lift arm cylinder (7) and automatically maintain the tilling depth set by the tilling depth setting lever (Company). has been done.

In addition, the push-pull wire art) is the link mechanism 1'2:3
It is connected to the + so that it can be disconnected freely, and when working with the plaque mounting, it is attached to the rear of the car body via a torsion bar, and the top link holder and link 414 and 17 are attached.
3+ via Rosol l', and the top link holder and the plow device are tied together via the top link (2a), thereby maintaining the working JFg state (so-called draft) in which the depth of m by the plow device is maintained constant. Control) It is composed of 1 so that it can be changed to A by changing to K and JA.

h Note: Deep plowing training mechanism Raising and lowering the tillage device (3) automatically,
It may be configured so that

Qf To raise and lower a working device such as the above-mentioned IIF transmission device (3), it is limited to the foot arm cylinder (7) as described above. The rotating part (hydraulic motor, 41-movement motor, etc. is interlocked and connected, etc.), and the drawing deformation of each trolley is possible, and there are seven arm cylinders (7).
and motors, etc., and are collectively referred to as @1 [lJ mechanism (7).

In addition, in order to drive and tilt a working device such as a tilling device (3) in the left-right direction of the vehicle body, a lift rond cylinder (5) as described above is used.
), for example, depending on the turnbuckle type)
It uses a rotary rod that can be freely accommodated, and a hydraulic motor is used as the rotating member for its expansion and contraction! ``+11! Cut and connect the proboscis motor etc.
Various structural modifications are possible, and the second drive is possible by adding a liftrond cylinder (5), motor, etc. W1 (Iku, Mizo (5) and total steepness.

In addition, in order to detect the ground level of a working device such as a tilling device (3), in the above embodiment, one example of a rotary cover is used,
For example, if the oscillation displacement is so predetermined that the ground level can be detected.

It is possible to modify each fψ by using an ultrasonic sensor, etc.
After doing so, the first sensor will be used.

Also, work equipment such as tillage equipment (3) 1! In the embodiment described in L, a plumb type inclination sensor (9) is used to detect the slope of the heavy body in the left and right direction. Various modifications are possible, such as adding an ultrasonic sensor to determine the angle of inclination from the tangent based on the signals from both sensors.
These sensors are collectively referred to as the second sensor (9).

Qf Said first body! glI mechanism (7) and first sensor +2
ηilJ Control Mechanism All Mechanism IIJ Control Mechanism 2 linked with 01
On the other hand, the III screw mechanism in which the second drive mechanism (6) and the second sensor (9) are linked is collectively referred to as the second control mechanism.

[Brief explanation of the drawing]

The drawings show an embodiment of the ground work vehicle according to the present invention, Fig. 1 is a perspective view of the non-parts of a riding type tiller, Fig. 2 is a hydraulic circuit diagram, and Fig. #J3 is a control circuit of the second control mechanism. It is a diagram. (3)...Working device, (5)...@2 drive mechanism, (7)...First drive mechanism, (9)...
...Second sensor - 1θO) ...First sensor,
Bowl: 11th J control mechanism, Volume: 2nd control mechanism□ 36

Claims (1)

[Claims] A ground work device (3) is attached to the traveling vehicle body, and a first drive mechanism (7) is attached.
1 via the second drive mechanism (6).
．． The first sensor 1 is mounted so as to be tiltable in the left-right direction of the vehicle body, and is provided with a first sensor 1 for detecting the ground level of the working device (3). 7) in conjunction with the fitted working device (
3) The first controller maintains the height above the ground within the set range.
261 f@, a second sensor (9) is provided for detecting the horizontal tilt state of the working device (3) with respect to the horizontal plane, and the second sensor (9) and the second drive mechanism (5) are provided. The ifl work device 1311
It is for ground work equipped with a second control mechanism that maintains the horizontal posture of the vehicle body in the left-right direction in a horizontal position, and the second sensor (9) of No. 477 is installed in the Irt line.
f L body K II'v is attached, and from the left (i) inclination state of the traveling vehicle body with respect to the horizontal plane, the left/right inclination state of the working device (3) with respect to the horizontal plane is detected, and based on the detected state,
4a second control mechanism f271 to automatically operate the second drive mechanism (6) so as to tilt the working device (3) by an amount equivalent to the inclination in a direction opposite to the vehicle body inclination direction;
A ground work vehicle characterized by comprising: