JPS6332404B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a self-propelled ground work machine in which a ground work device is connected to a stable ground riding riding machine body via a rolling angle adjustment device.

In this type of self-propelled ground work equipment, the ground work equipment is provided with a horizontal angle detection device, and when the ground work equipment is tilted due to the rolling inclination of the traveling machine body, the rolling angle is determined based on the detection result of this detection device. BACKGROUND ART Conventionally, devices have been known in which an adjustment device is automatically controlled to maintain a ground work device horizontally.

However, with this conventional structure, it is necessary to install a horizontal angle detection device on the ground work equipment, and
This horizontal angle detection device must also be linked to the adjustment device. For this reason, in order to use this traveling machine for various work purposes, when replacing and connecting various ground work devices, it is necessary to provide each work device with the horizontal maintenance effect as described above. This requires the work of providing a horizontal angle detection device on the working device or detachably fixing the horizontal angle detecting device to the working device. In the former case, the productivity of each work device deteriorates,
This hinders general-purpose use of the traveling aircraft, and in the latter case, it complicates the work to replace the working equipment, and incorrectly installs the horizontal detection device, causing erroneous operation. It has drawbacks that hinder its practical use.

An object of the present invention is to eliminate this drawback and to make it possible to maintain the rolling angle of any working device while making the working devices and their connection work extremely easy.

In order to achieve this object, the self-propelled ground work machine of the present invention includes a seat that can be rolled freely on a stable ground-contact traveling machine body, and a horizontal maintenance device that maintains the seat substantially horizontally in the rolling direction. An angle detection device for detecting a rolling angle with a traveling aircraft body is provided, a coupling device with a rolling angle adjustment device for adjusting a relative angle in a rolling direction is provided on the traveling aircraft body, and a ground work device is freely attachable and detachable to this coupling device. The automatic control device is connected to the angle detection device and operates the adjustment device by the same angle as the angle detected by the angle detection device.

With this configuration, all the mechanisms for detecting the horizontal angle and adjusting the rolling angle in response to it can be placed on the traveling body, and no device structure for maintaining the rolling angle is placed on the ground work equipment. This is no longer necessary, and the rolling angle of the ground work equipment can now be maintained automatically. Therefore, even if the ground work equipment is replaced, there is no need to add any extra structure to each ground work equipment for purposes other than the original purpose of the work, and there is no deterioration in productivity. No additional installation or removal work is required.
Replacement work no longer becomes complicated. Furthermore, since the seat can be maintained horizontally, it is advantageous in preventing the worker from falling from the machine, and safety can be ensured satisfactorily.

Next, embodiments of the present invention will be described.

Reference numeral 1 denotes a stable grounding type traveling body having four front and rear wheels, and a seat 4 is attached to this traveling body 1 via a rolling universal joint 3 which is bendable around an axis 2 in the longitudinal direction. This seat 4 is provided with a leveling device 5. As shown in FIG. 2, this leveling device 5 is constructed as follows.

A spirit level 6 is provided on the back of the seat 4. This spirit level 6 is constructed by floating a float 8 having a shape substantially similar to the planar shape of the container 7 on the liquid in the container 7. First and second reed switches 9, 10 are provided on the face plate, which are activated when the iron pieces 8, 8 approach within a certain distance. A first hydraulic jack 11 is interposed at an eccentric position between the seat 4 and the aircraft body 1, and a three-position switching electromagnetic first valve 12 for controlling the first hydraulic jack 11 to extend and stop the first hydraulic jack 11. solenoid 13,
The reed switches 9, 1 are connected to the control circuit 15 of 14.
Connect 0.

In this way, the seat 4 is maintained horizontally within the inclination detection range of the spirit level 6.

A coupling device 18 with a rolling angle adjustment device 17 is provided at the rear of the traveling body 1.

That is, the left and right lower links 2 are connected to the left and right sides of the rear lower part of the traveling body 1 via ball joints 19 and 20.
A pair of left and right lift arms 24, 25 are pivotally supported on the rear upper part of the traveling body 1, and are pivoted at the upper part of the rear part of the traveling body 1. The lower link 21 and the lift arm 24 are connected by a fixed length rod 26 that cannot be extended, and the other lower link 22 and the lift arm 25 are connected via a telescopic rod 28 with a third hydraulic jack 27 interposed in the middle. Connect the connecting device 1
It consists of 8.

In this way, the telescopic rod 28
By expanding and contracting, the rear heights of the left and right lower links 21 and 22 are relatively changed, and this lower link 2
The rolling angle adjusting device 17 is configured to adjust the inclination angle in the rolling direction of the tilling device 31 connected to the connecting portions 29 and 30 provided at the rear ends of the tillers 1 and 22 with respect to the traveling machine body 1. 32
is a top link that connects the traveling machine body 1 and the tilling device 31. And the telescopic rod 28
is expanded and contracted in synchronization with the relative inclination of the seat 4 and the traveling body 1 by an automatic control device 33 shown in FIG.

That is, the rolling universal joint 3 is provided with a first potentiometer 34 that detects the relative angle between the traveling aircraft body 1 and the seat 4 as a voltage, and the telescopic rod 28 is provided with a first potentiometer 34 that detects the relative angle as a voltage. A second potentiometer 35 is provided.

Then, the detected value of the first potentiometer 34 when both the traveling body 1 and the seat 4 are horizontal, and the length of the telescopic rod 28 are determined as the fixed length rod 2.
6 is the same as the detected value of the second potentiometer 35, and the inclination angle of the traveling machine body 1 and the seat 4 and the angle of inclination of the traveling machine body 1 and the tilling device 31 are the same. A gain adjuster 37 is provided on the second potentiometer 35 so that the inputs to the comparator 36 from both potentiometers 34 and 35 are the same when the inclination angles match.

The comparator 36 detects the deviation of the input from the potentiometer 34 and the gain adjuster 37, and transmits the deviation signal to the telescopic rod 28.
The signal is input to the control circuit 39 of the three-position solenoid valve 38 that controls the expansion and contraction of the third hydraulic jack 27, and is turned on and off as a solenoid switching signal. In this way, the relative angles of the seat 4 and the tilling device 31 with respect to the traveling body 1 are synchronized.

The above embodiments may be modified by one or more of the following combinations.

As a ground work device, instead of the tilling device 31, a mowing device, a planting device, a plow, a trencher, etc. can be connected to the connection device 18.

a first hydraulic jack 11 in which the first potentiometer 34 is interposed between the seat 4 and the aircraft body 1;
be provided for the purpose of detecting its expansion/contraction length.

The comparator 36 is provided with a reference value changer that can changeably add or subtract an arbitrary quantity input to one of both inputs, so that the working device 31 can be tilted at an arbitrary angle with respect to the ground. to do.

The traveling body 1 is of a crawler traveling type.

[Brief explanation of the drawing]

The drawings show an embodiment of the self-propelled ground-based work machine according to the present invention, and FIG. 1 is a side view showing the whole, FIG. 2 is a rear view of the main part, FIG. 3 is a plan view of the main part, and FIG. FIG. 2 is a block diagram of an automatic control device. 1... Traveling aircraft, 4... Seat, 5... Horizontal maintenance device, 17... Rolling angle adjustment device, 18...
Connection device, 31...Ground work device, 33...Automatic control device, 34...Angle detection device.

Claims (1)

[Claims] 1 A seat 4 is provided on the stable grounding type traveling body 1 so as to be able to roll freely, and a horizontal maintenance device 5 is provided to maintain the seat 4 substantially horizontally in the rolling direction, and an angle detection method is provided to detect the rolling angle between the seat 4 and the traveling body 1. A device 34 is provided, the traveling body 1 is provided with a coupling device 18 with a rolling angle adjustment device 17 for adjusting the relative angle in the rolling direction, and the ground work device 31 is detachably coupled to the coupling device 18,
A self-propelled ground work machine that is provided with an automatic control device 33 that operates the adjustment device 17 by the same angle as the detected angle of the angle detection device 34.