CN105472965A - Work-apparatus orientation control device - Google Patents
Work-apparatus orientation control device Download PDFInfo
- Publication number
- CN105472965A CN105472965A CN201480044132.2A CN201480044132A CN105472965A CN 105472965 A CN105472965 A CN 105472965A CN 201480044132 A CN201480044132 A CN 201480044132A CN 105472965 A CN105472965 A CN 105472965A
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- CN
- China
- Prior art keywords
- ploughing
- weeding
- cylinder
- workover rig
- depth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
- A01B63/1115—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements using a mechanical ground contact sensor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
- A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
- A01B33/024—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools with disk-like tools
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Soil Working Implements (AREA)
Abstract
The present invention addresses the technical problem of providing a work-apparatus orientation control device which is capable of preventing hunting and controlling the tilling depth in the slow-lift-speed region of a hydraulic lift cylinder (71). A ground-working apparatus (24) is mounted, via a link mechanism (23) so as to be capable of elevating/lowering, to a work vehicle (1) supported so as to be drivable by a front vehicle wheel (3) and a rear vehicle wheel (4). The work vehicle (1) is further equipped with the hydraulic lift cylinder (71) and a lift valve (81) which elevate and lower the ground-working apparatus (24), and a sensor wire (111) which detects the angle of a ground-working sensor (43) in the ground-working apparatus (24). A sensor-input restricting body (112) is further provided at a location along the connection between the lift valve (81) and the sensor wire (111).
Description
Technical field
The present invention relates to the device for controlling the posture of the rotovator etc. being stowed the traction of the traveling vehicle such as machine workover rig over the ground, more particularly, relating to the posture control device of the workover rig of the ploughing and weeding degree of depth automatically controlling rotovator etc.
Background technology
As the rotovator of workover rig over the ground, in order to regulate the ploughing and weeding degree of depth, liftable is attached to traveling vehicle movably.In addition, rotovator, in order to regulate tilt and can left and right be attached to traveling vehicle on the bias.The upside of the rotational trajectory of the cultivation claw of above-mentioned rotovator covers lid by ploughing and weeding.Back cover has been linked in the rearward end of ploughing and weeding cover.And, back cover can be rotated up and down and it can be used as the detection part of the ploughing and weeding degree of depth to utilize with authorized pressure ground connection, detect the ploughing and weeding degree of depth of above-mentioned rotovator, carry out controlling the ploughing and weeding degree of depth automatically to control to make this detected value tilling depth consistent with the target ploughing and weeding degree of depth, perform ploughing and weeding operation (such as, patent document 1, patent document 2).
In addition, rotovator detects the left and right deflection of working truck, and the level of the angle level that tilts of above-mentioned rotovator that tilts to make carrying out controlling rotovator controls automatically, performs ploughing and weeding operation (such as, patent document 3).
Prior art document
Patent document
Patent document 1: Japanese Laid-Open Patent Publication 59-88008 publication
Patent document 2: Japanese Unexamined Patent Publication 59-73128 publication
Patent document 3: Japanese Unexamined Patent Publication 2008-187982 publication
Summary of the invention
The problem that invention will solve
In the prior art of above-mentioned patent document 1 and 2 etc., possesses the hydraulic lifting valve of hydraulic lifting cylinder and the hydraulic control lift cylinders work making rotovator lifting moving, the testing result of rotating up and down according to back cover (over the ground operation sensor) switches hydraulic lifting valve, carry out that the ploughing and weeding degree of depth of above-mentioned rotovator is remained constant tilling depth automatically to control, therefore, although can be formed at low cost by the dual-purpose of hydraulic lifting valve, but there is following problem: when displacement obtains large back cover sharp, the working oil changes in flow rate of the hydraulic lifting cylinder controlled by hydraulic lifting valve obtains greatly, the automatic span of control limit of control of tilling depth easily becomes large etc.In addition, detecting rotating up and down and switching the structure of the hydraulic lifting valve of electromagnetic type according to this testing result or separately establish in the structure of the special hydraulic valve automatically controlled for tilling depth outside hydraulic lifting valve of back cover electrically, although above-mentioned defect can be eliminated, exist and easily cannot realize the problem that tilling depth controls the reduction of simplification or the manufacturing cost constructed etc. automatically.
In the prior art of above-mentioned patent document 3 grade, possesses the hydraulic rolling valve of hydraulic rolling cylinder and the hydraulic control rolling cylinder work that the angle that tilts of rotovator is controlled, testing result according to horizon sensor over the ground switches hydraulic rolling valve, and the level carrying out the angle that tilts of above-mentioned rotovator to remain level controls automatically.In addition, possess entering action and exiting action and keep obtaining uniform check valve and hydraulic throttle valve for the piston rod by hydraulic rolling cylinder, at hydraulic rolling valve, these check valve and hydraulic throttle valve are set, therefore, each needing for the different multiple types of specification forms the optimized hydraulic rolling valve of performance accordingly specially with each specification respectively, exists and easily cannot realize the problem that level controls the simplification of structure or the reduction of manufacturing cost etc. automatically.
Therefore, the present application is studied these phenomenons and wants to provide a kind of posture control device implementing the workover rig of improvement.
For solving the means of problem
To achieve these goals, the posture control device of the workover rig of the invention of technical scheme 1 is the ploughing and weeding control device of following workover rig: workover rig to be over the ground liftably installed on via linkage and to be walked the working truck supported freely by front vehicle wheel and rear wheel, and the sensor conductor possessing the hydraulic lifting cylinder of workover rig over the ground described in lifting moving and lift valve and the sensor angles of operation over the ground of described workover rig is over the ground detected, wherein, in the link way of described lift valve and sensor conductor, be provided with sensor input and limit body.
The invention that technical scheme 2 is recorded is the posture control device of the workover rig that technical scheme 1 is recorded, and wherein, separately forms described sensor input restriction body, is configured to the limited amplitude that can adjust described sensor input restriction body.
The invention that technical scheme 3 is recorded is the posture control device of the workover rig that technical scheme 1 is recorded, wherein, adopt the structure possessing sensor input lever sensor conductor being attached to described lift valve, and be configured to described sensor input lever to suppress described sensor conductor tensile side.
The invention that technical scheme 4 is recorded is the posture control device of the workover rig that technical scheme 1 is recorded, wherein, adopt and rotovator is set as described workover rig over the ground possesses the structure of the ploughing and weeding depth-set part for setting the ploughing and weeding degree of depth, and linked described sensor input restriction body at described ploughing and weeding depth-set part.
The invention that technical scheme 5 is recorded is the posture control device of the workover rig that technical scheme 1 is recorded, wherein, adopt the structure of the ploughing and weeding depth-set part possessed for setting the ploughing and weeding degree of depth, and the ploughing and weeding depth-set bar making described sensor input restriction body be attached to described ploughing and weeding depth-set part is set, make described ploughing and weeding depth-set rod become and can stretch, be configured to the limited amplitude that can adjust described sensor input restriction body.
The invention that technical scheme 6 is recorded is the posture control device of the workover rig that technical scheme 1 is recorded, wherein, possess level control described in the hydraulic rolling cylinder of workover rig and the roll sensor tilted of workover rig over the ground described in detecting over the ground, be provided with check valve and hydraulic throttle valve at the cylinder cap of described rolling cylinder.
The invention that technical scheme 7 is recorded is the posture control device of the workover rig that technical scheme 6 is recorded, wherein, at the built-in described check valve of the cylinder cap of described rolling cylinder and hydraulic throttle valve, and possess the bar side mouth making hydraulic oil pass in and out the cylinder room, bar side for piston rod configuration of described rolling cylinder, be provided with described bar side mouth at the cylinder cap of described rolling cylinder.
The invention that technical scheme 8 is recorded is the posture control device of the workover rig that technical scheme 6 is recorded, wherein, described rolling cylinder is made to be attached to the lift arm of working truck, the piston rod of described rolling cylinder is given prominence to downwards towards described linkage, and make hydraulic oil pass in and out the bar side mouth of the cylinder room, bar side for piston rod configuration of described rolling cylinder and make hydraulic oil pass in and out the bottom side mouth of the cylinder room, bottom side of described rolling cylinder in the cylinder cap configuration of described rolling cylinder, on the other hand, be configured to, the end side of oil-way pipe is communicated with cylinder room, described bar side, another side of described oil-way pipe is communicated with hydraulic throttle valve with the interior described check valve being located at described cylinder cap.
Invention effect
According to the invention of technical scheme 1, to be walked the working truck supported freely by front vehicle wheel and rear wheel via linkage workover rig over the ground being liftably installed on, and possess in the posture control device of the workover rig of the sensor conductor of the sensor angles of operation over the ground of workover rig over the ground described in the hydraulic lifting cylinder of workover rig over the ground described in lifting moving and lift valve and detection, in the link way of described lift valve and sensor conductor, be provided with sensor input limit body, therefore, quantitative limitation can be detected by the angle of the described sensor of operation over the ground and limit described lift valve switching scope, the ploughing and weeding degree of depth can be controlled in the slow region of the rising or falling speed of described hydraulic lifting cylinder, can prevent from swinging.Such as, when installing rotovator as described workover rig over the ground, carrying out switching hydraulic lifting valve according to the testing result of rotating up and down of back cover (over the ground operation sensor) and the ploughing and weeding degree of depth of described rotovator remained in the structure that constant tilling depth controls automatically, even if back cover displacement sharp obtains greatly, the working oil flow of the hydraulic lifting cylinder controlled by hydraulic lifting valve also can not change greatly, suitably can keep the automatic span of control limit of control of tilling depth.In addition, with detect electrically back cover rotate up and down and the structure switching the hydraulic lifting valve of electromagnetic type according to this testing result or outside hydraulic lifting valve, separately establish the special hydraulic valve automatically controlled for tilling depth structure compared with, tilling depth can be simplified simply and automatically control structure, and easily can reduce the manufacturing cost that tilling depth controls structure automatically.
According to the invention of technical scheme 2, separately form described sensor input restriction body, be configured to the limited amplitude that can adjust described sensor input restriction body, therefore, the rising or falling speed of workover rig over the ground described in can easily changing, can improve the response of described lift valve.
According to the invention of technical scheme 3, adopt the structure possessing sensor input lever sensor conductor being attached to described lift valve, and be configured to sensor input lever to suppress sensor conductor tensile side, therefore, it is possible to the impact of the large displacement of workover rig (back cover) over the ground described in reducing.Such as, when described sensor conductor changes greatly in tensile side, described sensor input lever overcomes elastic force pressure ground displacement, the sudden change of described sensor conductor can be absorbed, on the other hand, when described sensor conductor changes greatly in slack-side, the sudden change of described sensor conductor can be absorbed by described sensor input restriction body, therefore, it is possible to simplify the structure of described sensor input restriction body.
According to the invention of technical scheme 4, adopt and rotovator is set as described workover rig over the ground possesses the structure of the ploughing and weeding depth-set part for setting the ploughing and weeding degree of depth, and make described sensor input restriction body be attached to described ploughing and weeding depth-set part, therefore, it is possible to the rising or falling speed of workover rig over the ground described in controlling in the limited amplitude of the set depth of described ploughing and weeding depth-set part.Set depth regardless of described ploughing and weeding depth-set part operates, and can both control the ploughing and weeding degree of depth all the time in the slow region of rising or falling speed.
According to the invention of technical scheme 5, adopt the structure of the ploughing and weeding depth-set part possessed for setting the ploughing and weeding degree of depth, and the ploughing and weeding depth-set bar described sensor input restriction body being attached to described ploughing and weeding depth-set part is set, described ploughing and weeding depth-set rod is made to become and can stretch, be configured to the limited amplitude that can adjust described sensor input restriction body, therefore, the restricted area (balance of uplifted side restricted area and decline side restricted area) of described sensor input restriction body can be changed simply, the response of described lift valve can be improved.Such as, relative to the change of described sensor conductor, the rising or falling speed of described workover rig over the ground can be set to that decline side declines little, uplifted side rises greatly, the sharp increase (overload driving) etc. of the driving load of workover rig over the ground described in can suppressing.
According to the invention of technical scheme 6, possess level control described in the hydraulic rolling cylinder of workover rig and the roll sensor tilted of workover rig over the ground described in detecting over the ground, check valve and hydraulic throttle valve is provided with at the cylinder cap of described rolling cylinder, therefore, it is possible to enough guarantee the performance of described check valve and hydraulic throttle valve for each described rolling cylinder.Oil path structure can be formed at low cost.Can with hydraulic cylinder structure ensure described in over the ground workover rig naturally decline.Do not need to form the optimized hydraulic rolling valve of performance accordingly specially with each specification respectively for each of the different multiple types of specification, the level that can easily realize controls the reduction etc. of simplification or the manufacturing cost constructed automatically.
According to the invention of technical scheme 7, at the built-in described check valve of the cylinder cap of described rolling cylinder and hydraulic throttle valve, and possess the bar side mouth making hydraulic oil pass in and out the cylinder room, bar side for piston rod configuration of described rolling cylinder, described bar side mouth is provided with at the cylinder cap of described rolling cylinder, therefore, the face shaping of described rolling cylinder can be formed simply, the performance of described check valve and hydraulic throttle valve can be guaranteed simultaneously for each above-mentioned rolling cylinder.
According to the invention of technical scheme 8, described rolling cylinder is made to be attached to the lift arm of working truck, the piston rod of described rolling cylinder is given prominence to downwards towards described linkage, and make hydraulic oil pass in and out the bar side mouth of the cylinder room, bar side for piston rod configuration of described rolling cylinder and make hydraulic oil pass in and out the bottom side mouth of the cylinder room, bottom side of described rolling cylinder in the cylinder cap configuration of described rolling cylinder, on the other hand, be configured to, the end side of oil-way pipe is communicated with cylinder room, described bar side, another side of described oil-way pipe is communicated with hydraulic throttle valve with the interior described check valve being located at described cylinder cap, therefore, the face shaping of described rolling cylinder can be formed simply, the performance of described check valve and hydraulic throttle valve can be guaranteed for each described rolling cylinder simultaneously.Particularly, make piston rod from the structure that described rolling cylinder is given prominence to downwards, hydraulic hose can made to carry out pipe arrangement with concentrating on the cylinder cap side of described rolling cylinder upper end side, simply hydraulic hose can be bearing in the higher position of the lift arm side of working truck.
Accompanying drawing explanation
Fig. 1 is the end view of the tractor representing the first embodiment.
Fig. 2 is the vertical view of the tractor representing the first embodiment.
Fig. 3 is the left view of workover rig elevating mechanism.
Fig. 4 is the right view of workover rig elevating mechanism.
Fig. 5 is the vertical view of workover rig elevating mechanism.
Fig. 6 is that the major part of Fig. 3 amplifies key diagram.
Fig. 7 is the upward view of workover rig elevating mechanism.
Fig. 8 is the left side key diagram of rotovator.
Fig. 9 is that the major part of Fig. 7 amplifies key diagram.
Figure 10 is the left view of the workover rig elevating mechanism representing the second embodiment.
Figure 11 is that the major part of Figure 10 amplifies key diagram.
Figure 12 is the right view of workover rig elevating mechanism.
Figure 13 is the vertical view of workover rig elevating mechanism.
Figure 14 is the upward view of workover rig elevating mechanism.
Figure 15 is the left surface cutaway view of workover rig elevating mechanism.
Figure 16 is the back side cutaway view of workover rig elevating mechanism.
Figure 17 is the cutaway view of hydraulic rolling cylinder.
Figure 18 is the amplification view of hydraulic rolling cylinder.
Figure 19 is the phantom of hydraulic rolling cylinder.
Figure 20 is hydraulic circuit.
Figure 21 is ability of posture control loop diagram.
Figure 22 is the flow chart of Figure 21.
Embodiment
Below, with reference to the accompanying drawings, embodiments of the present invention are described.Fig. 1 is the end view of agricultural operation tractor and rotovator, and Fig. 2 is the vertical view of agricultural operation tractor and rotovator.In addition, in the following description, by the left side of the direction of advance towards traveling machine body 1 referred to as left side, equally by the right side towards direction of advance referred to as right side.As shown in Figure 1 and Figure 2, the traveling machine body 2 of above-mentioned tractor 1 is supported by the front vehicle wheel 3 of pair of right and left and the rear wheel 4 of pair of right and left.Rear wheel 4 and front vehicle wheel 3 is driven, walking or retrogressing walking thus tractor 1 advances by the diesel engine 5 being equipped on the front portion of traveling machine body 2.The upper side of diesel engine 5 is covered by hood 6 to be opened/closed.In addition, hood 6 rear in the upper surface of traveling machine body 2 arranges Drive Section 7.Drive Section 7 is provided with the manipulation seat 8 taken for operator and the control crank 9 front vehicle wheel 3 being carried out to steering operation.In addition, Drive Section 7 be provided with for operator take take pedal 10.Boarding pedal 11 for operator's boarding is arranged on the left side of taking pedal 10.
In addition, as shown in Figure 1 to 4, above-mentioned traveling machine body 2 is formed by having the engine frame 14 of front bumper 12 and front truck axle box 13, the clutch outer member 15 being fixed on the rear portion of diesel engine 5 and gearbox 16.What make diesel engine 5 is rotated through gearbox 16 speed change, and is delivered to rear wheel 4 or front vehicle wheel 3.In addition, make rear car axle box 17 from the left and right side of gearbox 16 outwardly, at rear car axle box 17, rear wheel 4 is installed.Erect at rear car axle box 17 and roll-over protective structure (Japanese: ロ プ ス) framework 18 is set, and carry fuel tank 19 between the driver's seat 8 and roll-over protective structure framework 18 of gearbox 16 front upper surface.
Further, as shown in Figure 1 to 4, carry hydraulicefficiency elevation structure 20 in the rear upper surface of gearbox 16, this hydraulicefficiency elevation structure 20 is for making rotovator 24 lifting moving as workover rig over the ground.At the rear portion of gearbox 16, three point linkage mechanisms 23 be made up of are set, via three point linkage mechanisms 23, rotovator 24 are contained in gearbox 16 in liftable mode about a pair lower link 21 and top links 22.The front of left and right lower link 21, is attached to the left and right side at the rear portion of gearbox 16 rotationally via lower link pin 25.The front of top links 22, is attached to the top links hook 26 at the rear portion of hydraulicefficiency elevation structure 20 via top links pin 27.Further, the PTO axle 28 transmitting PTO driving force to rotovator 24 is possessed, to be provided with PTO axle 28 from the rearwardly projecting mode of the trailing flank of gearbox 16.
In addition, at hydraulicefficiency elevation structure 20,1 is provided with to left and right lift arm 29.Lower link 21 towards the left side of direct of travel links via left lifting arm 30 with lift arm 29.Be configured to, be elevated by hydraulicefficiency elevation structure 20 and drive left and right lift arm 29, thus make rotovator 24 lifting moving.In addition, lower link 21 and lift arm 29 towards the right side of direct of travel link via the hydraulic rolling cylinder 32 of double-lift and piston rod 33 forming right lifting arm.Be configured to, hydraulic control rolling cylinder 32 works, thus regulates the angle that tilts of rotovator 24 flatly to support.
As shown in Figure 1, Figure 2, shown in Fig. 8, rotovator 24 has: the girder 36 of tubular of growing crosswise; Upper end side is attached to drive chain case 37 and the shaft bearing plate 38 of the right and left end of girder 36 respectively; The rotatable earth's axis in both ends, left and right is bearing in the cultivation claw axle 39 of the lower end side of drive chain case 37 and shaft bearing plate 38; With the radial multiple cultivation claws 40 being releasably installed on cultivation claw axle 39; Be configured to the ploughing and weeding upper surface cover 41 of the top of the rotational trajectory covering cultivation claw 40; Be configured to ploughing and weeding side, the left and right cover 42 of the side, left and right of the rotational trajectory covering cultivation claw 40; Be configured to the ploughing and weeding back cover 43 at the rear of the rotational trajectory covering cultivation claw 40; And front is installed on girder 36 and the tilling depth adjusting frame 44 etc. rearward extending long.From the transmission of power of PTO axle 23 to cultivation claw axle 39, cultivation claw 40 is rotated in the counterclockwise direction, thus has ploughed the cultivated soil in field, and, the cultivated soil amount of discharging to the rear of ploughing and weeding back cover 43 from cultivation claw 40 is limited, and ploughs soil surface smooth equably by ploughing and weeding back cover 43.In addition, be configured to, by the manual operation of this tilling depth regulating handle 45, make the postural change over the ground of rotovator 24 become forward lean or hypsokinesis posture, thus can change by the ploughing and weeding degree of depth of cultivation claw 40 ploughing and weeding.
As shown in Fig. 1, Fig. 8, at the left and right central portion of girder 36, be configured with the gear-box 46 for inputting from the driving force of PTO axle 23.Power from PTO axle 23 is delivered to cultivation claw axle 39 from gear-box 46, makes cultivation claw 40 counterclockwise upper rotation in fig. 8, thus has ploughed the cultivated soil in field.
As shown in Figure 8, in the rearward end of ploughing and weeding upper surface cover 41, the front of ploughing and weeding back cover 43 has been linked via drive-connecting shaft 47.At the rear portion of the upper surface of the ploughing and weeding upper surface cover 41 of the width length along traveling machine body 1, erect about a pair hanger frame 48 being provided with hypsokinesis posture.The rear end side of the upper surface of ploughing and weeding back cover 43 and left and right hanger frame 48, can link left and right suspension gear 49 up or down via 1.Pressurized axis body 48a can be configured in the upper end of each hanger frame 48 rotationally around horizontal axis (center line).
In addition, the suspending rod 50 of the elongated round bar shape in each suspension gear 49 can run through pressurized axis body 48a slidably on the direction orthogonal with horizontal axis (center line).The bottom of suspending rod 50, via fulcrum 53, is rotatably attached to the bracket 54 of the rear upper surface of ploughing and weeding back cover 43.In the upper end side of suspending rod 50, be provided with decline banking pin 51, the decline confinement plate 52 of ring shape is flush-mounted in the suspending rod 50 between pressurized axis body 48a and decline banking pin 51 in the mode can slided on the axis direction of suspending rod 50.In addition, rising banking pin 55 is configured with in the lower side (side more top than fulcrum 53) of suspending rod 50, for giving the pressing Compress Spring 58 of flattening pressure to ploughing and weeding back cover 43, the upper bearing plate 56,57 via ring shape is flush-mounted in the suspending rod 50 between pressurized axis body 48a and rising banking pin 55.
By this structure, when rotovator 24 is raised to the height that have left ground surface, the rear end side of ploughing and weeding back cover 43 is rotated to the lower side around drive-connecting shaft 47, decline banking pin 51 abuts with decline confinement plate 52, decline confinement plate 52 abuts with pressurized axis body 49, and ploughing and weeding back cover 43 is maintained at and makes side thereafter drop to minimum posture.On the other hand, arable land upper surface is lowered at rotovator 24 and under the ploughing and weeding job state that cultivation claw 40 is landed, the rear end side of ploughing and weeding back cover 43 is owing to rotating upward around drive-connecting shaft 47 with by the ground pressure of the cultivated soil of ploughing and weeding.In addition, when the rear end side of ploughing and weeding back cover 43 is above drive-connecting shaft 47 is rotated to, via rising banking pin 55 and lower support plate 57, pressing Compress Spring 58 is compressed, the rotation upward of the rear end side of ploughing and weeding back cover 43 is limited by the active force flattened with Compress Spring 58.Therefore, the cultivated soil amount of discharging to the rear of ploughing and weeding back cover 43 from cultivation claw 40 is limited, and ploughs soil surface smooth equably by ploughing and weeding back cover 43.
In addition, as depicted in figs. 1 and 2, possess the manipulation post 60 configured for control handwheel 9, handling the lower right-hand side of post 60, configuration left and right brake pedal 61.In addition, below the left side handling post 60, configuration walking clutch pedal 62.In the right side side of driver's seat 8, configuration workover rig elevating lever 63 and walking main shift lever 64.In the left of driver's seat 8, the secondary gear lever 65 of configuration walking.In the front, right side of driver's seat 8, the differential locking pedal 66 of the Differential Driving of configuration locking left and right rear wheel 4.At the rear side of driver's seat 8, at the roll sensor 67 that the pendulum of the left and right deflection of the upper surface side configuration detection traveling machine body 2 of hydraulicefficiency elevation structure 20 constructs.
Then, as shown in Fig. 3 ~ Fig. 7, hydraulicefficiency elevation structure 20 possesses the hydraulic fluid tank 72 arranging hydraulic lifting cylinder 71, plunger 73 slidably in lift cylinders 71, and the base end part that the lift arm 29 of left and right is set via lift shaft 74 rotationally at hydraulic fluid tank 72.And, by pitman 75 with by pressure arm 76, piston 73 and lift shaft 74 are linked, be configured to, via pitman 75, by pressure arm 76, lift shaft 74, the slip of piston 15 be delivered to lift arm 29, the front of lift arm is rotated up and down.
In addition, the lift valve 81 controlling lift cylinders 71 and work is possessed.Lift valve 81 is fixed in the lower face side of hydraulic fluid tank 72.Via lift valve 81, the hydraulic pump (diagram is omitted) lift cylinders 71 being hydraulically connected to driven by diesel engine 5.In addition, by the traveller 82 of lift valve 81, the working oil of lift cylinders 71 " rising " " neutrality " " decline " is switched like this.
At the traveller 82 sandwiched multi-motion spring 83 of lift valve 81, traveller 82 by projected direction, i.e. the direction force of " decline ".The end side of push rod 84 abuts to the front end of traveller 82, in another side of push rod 84, supports via the rotatable earth's axis of fulcrum axis body 85 pars intermedia connecting gonnecting rod body 86.The pars intermedia of push rod 84 is bearing in sliding freely be arranged at hydraulic fluid tank 72 bear cylindrical shell 87.That is, push rod 84 is configured in hydraulic fluid tank 72 sliding freely via bearing cylindrical shell 87.
In addition, by the descending operation axle 88 of axle supports work machine elevating lever 63 and the resetting shaft 90 being attached to lift arm 29 via feedback (Japanese: Off ィ ー De バ ッ Network) linkage 89, the rotatable earth's axis is bearing in the side in opposite directions of hydraulic fluid tank 72.In addition, descending operation axle 88 and resetting shaft 90 are configured on same axial line, and the axle connecting rod 91 being fixed on lift shaft 74 is linked by feedback rod 93 with the axle connecting rod 92 being fixed on resetting shaft 90, thus form feedback linkage mechanism 89.
As shown in Figure 9, at the base end side of descending operation axle 88 fixing operation arm 94 integratedly, at the front fixing operation shank 95 of motion arm 94, and at the base end side of resetting shaft 90 fixed reset arm 96 integratedly, at the front fixed reset shank 97 of reset arm 96.Operation shank 95 is abutted with the both end sides being connected gonnecting rod body 86 with reset shank 97, and be configured to: made by the step-down operation (traveller 82 down maneuver) of workover rig elevating lever 63 lift arm 29 decline work time, traveller 82 is made to reset to neutrality (hydraulic pressure stopping) position by feedback linkage mechanism 89, rotovator 24 is made to be bearing in the step-down operation position of workover rig elevating lever 63, on the other hand, made by the lifting operations (traveller 82 vertical motion) of workover rig elevating lever 63 lift arm 29 rise work time, traveller 82 is made to reset to neutrality (hydraulic pressure stopping) position by feedback linkage mechanism 89, rotovator 24 is made to be bearing in the lifting operations position of workover rig elevating lever 63.
In addition, as shown in Fig. 7, Fig. 9, the rotatable earth's axis of pars intermedia of ploughing and weeding degree of depth limiting rod body 98 is bearing in fulcrum axis body 85, and fixes the base end side of restricted arm 99 integratedly at ploughing and weeding depth detection axle 124 described later, the fixing restriction shank 100 in the front of restricted arm 99.Make restriction shank 100 engaging in the end side of ploughing and weeding degree of depth limiting rod body 98, via sensor input restriction body 112 described later, ploughing and weeding degree of depth limiting rod body 98 is rotated in linkage with the lifting moving of ploughing and weeding back cover 43, be configured to the ploughing and weeding depth detection result according to ploughing and weeding back cover 43, automatically control the ploughing and weeding degree of depth of rotovator 24.In addition, be configured to, when ploughing and weeding back cover 43 is raised to maximum rising (the maximum ploughing and weeding degree of depth) position, another side of ploughing and weeding degree of depth limiting rod body 98 abuts with the restriction wall portion 72a of hydraulic fluid tank 72, and the ploughing and weeding degree of depth of rotovator 24 is limited.
And, as shown in Fig. 3, Fig. 6 ~ Fig. 9, possesses the sensor conductor 111 being attached to ploughing and weeding back cover 43, this ploughing and weeding back cover 43 is the sensors of operation over the ground detected the ploughing and weeding degree of depth as the rotovator 24 of workover rig over the ground, is detected by sensor conductor 111 pairs of ploughing and weeding back covers 43 (over the ground operation sensor) angle.The end side of sensor conductor 111 is made to be attached to ploughing and weeding back cover 43, and, make another side of sensor conductor 111 be attached to intermediate connecting rod 110.Make the end side of sensor input lever 114 receive spring 113 via decline side draught and be attached to intermediate connecting rod 110.Receive spring 113 by decline side draught sensor input lever 114 is suppressed in sensor conductor 111 tensile side.
In addition, as shown in Figure 6, at lift valve 81, in the resetting shaft 90 that operates and the link way of sensor conductor 111, sensor input is set and is limited body 112.By being attached to the sensor connecting rod 115 of ploughing and weeding depth-set bar 126 described later and being attached to the regulating connecting rod 117 of sensor connecting rod 115 via adjustment screw 116, separately define sensor input restriction body 112.Ploughing and weeding depth detection axle 124 is made to be flush-mounted in resetting shaft 90, the base end side linking connecting rod 118 is set at ploughing and weeding depth detection axle 124, make the leading section linking connecting rod 118 be attached to another side of sensor input lever 114, and secure at the pars intermedia linking connecting rod 118 and link shank 119.
As shown in Figure 6, between sensor connecting rod 115 and regulating connecting rod 117, assemble engaging loosely and link shank 119, and linked in the mode at the interval (linking the loose fit amplitude of shank 119) can changing sensor connecting rod 115 and regulating connecting rod 117 by adjustment screw 116, thus be configured to the limited amplitude that can adjust sensor input restriction body 112.The back-moving spring 120 linking connecting rod 118 for suppressing supporting being set in sensor conductor 111 tensile side, being configured to, shank 119 abutting will be linked by back-moving spring 120 and be bearing in sensor connecting rod 115 side.Namely, sensor input restriction body 112 is separately formed by sensor connecting rod 115 and regulating connecting rod 117, and be configured to adjust the sensor input restriction limited amplitude of body 112 and the interval (linking the mobile range of shank 119) of sensor connecting rod 115 and regulating connecting rod 117, therefore, it is possible to easily change the rising or falling speed of rotovator 24, the response of lift valve 81 can be improved.
As shown in Figure 9, ploughing and weeding depth-set axle 125 is made to be flush-mounted in resetting shaft 90, the base end side of ploughing and weeding depth-set bar 126 is set at ploughing and weeding depth-set axle 125, at the ploughing and weeding depth-set axle 125 fixing base end side setting arm 127 integratedly, at the fixing setting in the front shank 128 of setting arm 127.Make setting shank 128 engaging in another side of ploughing and weeding degree of depth limiting rod body 98, make the ploughing and weeding degree of depth of rotovator 24 automatically be controlled so as to the ploughing and weeding degree of depth set by ploughing and weeding depth-set bar 126.
In addition, as shown in Figure 6, possess ploughing and weeding depth-set linkage 131, this ploughing and weeding depth-set linkage 131 makes sensor connecting rod 115 be attached to ploughing and weeding depth-set bar 126.By ploughing and weeding depth-set bar 132,133, ploughing and weeding depth-set connecting rod 134,135 and relay axis 136 etc., define ploughing and weeding depth-set linkage 131.In the limited amplitude of the ploughing and weeding degree of depth set by ploughing and weeding depth-set bar 126, the working oil flow of lift cylinders 71 is limited, and is configured to rising or the decrease speed that can control rotovator 24.At ploughing and weeding depth-set bar 133, degree of tightness screw buckle 137 is set, scalable adjustably formation ploughing and weeding depth-set bar 133, regulate the length of ploughing and weeding depth-set bar 133, thus the restricted area (balance of rising restricted area and decline restricted area) of sensor connecting rod 115 and regulating connecting rod 117 can be changed.That is, in the ploughing and weeding degree of depth of rotovator 24 controls automatically, such as, what can make rotovator 24 drops to slightly, and what make rotovator 24 rises to significantly, make that rotovator 24 declines little with decline side, uplifted side rises mode is greatly elevated.
By above-mentioned structure, ploughing and weeding back cover 43 uplifted side sharply displacement and make sensor conductor 111 lax large time, between sensor connecting rod 115 and regulating connecting rod 117, link shank 119 to move, on the other hand, ploughing and weeding back cover 43 in decline side sharply displacement and sensor conductor 111 is stretched large time, decline side draught is received spring 113 and is compressed.Namely, even if ploughing and weeding back cover 43 is in uplifted side or the displacement sharp of decline side, traveller 82 operational ton based on the lift valve 81 of the lifting moving of ploughing and weeding back cover 43 is also limited, the working oil flow of the lift cylinders 71 controlled by lift valve 81 is also limited, in the scope that working oil flow is a small amount of, lift cylinders 71 works, and can prevent rotovator 24 from rising sharp or declining.The swing (unstable control action) that the ploughing and weeding degree of depth that can reduce rotovator 24 controls automatically.
Relative to the displacement sharply of ploughing and weeding back cover 43, via linking connecting rod 118 and resetting shaft 90 makes connection gonnecting rod body 86 work lentamente, in the scope that the rising or falling speed of lift cylinders 71 is slow, according to the lifting moving of ploughing and weeding back cover 43, automatically control the ploughing and weeding degree of depth of rotovator 24, the ploughing and weeding degree of depth of rotovator 24 is maintained at set depth.The interval of sensor connecting rod 115 and regulating connecting rod 117 is changed by adjustment screw 116 operation, thus the limited field (limited amplitude) of the rising or falling speed of lift cylinders 71 can be adjusted, automatically the rising or falling speed in being controlled by the ploughing and weeding degree of depth of rotovator 24, can change the response that the ploughing and weeding degree of depth controls automatically.
Below, with reference to Figure 10 ~ Figure 15, the hydraulicefficiency elevation structure 20 of the second embodiment is described.In this second embodiment, as sensor input restriction body 112, possesses sensor input limiting rod 211, replace sensor input restriction body 112 (sensor connecting rod 115, regulating connecting rod 117) of above-mentioned first embodiment, be provided with sensor input limiting rod 211 at ploughing and weeding depth detection axle 124.Form input limiting holes 211a at sensor input limiting rod 211, assemble engaging loosely and link shank 119, and ploughing and weeding depth-set bar 133 is attached to sensor input limiting rod 211.And, identical with the first embodiment, when ploughing and weeding back cover 43 makes sensor conductor 111 relax large in uplifted side displacement sharp, link shank 119 to move in input limiting holes 211a, on the other hand, in the displacement sharp of decline side, sensor conductor 111 is stretched at ploughing and weeding back cover 43 large time, decline side draught is received spring 113 and is compressed, rotovator 24 is prevented to rise sharp or decline, the swing (unstable control action) etc. that the ploughing and weeding degree of depth reducing rotovator 24 controls automatically.
As shown in Fig. 1, Fig. 6, Figure 11, the rotovator 24 as workover rig over the ground being liftably installed on the tractor 1 as the working truck supported freely of being walked by front vehicle wheel 3 and rear wheel 4 and possessing hydraulic lifting cylinder 71 and the lift valve 81 of lifting moving rotovator 24 and detect as in the posture control device of the workover rig of the sensor conductor 111 of ploughing and weeding back cover 43 angle of the sensor of operation over the ground of rotovator 24 via linkage 23, in the link way of lift valve 81 with sensor conductor 111, be provided with sensor input limit body 112.Limit lift valve 81 switch scope therefore, it is possible to detect quantitative limitation by the angle of ploughing and weeding back cover 43, the ploughing and weeding degree of depth can be controlled in the slow region of the rising or falling speed of hydraulic lifting cylinder 71, can prevent from swinging.Such as, when installing rotovator 24 as workover rig over the ground, carrying out switching hydraulic lifting valve 81 according to the testing result of rotating up and down of ploughing and weeding back cover 43 (over the ground operation sensor), the ploughing and weeding degree of depth of rotovator 24 is remained in structure that constant tilling depth controls automatically, even if ploughing and weeding back cover 43 displacement sharp obtains greatly, the working oil flow of the hydraulic lifting cylinder 71 controlled by hydraulic lifting valve 81 also can not change greatly, suitably can keep the automatic span of control limit of control of tilling depth.In addition, with detect electrically ploughing and weeding back cover 43 rotate up and down and the structure switching the hydraulic lifting valve of electromagnetic type according to this testing result or outside hydraulic lifting valve 81, separately establish the special hydraulic valve automatically controlled for tilling depth structure compared with, tilling depth can be simplified simply and automatically control structure, and easily can reduce the manufacturing cost that tilling depth controls structure automatically.
As shown in Fig. 6, Figure 11, adopt the structure possessing the sensor input lever 114 sensor conductor 111 being attached to lift valve 81, and be configured to, by decline side draught receipts spring 113, sensor input lever 114 is suppressed sensor conductor 111 tensile side.Therefore, it is possible to reduce the impact of the large displacement of rotovator 24 (back cover 43).Such as, when sensor conductor 111 changes greatly in tensile side, sensor input lever 114 overcomes elastic force pressure ground displacement, can the sudden change of Absorbing Sensor wire 111, on the other hand, when sensor conductor 111 changes greatly in slack-side, can input by sensor the sudden change that restriction body 112 absorbs the sensor wire 111, therefore, it is possible to simplify the structure of sensor input restriction body 112.
As shown in Fig. 6, Figure 11, adopt and rotovator 24 is set as workover rig over the ground possesses the structure of the ploughing and weeding depth-set bar 126 as ploughing and weeding depth-set part for setting the ploughing and weeding degree of depth, and make the sensor input restriction body 112 to be attached to ploughing and weeding depth-set bar 126.Therefore, it is possible to control the rising or falling speed of rotovator 24 in the limited amplitude of the set depth of ploughing and weeding depth-set bar 126.Set depth regardless of ploughing and weeding depth-set bar 126 operates, can both all the time in the Region control ploughing and weeding degree of depth that rising or falling speed is slow.
As shown in Fig. 6, Figure 11, adopt the structure of the ploughing and weeding depth-set bar 126 as ploughing and weeding depth-set part possessed for setting the ploughing and weeding degree of depth, and the ploughing and weeding depth-set bar 133 making sensor input restriction body 112 be attached to ploughing and weeding depth-set bar 126 is set, make ploughing and weeding depth-set bar 133 be formed as stretching, be configured to the limited amplitude that can adjust sensor input restriction body 112.Therefore, it is possible to change the restricted area (balance of uplifted side restricted area and decline side restricted area) of sensor input restriction body 112 simply, the response of lift valve 81 can be improved.Such as, relative to the change of sensor conductor 111, the rising or falling speed of rotovator 24 can be set to that decline side declines little, uplifted side rises greatly, the sharp increase (overload running) etc. of the driving load of rotovator 24 can be suppressed.
Below, with reference to Figure 17 ~ Figure 20, the structure of hydraulic rolling cylinder 32 and hydraulic circuit is described.As shown in figure 20, hydraulicefficiency elevation structure 20 possesses the lift valve 81 that lifting drives the lift cylinders 71 of left and right lift arm 29 and control lift cylinders 71 to work.Be configured to, switch lift valve 81 by the operation of workover rig elevating lever 63, lift cylinders 71 is worked, make rotovator 24 lifting moving.In addition, the hydraulic rolling valve 181 controlling the electromagnetic type that rolling cylinder 32 works is possessed.Rolling valve 181 has left-leaning solenoid 182 and Right deviation solenoid 183.Be configured to, according to the testing result of roll sensor 67, excitation carried out to left-leaning solenoid 182 or Right deviation solenoid 183, switch Rolling valve 181, rolling cylinder 32 is worked, rotovator 24 is supported to level over the ground.
Further, as shown in figure 20, via flow divider 185, lift valve 81 and Rolling valve 181 is made to be hydraulically connected to the hydraulic pump 184 driven by diesel engine 5.In addition, via oil circuit 188,189, Rolling valve 181 is made to be hydraulically connected to cylinder room, bar side 186 and the cylinder room, bottom side 187 of rolling cylinder 32, and the oil circuit 188 between Rolling valve 181 and cylinder room, bar side 186, load the check valve 190 and hydraulic throttle valve 191 that are arranged in parallel, regulated the hydraulic flow of oil circuit 188 by check valve 190 and hydraulic throttle valve 191, be configured to the Performance optimization removing Cheng Yundong and drawback movement of the rolling cylinder 32 making to be provided with piston rod 33 downwards.
On the other hand, as shown in Fig. 4, Figure 17 ~ Figure 19, via lift pin 192, make the suspension part 193 of rolling cylinder 32 be attached to lift arm 29, the piston rod 33 of rolling cylinder 32 is given prominence to downwards towards lower link 21 (linkage 23).Make piston main body 195 slidably, insert in the cylinder barrel 194 of rolling cylinder 32, be fastened and fixed the end side (upper end side) of piston rod 33 in the side of piston main body 195.Inner at cylinder barrel 194, via piston main body 195, define cylinder room, bar side 196 and cylinder room, bottom side 197.
In addition, fix suspension part 193 integratedly at the cylinder cap 223 of rolling cylinder 32, and make hydraulic oil pass in and out the bar side mouth 221 of cylinder room, bar side 196 and make hydraulic oil pass in and out the bottom side mouth 222 of cylinder room, bottom side 197 in cylinder cap 223 configuration.Hydraulic hose conjugant 224,225 is set respectively at bar side mouth 221 and bottom side mouth 222, makes each hydraulic hose conjugant 224,225 be connected respectively to each oil circuit 188,189 of hydraulic rolling valve 181.
Further, make the end side of oil-way pipe 227 be attached to the cylinder mouth body 226 of cylinder room, bar side 196, make the end side of oil-way pipe 227 be communicated to cylinder room, bar side 196.On the other hand, make another side of oil-way pipe 227 be attached to cylinder cap 223, and establish pressure adjusting valve body 229 at cylinder cap 223 via in plunger 228.By pressure adjusting valve body 229, form check valve 190 and the hydraulic throttle valve 191 being opened in check valve 190.In the back pressure side of check valve 190, another side of oil-way pipe 227 is communicated with via connection oil circuit 230, be configured to, the hydraulic oil of hydraulic pump 184 is made to be supplied to cylinder room, bar side 186 via hydraulic rolling valve 181 and check valve 190, on the other hand, the hydraulic oil of cylinder room, bar side is made to turn back to the gearbox 16 as operating oil tank via hydraulic throttle valve 191 and hydraulic rolling valve 181.
Below, as shown in figure 21, the ability of posture control controller 234 formed by microcomputer is possessed.Inclination setting dial (Japanese: ダ イ ヤ Le) 235 making the angle of inclination over the ground of setting rotovator 24, the vehicle speed sensor 236 detecting the translational speed of tractor, the PTO turn-sensitive device 237 detecting the rotary speed of PTO axle 28, the lifting angle sensor 238 detecting the lifting angle of lift arm and described roll sensor 67, input is connected to ability of posture control controller 234.On the other hand, make left-leaning solenoid 182 and Right deviation solenoid 183 export and be connected to ability of posture control controller 234.
And, as shown in the flow chart of Figure 22, read the inclination angle that roll sensor 67 detects, and dial 235 is worth, vehicle speed sensor 236 is worth, PTO turn-sensitive device 237 is worth and lifting angle sensor 238 is worth to read setting.According to inclination setting, dial 235 is worth, vehicle speed sensor 236 is worth, PTO turn-sensitive device 237 is worth and lifting angle sensor 238 is worth, the angle of inclination over the ground of computing rotovator 24, the angle of inclination over the ground of rotovator 24 with tilt set dial 235 be worth inconsistent time, judge "Left"-deviationist or the Right deviation of rotovator 24, thus excitation is carried out to left-leaning solenoid 182 or Right deviation solenoid 183, switch hydraulic rolling valve 181, revise the angle of inclination over the ground (tilt angle) of rotovator 24.
As shown in Fig. 1, Fig. 5 ~ Figure 20, will liftably be installed on the tractor 1 as the working truck supported freely of being walked by front vehicle wheel 3 and rear wheel 4 as the rotovator 24 of workover rig over the ground via linkage 23 and possess level control rotovator 24 hydraulic rolling cylinder 32 and detect rotovator the roll sensor 67 tilted agricultural work vehicle posture control device in, be provided with check valve 190 and hydraulic throttle valve 191 at the cylinder cap 223 of rolling cylinder 32.Therefore, it is possible to guarantee the performance of check valve 190 and hydraulic throttle valve 191 for each rolling cylinder 32.Oil path structure can be formed at low cost.Naturally declining of rotovator 24 can be ensured with hydraulic cylinder structure.Do not need to form the optimized hydraulic rolling valve 181 of performance accordingly specially with each specification respectively to each of the different multiple types of specification, the level that can easily realize controls the reduction etc. of simplification or the manufacturing cost constructed automatically.
As shown in Fig. 5 ~ Figure 20, at cylinder cap 223 built-in check valve 190 and the hydraulic throttle valve 191 of rolling cylinder 32, and possess the bar side mouth 221 making hydraulic oil pass in and out the cylinder room, bar side 196 for piston rod 33 configuration of rolling cylinder 32, be provided with bar side mouth 221 at the cylinder cap 223 of rolling cylinder 32.Therefore, it is possible to form the face shaping of rolling cylinder 32 simply, the performance of check valve 190 and hydraulic throttle valve 191 can be guaranteed to each rolling cylinder 32 simultaneously.
As shown in Fig. 5 ~ Figure 20, rolling cylinder 32 is made to be attached to the lift arm 29 of tractor 1, the piston rod 33 of above-mentioned rolling cylinder 32 is given prominence to downwards towards linkage 23, and make hydraulic oil pass in and out the bar side mouth 221 of the cylinder room, bar side 196 for piston rod 33 configuration of rolling cylinder 32 and make hydraulic oil pass in and out the bottom side mouth 222 of the cylinder room, bottom side 197 of rolling cylinder 32 in cylinder cap 223 configuration of rolling cylinder 32, on the other hand, be configured to, the end side of oil-way pipe 227 is communicated with cylinder room, bar side 196, another side of oil-way pipe 227 is communicated with hydraulic throttle valve 191 with the interior above-mentioned check valve 190 being located at cylinder cap 223.Therefore, it is possible to form the face shaping of rolling cylinder 32 simply, the performance of check valve 190 and hydraulic throttle valve 191 can be guaranteed to each rolling cylinder 32 simultaneously.Particularly, the structure making piston rod 33 outstanding from rolling cylinder 32 downwards, hydraulic hose can be made to carry out pipe arrangement with concentrating on cylinder cap 223 side of rolling cylinder 32 upper end side, simply hydraulic hose can be bearing in the higher position of lift arm 29 side of tractor 1.
Description of reference numerals
1 tractor (working truck)
3 front vehicle wheels
4 rear wheels
23 3 point linkage mechanisms
24 rotovators (over the ground workover rig)
32 rolling cylinders
33 piston rods
43 ploughing and weeding back covers (over the ground operation sensor)
67 roll sensors
71 lift cylinders
81 lift valves
111 sensor conductors
112 sensor input restriction bodies
114 sensor input levers
133 ploughing and weeding depth-set bars
181 hydraulic rolling valves
190 check valve
191 hydraulic throttle valves
196 cylinder room, bar sides
197 cylinder room, bottom sides
211 sensor input limiting rods (sensor input restriction body)
221 bar side mouths
222 bottom side mouths
223 cylinder caps
227 oil-way pipes.
Claims (8)
1. the posture control device of a workover rig, via linkage workover rig over the ground is liftably installed on and walked the working truck supported freely by front vehicle wheel and rear wheel, and the sensor conductor possessing the hydraulic lifting cylinder of workover rig over the ground described in lifting moving and lift valve and the sensor angles of operation over the ground of described workover rig is over the ground detected, it is characterized in that
In the link way of described lift valve and sensor conductor, be provided with sensor input limit body.
2. the posture control device of workover rig according to claim 1, is characterized in that,
Separately form described sensor input restriction body, be configured to the limited amplitude that can adjust described sensor input restriction body.
3. the posture control device of workover rig according to claim 1, is characterized in that,
Adopt the structure possessing sensor input lever sensor conductor being attached to described lift valve, and be configured to described sensor input lever to suppress described sensor conductor tensile side.
4. the posture control device of workover rig according to claim 1, is characterized in that,
Adopt and rotovator is set as described workover rig over the ground possesses the structure of the ploughing and weeding depth-set part for setting the ploughing and weeding degree of depth, and linked described sensor input restriction body at described ploughing and weeding depth-set part.
5. the posture control device of workover rig according to claim 1, is characterized in that,
Adopt the structure of the ploughing and weeding depth-set part possessed for setting the ploughing and weeding degree of depth, and the ploughing and weeding depth-set bar making described sensor input restriction body be attached to described ploughing and weeding depth-set part is set, make described ploughing and weeding depth-set rod become and can stretch, be configured to the limited amplitude that can adjust described sensor input restriction body.
6. the posture control device of workover rig according to claim 1, is characterized in that,
Possess level control described in the hydraulic rolling cylinder of workover rig and the roll sensor tilted of workover rig over the ground described in detecting over the ground,
Check valve and hydraulic throttle valve is provided with at the cylinder cap of described rolling cylinder.
7. the posture control device of workover rig according to claim 6, is characterized in that,
At the built-in described check valve of the cylinder cap of described rolling cylinder and hydraulic throttle valve, and possess the bar side mouth making hydraulic oil pass in and out the cylinder room, bar side for piston rod configuration of described rolling cylinder, be provided with described bar side mouth at the cylinder cap of described rolling cylinder.
8. the posture control device of workover rig according to claim 6, is characterized in that,
Described rolling cylinder is made to be attached to the lift arm of described working truck, the piston rod of described rolling cylinder is given prominence to downwards towards described linkage, and make hydraulic oil pass in and out the bar side mouth of the cylinder room, bar side for piston rod configuration of described rolling cylinder and make hydraulic oil pass in and out the bottom side mouth of the cylinder room, bottom side of described rolling cylinder in the cylinder cap configuration of described rolling cylinder, on the other hand, be configured to, the end side of oil-way pipe is communicated with cylinder room, described bar side, another side of described oil-way pipe is communicated with hydraulic throttle valve with the interior described check valve being located at described cylinder cap.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-166348 | 2013-08-09 | ||
| JP2013166347A JP6325210B2 (en) | 2013-08-09 | 2013-08-09 | Attitude control device for work equipment |
| JP2013166348A JP6096620B2 (en) | 2013-08-09 | 2013-08-09 | Agricultural machine attitude control device |
| JP2013-166347 | 2013-08-09 | ||
| PCT/JP2014/070243 WO2015019942A1 (en) | 2013-08-09 | 2014-07-31 | Work-apparatus orientation control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105472965A true CN105472965A (en) | 2016-04-06 |
| CN105472965B CN105472965B (en) | 2018-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480044132.2A Active CN105472965B (en) | 2013-08-09 | 2014-07-31 | The posture control device of working rig |
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| CN (1) | CN105472965B (en) |
| WO (1) | WO2015019942A1 (en) |
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| CN105993239A (en) * | 2016-07-12 | 2016-10-12 | 浙江亿森机械有限公司 | Tillage tractor provided with double forced pressing devices |
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| CN109923032A (en) * | 2016-12-22 | 2019-06-21 | 株式会社久保田 | Operation Van |
| CN110573005A (en) * | 2017-06-28 | 2019-12-13 | 株式会社久保田 | Working vehicle |
| CN110692287A (en) * | 2019-11-13 | 2020-01-17 | 长沙桑铼特农业机械设备有限公司 | Rotary cultivator with leveling function |
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| CN109854554A (en) * | 2018-08-30 | 2019-06-07 | 北京农业智能装备技术研究中心 | A kind of tractor rear linkage and its control method |
| CN109854554B (en) * | 2018-08-30 | 2020-06-09 | 北京农业智能装备技术研究中心 | Rear suspension device of tractor and control method thereof |
| CN113891650A (en) * | 2019-05-29 | 2022-01-04 | 株式会社久保田 | Tractor |
| CN110692287A (en) * | 2019-11-13 | 2020-01-17 | 长沙桑铼特农业机械设备有限公司 | Rotary cultivator with leveling function |
| CN114600580A (en) * | 2022-03-25 | 2022-06-10 | 南京农业大学 | Rotary tillage device and rotary tillage depth control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105472965B (en) | 2018-07-24 |
| WO2015019942A1 (en) | 2015-02-12 |
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Address after: Osaka, Japan Patentee after: Yangma Power Technology Co., Ltd Address before: Osaka Japan Patentee before: YANMAR Co.,Ltd. |