CN105472965B - The posture control device of working rig - Google Patents
The posture control device of working rig Download PDFInfo
- Publication number
- CN105472965B CN105472965B CN201480044132.2A CN201480044132A CN105472965B CN 105472965 B CN105472965 B CN 105472965B CN 201480044132 A CN201480044132 A CN 201480044132A CN 105472965 B CN105472965 B CN 105472965B
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- Prior art keywords
- ploughing
- working rig
- sensor
- cylinder
- hydraulic
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- 238000009333 weeding Methods 0.000 claims abstract description 136
- 239000004020 conductor Substances 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000005096 rolling process Methods 0.000 claims description 91
- 238000010276 construction Methods 0.000 claims description 30
- 239000003921 oil Substances 0.000 claims description 17
- 239000010720 hydraulic oil Substances 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 15
- 230000003028 elevating effect Effects 0.000 description 18
- 230000007423 decrease Effects 0.000 description 16
- 210000000078 claw Anatomy 0.000 description 15
- 230000008859 change Effects 0.000 description 14
- 238000006073 displacement reaction Methods 0.000 description 13
- 239000012530 fluid Substances 0.000 description 7
- 230000000630 rising effect Effects 0.000 description 7
- 239000002689 soil Substances 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 4
- 230000035772 mutation Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 230000003321 amplification Effects 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000001144 postural effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
Abstract
The technical task of the present invention be to provide one kind can in the slow region control ploughing and weeding depth of the lifting speed of hydraulic lifting cylinder (71), the posture control device of the working rig swung can be prevented.It liftably will be installed on the working truck (1) supported freely by front vehicle wheel (3) and rear wheel (4) walking by working rig (24) over the ground via link mechanism (23), and have the lifting moving hydraulic lifting cylinder (71) of working rig (24) and lift valve (81) and the sensor conductor (111) being detected to the sensor of operation over the ground (43) angle of working rig over the ground (24) over the ground.In the connection of lift valve (81) and sensor conductor (111), sensor input limitation body (112) is set on the way.
Description
Technical field
The present invention relates to for the posture progress to being stowed the rotary cultivator etc. of the traveling vehicles such as machine traction working rig over the ground
The device of control, more specifically to the posture control device of the working rig of the ploughing and weeding depth for automatically controlling rotary cultivator etc..
Background technology
As the rotary cultivator of working rig over the ground, in order to adjust ploughing and weeding depth and liftable is movably attached to traveling vehicle.
In addition, rotary cultivator, tilts to adjust and can control and be attached to traveling vehicle on the bias.The cultivation claw of above-mentioned rotary cultivator
The upside of rotational trajectory is covered by ploughing and weeding cover.Back cover is linked in the rear end of ploughing and weeding cover.Moreover, make back cover can rotate upwardly and downwardly and
It is grounded with authorized pressure and is utilized as the detection part of ploughing and weeding depth, detect the ploughing and weeding depth of above-mentioned rotary cultivator, into
Row control ploughing and weeding depth so that the detected value tilling depth consistent with target ploughing and weeding depth automatically controls, execution ploughing and weeding operation (for example,
Patent document 1, patent document 2).
In addition, rotary cultivator detects the left and right deflection of working truck, tilting so that above-mentioned for control rotary cultivator is carried out
The level of the angle level that tilts of rotary cultivator automatically controls, and executes ploughing and weeding operation (for example, patent document 3).
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Application 59-88008 bulletins
Patent document 2：Japanese Unexamined Patent Publication 59-73128 bulletins
Patent document 3：Japanese Unexamined Patent Publication 2008-187982 bulletins
Invention content
The subject that the invention solves
Above patent document 1 and 2 etc. in the prior art, have the hydraulic lifting cylinder for making rotary cultivator lifting moving and control
The hydraulic lifting valve of hydraulic lifting cylinder working processed is cut according to the testing result of back cover (operation sensor over the ground) rotated upwardly and downwardly
Hydraulic lifting valve is changed, remaining constant tilling depth into the ploughing and weeding depth for being about to above-mentioned rotary cultivator automatically controls, therefore, although can
It is made up of, but has the following problems at low cost the dual-purpose of hydraulic lifting valve：When sharp displacement obtains big to back cover, by
The working oil changes in flow rate of the hydraulic lifting cylinder of hydraulic lifting valve control obtains greatly, and tilling depth automatically controls amplitude and is easy to become larger.This
Outside, in the structure rotated upwardly and downwardly and switch the hydraulic lifting valve of electromagnetic type according to the testing result for electrically detecting back cover
It makes or is separately set except hydraulic lifting valve in the construction of the special hydraulic valve automatically controlled for tilling depth, although can disappear
Except drawbacks described above, but presence can not easily realize that tilling depth automatically controls asking for the simplification of construction or the reduction of manufacturing cost etc.
Topic.
It is equal in the prior art in above patent document 3, have the liquid controlled the angle that tilts of rotary cultivator
It presses rolling cylinder and controls the hydraulic rolling valve of hydraulic rolling cylinder working, liquid is switched according to the testing result of horizon sensor over the ground
Rolling valve is pressed, horizontal level is remained into the angle that tilts for being about to above-mentioned rotary cultivator and automatically controls.It is used in addition, having
The entrance of the piston rod of hydraulic rolling cylinder is acted and exits action and is kept as uniform check-valves and hydraulic throttle valve, in hydraulic pressure
These check-valves and hydraulic throttle valve is arranged in Rolling valve, and therefore, it is necessary to each difference for the different multiple types of specification
The hydraulic rolling valve of Performance optimization is accordingly specially constructed with each specification, existing easily realization level to automatically control structure
The problem of the reduction of the simplification or manufacturing cost made etc..
Therefore, the present application studies these phenomenons and wants to provide a kind of appearance implementing improved working rig
Gesture control device.
Means for solving the problems
To achieve the goals above, the posture control device of the working rig of the invention of technical solution 1 is following working rig
Ploughing and weeding control device：Via link mechanism will over the ground working rig be liftably installed on by front vehicle wheel and rear wheel walking freely
The working truck of ground bearing, and have described in lifting moving the hydraulic lifting cylinder of working rig and lift valve over the ground and to described right
The sensor conductor that the sensor angles of operation over the ground of ground working rig are detected, wherein led with sensor in the lift valve
The connection of line is provided with sensor input limitation body on the way.
The invention that technical solution 2 is recorded is the posture control device for the working rig that technical solution 1 is recorded, wherein separates shape
Limitation body is inputted at the sensor, is configured to adjust the limited amplitude of the sensor input limitation body.
The invention that technical solution 3 is recorded is the posture control device for the working rig that technical solution 1 is recorded, wherein using tool
The construction of the standby sensor input lever that sensor conductor is attached to the lift valve, and be configured to the sensor input lever
Suppress the sensor conductor tensile side.
The invention that technical solution 4 is recorded is the posture control device for the working rig that technical solution 1 is recorded, wherein uses and sets
Rotary cultivator is set as the working rig over the ground and has the construction of the ploughing and weeding depth setting member for setting ploughing and weeding depth, and
The sensor input limitation body is linked in the ploughing and weeding depth setting member.
The invention that technical solution 5 is recorded is the posture control device for the working rig that technical solution 1 is recorded, wherein using tool
It is ready for use on the construction of the ploughing and weeding depth setting member of setting ploughing and weeding depth, and setting makes the sensor input limitation body be attached to institute
The ploughing and weeding depth setting bar for stating ploughing and weeding depth setting member, makes the ploughing and weeding depth setting bar be formed to stretch, is configured to
Enough adjust the limited amplitude of the sensor input limitation body.
The invention that technical solution 6 is recorded is the posture control device for the working rig that technical solution 1 is recorded, wherein has water
The flat control hydraulic rolling cylinder of working rig over the ground and the roll sensor of working rig to tilt over the ground described in detecting,
The cylinder cap of the rolling cylinder is provided with check-valves and hydraulic throttle valve.
The invention that technical solution 7 is recorded is the posture control device for the working rig that technical solution 6 is recorded, wherein described
The check-valves and hydraulic throttle valve built in the cylinder cap of rolling cylinder, and have make hydraulic oil pass in and out the rolling cylinder for piston
The bar side mouth of the bar side cylinder chamber of bar configuration is provided with the bar side mouth in the cylinder cap of the rolling cylinder.
The invention that technical solution 8 is recorded is the posture control device for the working rig that technical solution 6 is recorded, wherein is made described
Rolling cylinder is attached to the lift arm of working truck, and the piston rod of the rolling cylinder is made to be downwardly projected towards the link mechanism, and
And configure the bar side for the bar side cylinder chamber configured for piston rod for making hydraulic oil pass in and out the rolling cylinder in the cylinder cap of the rolling cylinder
Mouthful and so that the bottom side mouthful for the bottom side cylinder chamber that hydraulic oil passes in and out the rolling cylinder is on the other hand configured to, is made the one end of oil-way pipe
It is connected to the bar side cylinder chamber, makes the another side of the oil-way pipe and the interior check-valves and hydraulic pressure section set on the cylinder cap
Flow valve connection.
Invention effect
According to the invention of technical solution 1, working rig will be liftably installed on by front vehicle wheel over the ground via link mechanism
With the rear wheel working truck that supports freely of walking and have described in lifting moving the hydraulic lifting cylinder of working rig over the ground and
The ability of posture control of the working rig of the sensor conductor of the sensor angles of operation over the ground of working rig over the ground described in lift valve and detection
In device, it is provided with sensor input limitation body on the way in the connection of the lift valve and sensor conductor, therefore, it is possible to pass through
The limitation of the angle detection limit of the sensor of operation over the ground limits the lifting Vavle switching range, can in the hydraulic pressure liter
Control ploughing and weeding depth in the slow region of lifting speed of cylinder is dropped, can prevent from swinging.For example, in installation rotary cultivator as described right
In the case of ground working rig, carrying out switching hydraulic pressure according to the testing result of back cover (operation sensor over the ground) rotated upwardly and downwardly
Lift valve simultaneously remains the ploughing and weeding depth of the rotary cultivator in the construction that constant tilling depth automatically controls, even if back cover is drastically
Ground displacement obtains greatly, and the work oil stream amount of the hydraulic lifting cylinder controlled by hydraulic lifting valve will not change greatly, can be suitably
Tilling depth is kept to automatically control amplitude.In addition, with rotating upwardly and downwardly and switching according to the testing result for back cover is electrically detected
The construction of the hydraulic lifting valve of electromagnetic type or the special hydraulic pressure automatically controlled for tilling depth is separately set except hydraulic lifting valve
The construction of valve is compared, and can simply be simplified tilling depth and be automatically controlled construction, and can easily reduce tilling depth and automatically control structure
The manufacturing cost made.
According to the invention of technical solution 2, it is formed separately the sensor input limitation body, is configured to adjust the biography
The limited amplitude of sensor input limitation body can improve therefore, it is possible to easily change the lifting speed of the working rig over the ground
The response of the lift valve.
According to the invention of technical solution 3, inputted using having the sensor that sensor conductor is attached to the lift valve
The construction of bar, and be configured to sensor input lever suppressing sensor conductor tensile side described is made over the ground therefore, it is possible to reduce
The influence of the big displacement of industry machine (back cover).For example, in the sensor conductor when tensile side changes greatly, the sensing
With the overcoming elastic force pressure displacement of device input lever can absorb the mutation of the sensor conductor, on the other hand, be led in the sensor
Line can input the mutation that limitation body absorbs the sensor conductor when slack-side changes greatly by the sensor, because
This, can simplify the construction of the sensor input limitation body.
According to the invention of technical solution 4, working rig and had over the ground for setting as described in using setting rotary cultivator
The construction of the ploughing and weeding depth setting member of ploughing and weeding depth, and the sensor input limitation body is made to be attached to the ploughing and weeding depth setting
Part, therefore, it is possible to the liter of working rig over the ground described in the control in the limited amplitude of the set depth of the ploughing and weeding depth setting member
Reduction of speed degree.Set depth operation regardless of the ploughing and weeding depth setting member, region that can be slow in lifting speed always
Interior control ploughing and weeding depth.
According to the invention of technical solution 5, using the construction for having the ploughing and weeding depth setting member for setting ploughing and weeding depth, and
It is arranged and the sensor is inputted into the ploughing and weeding depth setting bar that limitation body is attached to the ploughing and weeding depth setting member, makes the ploughing and weeding
Depth setting bar is formed to stretch, and is configured to adjust the limited amplitude of the sensor input limitation body, therefore, energy
(uplifted side restricted area is flat with decline side restricted area for enough restricted areas for simply changing the sensor input limitation body
Weighing apparatus), the response of the lift valve can be improved.For example, the variation relative to the sensor conductor, it can be by described in over the ground
The lifting speed of working rig be set to decline side small, uplifted side rises greatly, the working rig over the ground can be inhibited
Sharp increase (overload driving) of driving load etc..
According to the invention of technical solution 6, has the horizontal control hydraulic rolling cylinder of working rig over the ground and described in detecting
The roll sensor of working rig to tilt over the ground is provided with check-valves and hydraulic throttle valve in the cylinder cap of the rolling cylinder,
Therefore, it is possible to enough all ensure that the performance of the check-valves and hydraulic throttle valve for each rolling cylinder.It can be at low cost
Constitute oil path structure.The natural decline of working rig over the ground described in capable of being ensured with hydraulic cylinder structure.Without need for specification difference
Each of multiple types the hydraulic rolling valve of Performance optimization is accordingly specially constructed with each specification respectively, can be easily real
Existing level automatically controls the simplification of construction or the reduction of manufacturing cost etc..
According to the invention of technical solution 7, the check-valves and hydraulic throttle valve built in the cylinder cap in the rolling cylinder, and
The bar side mouth for having the bar side cylinder chamber configured for piston rod for making hydraulic oil pass in and out the rolling cylinder, in the cylinder cap of the rolling cylinder
Provided with the bar side mouth, therefore, it is possible to simply form the face shaping of the rolling cylinder, while can be for each above-mentioned
Rolling cylinder all ensures that the performance of the check-valves and hydraulic throttle valve.
According to the invention of technical solution 8, the rolling cylinder is made to be attached to the lift arm of working truck, makes the rolling cylinder
Piston rod is downwardly projected towards the link mechanism, and so that hydraulic oil is passed in and out the rolling in the configuration of the cylinder cap of the rolling cylinder
The bar side mouth of the bar side cylinder chamber for piston rod configuration of cylinder and make hydraulic oil pass in and out the rolling cylinder bottom side cylinder chamber bottom side mouthful,
On the other hand, be configured to, the one end of oil-way pipe made to be connected to the bar side cylinder chamber, make the another side of the oil-way pipe with it is interior
The check-valves set on the cylinder cap is connected to hydraulic throttle valve, therefore, it is possible to simply form the appearance of the rolling cylinder
Shape, while the performance of the check-valves and hydraulic throttle valve can be all ensured that for each rolling cylinder.In particular, making
Piston rod can make hydraulic hose concentrate on the cylinder cap of the rolling cylinder upper end side from the downward projection of construction of the rolling cylinder
It is piped to side, hydraulic hose can be simply supported on to the higher position of the lift arm side of working truck.
Description of the drawings
Fig. 1 is the side view for the tractor for indicating first embodiment.
Fig. 2 is the vertical view for the tractor for indicating first embodiment.
Fig. 3 is the left view of working rig elevating mechanism.
Fig. 4 is the right view of working rig elevating mechanism.
Fig. 5 is the vertical view of working rig elevating mechanism.
Fig. 6 is the major part amplification definition graph of Fig. 3.
Fig. 7 is the upward view of working rig elevating mechanism.
Fig. 8 is the left side definition graph of rotary cultivator.
Fig. 9 is the major part amplification definition graph of Fig. 7.
Figure 10 is the left view for the working rig elevating mechanism for indicating second embodiment.
Figure 11 is the major part amplification definition graph of Figure 10.
Figure 12 is the right view of working rig elevating mechanism.
Figure 13 is the vertical view of working rig elevating mechanism.
Figure 14 is the upward view of working rig elevating mechanism.
Figure 15 is the left side sectional view of working rig elevating mechanism.
Figure 16 is the back side sectional view of working rig elevating mechanism.
Figure 17 is the sectional view of hydraulic rolling cylinder.
Figure 18 is the enlarged cross-sectional 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.
Specific implementation mode
In the following, with reference to the accompanying drawings, illustrating embodiments of the present invention.Fig. 1 is the side of agricultural operation tractor and rotary cultivator
View, Fig. 2 are the vertical views of agricultural operation tractor and rotary cultivator.In addition, in the following description, it will be towards working truck
The left side of 1 direction of advance is referred to as left side, equally will be referred to as right side towards the right side of direction of advance.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.By being equipped on row
The diesel engine 5 of the front of body 2 is walked to drive rear wheel 4 and front vehicle wheel 3, walking is walked or retreat to which tractor 1 advances.Bavin
The upper side of oil machine 5 is covered by hood 6 to be opened/closed.In addition, after hood 6 in the upper surface of traveling machine body 2
Side's setting Drive Section 7.The behaviour for manipulating seat 8 and steering operation is carried out to front vehicle wheel 3 taken for operator is provided in Drive Section 7
Vertical handle 9.In addition, being provided in Drive Section 7 foot pedal 10 is taken for what operator took.It will be for the boarding foot of operator's boarding
Pedal 11 is arranged in the left side for taking foot pedal 10.
In addition, as shown in Figure 1 to 4, above-mentioned traveling machine body 2 is by the engine with front bumper 12 and front truck axle box 13
Frame 14, be fixed on diesel engine 5 rear portion clutch outer member 15 and gearbox 16 constitute.The rotation of diesel engine 5 is set to pass through
16 speed change of gearbox, and it is transmitted 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 to
Outer protrusion installs rear wheel 4 in rear car axle box 17.Setting roll-over protective structure (Japanese is erect in rear car axle box 17：ロプス)
Frame 18, and fuel tank 19 is carried between the driver's seat 8 and roll-over protective structure frame 18 of 16 front upper surface of gearbox.
Also, as shown in Figure 1 to 4, hydraulicefficiency elevation structure 20, the hydraulic pressure liter are carried in the rear upper surface of gearbox 16
Descending mechanism 20 is used to make 24 lifting moving of rotary cultivator as working rig over the ground.At the rear portion of gearbox 16, setting is by a pair of left
Three point linkage mechanisms 23 that right lower quadrant connecting rod 21 and top links 22 are constituted, via three point linkage mechanisms 23 by rotary cultivator 24 with can
The mode of lifting is mounted in gearbox 16.The front end side of left and right lower link 21 is rotationally attached to via lower link pin 25
The left and right side at the rear portion of gearbox 16.The front end side of top links 22 is attached to hydraulic elevator via top links pin 27
The top links hook 26 at the rear portion of structure 20.Also, has the PTO shaft 28 that PTO driving forces are transmitted to rotary cultivator 24, with from speed change
The rearwardly projecting mode in trailing flank of case 16 is provided with PTO shaft 28.
In addition, in hydraulicefficiency elevation structure 20, it is provided with 1 pair or so lift arm 29.Towards the lower part in the left side of direction of travel
Connecting rod 21 links with lift arm 29 via left lift lever 30.It is configured to, lifting driving left and right by hydraulicefficiency elevation structure 20 is promoted
Arm 29, to make 24 lifting moving of rotary cultivator.In addition, towards the right side of direction of travel lower link 21 and lift arm 29 via
The hydraulic rolling cylinder 32 and piston rod 33 for forming the double-lift of right lift lever link.It is configured to, control hydraulic rolling cylinder 32 works,
To adjust tilting angle and flatly supporting for rotary cultivator 24.
As shown in Figure 1, Figure 2, shown in Fig. 8, rotary cultivator 24 has：The girder 36 of horizontally long tubular；Upper end side is attached to girder respectively
The drive chain case 37 and shaft bearing plate 38 of 36 right and left end；Left and right ends portion is rotatably freely pivotally supported on drive chain case 37 and bearing
The cultivation claw axis 39 of the lower end side of plate 38；With the radial multiple cultivation claws 40 for being releasably installed on cultivation claw axis 39；Match
It is set to the ploughing and weeding upper surface cover 41 of the top of the rotational trajectory of covering cultivation claw 40；It is configured to the rotational trajectory of covering cultivation claw 40
Left and right side left and right ploughing and weeding side cover 42；It is configured to the ploughing and weeding back cover 43 at the rear of the rotational trajectory of covering cultivation claw 40；With
And the tilling depth adjustment frame 44 etc. that front end side is installed on girder 36 and rearward extends long.Power from PTO shaft 28 transmits
To cultivation claw axis 39, cultivation claw 40 is made to rotate in the counterclockwise direction, to plough the cultivated soil in field, also, from cultivation claw 40
The cultivated soil amount being discharged to the rear of ploughing and weeding back cover 43 is limited, and it is equably smooth by ploughing and weeding back cover 43 to plough soil surface.In addition, constituting
By the manual operation of the tilling depth regulation handle 45, to make the postural change over the ground of rotary cultivator 24 at forward lean or hypsokinesis appearance
Gesture, so as to change by the ploughing and weeding depth of 40 ploughing and weeding of cultivation claw.
As shown in Fig. 1, Fig. 8, in the left and right central portion of girder 36, configured with for inputting the driving force from PTO shaft 28
Gear-box 46.Power from PTO shaft 28 is transmitted to cultivation claw axis 39 from gear-box 46, makes the inverse time in fig. 8 of cultivation claw 40
Needle side rotates up, to plough the cultivated soil in field.
As shown in figure 8, in the rear end of ploughing and weeding upper surface cover 41, the front end of ploughing and weeding back cover 43 has been linked via drive-connecting shaft 47
Side.Rear portion in the upper surface of the ploughing and weeding upper surface cover 41 of the width direction length along working truck 1, setting are provided with hypsokinesis posture
A pair of of left and right hanger frame 48.The rear end side of the upper surface of ploughing and weeding back cover 43 and left and right hanger frame 48 are outstanding via 1 pair or so
Loop wheel machine structure 49 can link up or down.Compression axis body 48a can rotationally be configured around horizontal axis (center line) in each suspention
The upper end of frame 48.
In addition, the suspending rod 50 of elongated round bar shape in each suspension gear 49 can with horizontal axis (center line) just
Compression axis body 48a is slidably run through on the direction of friendship.The lower end of suspending rod 50 rotatably links via fulcrum 53
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, it is provided with and declines banking pin 51, ring shape
Decline restriction plate 52 in a manner of it can be slided on the axis direction of suspending rod 50 flush-mounted in compression axis body 48a and lower lower limit
Suspending rod 50 between cotter 51.In addition, the lower side in suspending rod 50 is (more upper than fulcrum 53) configured with rising banking pin
55, the pressing compressed spring 58 for assigning flattening pressure to ploughing and weeding back cover 43 is embedding via the upper bearing plate 56,57 of ring shape
Loaded on the suspending rod 50 between compression axis body 48a and rising banking pin 55.
With this configuration, when rotary cultivator 24 is raised to the height for having left ground surface, the rear end side of ploughing and weeding back cover 43
It is rotated to the lower side around drive-connecting shaft 47, declines banking pin 51 and abutted with restriction plate 52 is declined, decline restriction plate 52 and compression axis body
48a abut, ploughing and weeding back cover 43 be maintained at make thereafter end side drop to minimum posture.On the other hand, it is dropped in rotary cultivator 24
It is lower to make under the ploughing and weeding job state that cultivation claw 40 lands to ploughing upper surface, the rear end side of ploughing and weeding back cover 43 due to by ploughing and weeding
Cultivated soil ground pressure and rotated upward around drive-connecting shaft 47.In addition, ploughing and weeding back cover 43 rear end side around 47 turns of drive-connecting shaft
When having moved top, pressing compressed spring 58 is set to be compressed via banking pin 55 and lower support plate 57 is risen, ploughing and weeding back cover 43
Rear end side rotation upward by pressing compressed spring 58 effect power limit.Therefore, after from cultivation claw 40 to ploughing and weeding
The cultivated soil amount of the rear discharge of cover 43 is limited, and it is equably smooth by ploughing and weeding back cover 43 to plough soil surface.
In addition, as depicted in figs. 1 and 2, have the manipulation column 60 configure for control handwheel 9, manipulation column 60 lower right-hand side,
Configure left and right brake pedal 61.In addition, below the left side for manipulating column 60, configuration Traction clutch pedal 62.In driver's seat 8
Right side side, configuration working rig elevating lever 63 and walking main shift lever 64.In the left of driver's seat 8, configuration walking pair gear lever 65.
In front of the right side of driver's seat 8, the differential locking pedal 66 of the Differential Driving of configuration locking or so rear wheel 4.In driver's seat 8
Rear side, in the rolling of the pendulum construction of the left and right deflection of the upper surface side configuration detection traveling machine body 2 of hydraulicefficiency elevation structure 20
Sensor 67.
Then, as shown in Fig. 3~Fig. 7, hydraulicefficiency elevation structure 20 has the hydraulic fluid tank 72 of setting hydraulic lifting cylinder 71, is rising
Slideably plunger 73 in cylinder 71 drop, and in hydraulic fluid tank 72 via promoting lift arm of the axis 74 rotatably arranged with left and right
29 base end part.Moreover, piston 73 is made to link with axis 74 is promoted by pitman 75 and by pressure arm 76, it is configured to, via connection
The sliding of piston 15 is transmitted to lift arm 29 by stick 75 by pressure arm 76, promotion axis 74, to make the front end side of lift arm turn up and down
It is dynamic.
In addition, having the lift valve 81 that control lift cylinders 71 work.Lift valve 81 is fixed in the lower face side of hydraulic fluid tank 72.
Via lift valve 81, lift cylinders 71 is made to be hydraulically connected to the hydraulic pump driven by diesel engine 5 (diagram is omitted).In addition, passing through liter
The traveller 82 of drop valve 81 makes the working oil " rising " " neutrality " " decline " of lift cylinders 71 switch in this way.
In 82 sandwiched of the traveller multi-motion spring 83 of lift valve 81, direction that traveller 82 to projected direction, i.e. " is declined "
Force.The one end of push rod 84 abuts to the front end of traveller 82, rotatable via fulcrum axis body 85 in the another side of push rod 84
The middle part of ground axle suspension connection gonnecting rod body 86.The middle part of push rod 84 is sliding freely supported on and is set to hydraulic fluid tank 72
Bear cylinder 87.That is, sliding freely being configured push rod 84 in hydraulic fluid tank 72 via cylinder 87 is born.
In addition, the descending operation axis 88 of working rig elevating lever 63 will be pivotally supported and via feedback (Japanese：フィードバッ
Network) link mechanism 89 is attached to the resetting shaft 90 of lift arm 29, rotationally it is pivotally supported on the opposite side of hydraulic fluid tank 72.This
Outside, by descending operation axis 88 and the configuration of resetting shaft 90 on same axial line, and the axis connecting rod 91 for promoting axis 74 will be fixed on
Linked by feedback rod 93 with the axis connecting rod 92 for being fixed on resetting shaft 90, to form feedback linkage mechanism 89.
As shown in figure 9, in the base end side of the integrally fixed operation arm 94 of descending operation axis 88, in the front end side of motion arm 94
Fixed operation shank 95, and in the base end side of the integrally fixed reset arm 96 of resetting shaft 90, it is solid in the front end side of reset arm 96
Surely shank 97 is resetted.Make operation shank 95 and reset shank 97 and connect the two end sides abutting of gonnecting rod body 86, and is configured to：Logical
When crossing the step-down operation (82 lowering action of traveller) of working rig elevating lever 63 makes lift arm 29 decline work, pass through feedback linkage
Mechanism 89 makes traveller 82 reset to neutral (hydraulic pressure stopping) position, and rotary cultivator 24 is made to be supported on the decline behaviour of working rig elevating lever 63
Make position, on the other hand, so that lift arm 29 is increased in the lifting operations (82 vertical motion of traveller) by working rig elevating lever 63
When having worked, so that traveller 82 is reset to neutral (hydraulic pressure stopping) position by feedback linkage mechanism 89, rotary cultivator 24 is made to be supported on
The lifting operations position of working rig elevating lever 63.
In addition, as shown in Fig. 7, Fig. 9, the middle part of ploughing and weeding depth limit gonnecting rod body 98 is rotationally pivotally supported on fulcrum
Axis body 85, and the base end side for limiting arm 99 is integrally fixed in aftermentioned ploughing and weeding depth detection axis 124, before limiting arm 99
Limitation shank 100 is fixed in end side.Make limitation shank 100 engaging in the one end of ploughing and weeding depth limit gonnecting rod body 98, via aftermentioned
Sensor input limitation body 112 so that ploughing and weeding depth limit gonnecting rod body 98 and the lifting moving of ploughing and weeding back cover 43 is turned in linkage
It is dynamic, it is configured to the ploughing and weeding depth detection according to ploughing and weeding back cover 43 as a result, automatically controlling the ploughing and weeding depth of rotary cultivator 24.In addition,
It is configured to, when ploughing and weeding back cover 43 is raised to maximum rising (maximum ploughing and weeding depth) position, ploughing and weeding depth limit gonnecting rod body
98 another side is abutted with the limitation wall portion 72a of hydraulic fluid tank 72, and the ploughing and weeding depth of rotary cultivator 24 is limited.
Also, as shown in Fig. 3, Fig. 6~Fig. 9, has the sensor conductor 111 for being attached to ploughing and weeding back cover 43, after the ploughing and weeding
Cover 43 is the operation sensor over the ground being detected to the ploughing and weeding depth of the rotary cultivator 24 as working rig over the ground, passes through sensor
Conducting wire 111 is detected ploughing and weeding back cover 43 (operation sensor over the ground) angle.The one end of sensor conductor 111 is set to be attached to
Ploughing and weeding back cover 43, also, the another side of sensor conductor 111 is made to be attached to intermediate connecting rod 110.Make sensor input lever 114
One end via decline side absorb spring 113 be attached to intermediate connecting rod 110.Spring 113 is absorbed by sensor by declining side
Input lever 114 is suppressed in 111 tensile side of sensor conductor.
In addition, as shown in fig. 6, the resetting shaft 90 and the connection of sensor conductor 111 that are operated in lift valve 81 are set on the way
Set sensor input limitation body 112.By be attached to aftermentioned ploughing and weeding depth set bar 126 sensor connecting rod 115 and via
Adjusting screw 116 is attached to the adjusting connecting rod 117 of sensor connecting rod 115, has been formed separately sensor input limitation body 112.Make
Ploughing and weeding depth detection axis 124 is flush-mounted in resetting shaft 90, and the base end side for linking connecting rod 118 is arranged in ploughing and weeding depth detection axis 124, makes
The front end for linking connecting rod 118 is attached to the another side of sensor input lever 114, and in the middle part for linking connecting rod 118
It secures and links shank 119.
As shown in fig. 6, in sensor connecting rod 115 and between adjusting connecting rod 117, loosely assembly engaging links shank 119,
And the pine of shank 119 (is linked with the interval for adjusting connecting rod 117 can change sensor connecting rod 115 by adjusting screw 116
Dynamic assembly amplitude) mode into joining line, be thus configured to that the limited amplitude of sensor input limitation body 112 can be adjusted.
The setting of 111 tensile side of sensor conductor links the resetting spring 120 of connecting rod 118 for suppressing bearing, is configured to, by resetting bullet
Spring 120 will link the abutting of shank 119 and be supported on 115 side of sensor connecting rod.That is, by sensor connecting rod 115 and adjusting connecting rod 117
It is formed separately sensor input limitation body 112, and the limited amplitude for being configured to adjustment sensor input limitation body 112 passes
Sensor connecting rod 115 and the interval (mobile range for linking shank 119) for adjusting connecting rod 117, therefore can easily change rotary tillage
The lifting speed of machine 24 can improve the response of lift valve 81.
As shown in figure 9, ploughing and weeding depth setting shaft 125 is made to be flush-mounted in resetting shaft 90, ploughed in the setting of ploughing and weeding depth setting shaft 125
The base end side for weeding depth setting bar 126, the base end side of setting arm 127 is integrally fixed in ploughing and weeding depth setting shaft 125, is being set
Setting shank 128 is fixed in the front end side of arm 127.Make setting shank 128 engaging in the other end of ploughing and weeding depth limit gonnecting rod body 98
Side makes the ploughing and weeding depth of rotary cultivator 24 automatically be controlled so as to the ploughing and weeding depth set by ploughing and weeding depth setting bar 126.
In addition, as shown in fig. 6, having ploughing and weeding depth setting link mechanism 131, which sets link mechanism 131
Sensor connecting rod 115 is set to be attached to ploughing and weeding depth setting bar 126.Bar 132,133, the setting of ploughing and weeding depth are set by ploughing and weeding depth
Connecting rod 134,135 and relay axis 136 etc. form ploughing and weeding depth setting link mechanism 131.Bar 126 is being set by ploughing and weeding depth
In the limited amplitude of the ploughing and weeding depth of setting, the work oil stream amount of lift cylinders 71 is limited, and is configured to control rotary cultivator 24
Rise or fall speed.Elastic screw buckle 137 is set in ploughing and weeding depth setting bar 133, forms ploughing and weeding depth telescopically adjustablely
Degree setting bar 133, adjusts the length of ploughing and weeding depth setting bar 133, so as to change sensor connecting rod 115 and adjust connecting rod
117 restricted area (rise restricted area and decline the balance of restricted area).That is, the ploughing and weeding depth in rotary cultivator 24 is controlled automatically
In system, for example, falling to slightly for rotary cultivator 24 can be made, make rising to substantially for rotary cultivator 24, makes rotary cultivator 24 to decline
The mode that side declines small, uplifted side rises greatly lifts.
By above-mentioned structure, ploughing and weeding back cover 43 uplifted side drastically displacement and keep sensor conductor 111 loose greatly
When, in sensor connecting rod 115 and between adjusting connecting rod 117, the movement of shank 119 is linked, on the other hand, in ploughing and weeding back cover 43 under
Drop side drastically displacement and when sensor conductor 111 being made to stretch big, decline side and absorb spring 113 and compressed.That is, even if after ploughing and weeding
Cover 43 is in uplifted side or declines side sharp displacement, and the traveller 82 of the lift valve 81 of the lifting moving based on ploughing and weeding back cover 43 operates
Amount is also limited, and the work oil stream amount of the lift cylinders 71 controlled by lift valve 81 is also limited, and is a small amount of in work oil stream amount
Lift cylinders 71 work in range, can prevent rotary cultivator 24 from sharp rising or falling.The ploughing and weeding that rotary cultivator 24 can be reduced is deep
Spend the swing (unstable control action) automatically controlled.
Relative to the displacement drastically of ploughing and weeding back cover 43, make connection gonnecting rod body 86 via connecting rod 118 and resetting shaft 90 is linked
It slowly works, in the slow range of the lifting speed of lift cylinders 71, according to the lifting moving of ploughing and weeding back cover 43, automatically controls
The ploughing and weeding depth of the ploughing and weeding depth of rotary cultivator 24, rotary cultivator 24 is maintained at set depth.It is operated by adjusting screw 116 to become
More sensor connecting rod 115 with adjust connecting rod 117 interval, so as to adjust lift cylinders 71 lifting speed limitation range
(limited amplitude), the lifting speed in being automatically controlled by the ploughing and weeding depth of rotary cultivator 24 can change ploughing and weeding depth and control automatically
The response of system.
In the following, 0~Figure 15 referring to Fig.1, illustrates the hydraulicefficiency elevation structure 20 of second embodiment.In second embodiment
In, limitation body 112 is inputted as sensor, has sensor input limiting rod 211, to replace above-mentioned first embodiment
Sensor input limitation body 112 (sensor connecting rod 115 adjusts connecting rod 117), sensing is provided in ploughing and weeding depth detection axis 124
Device inputs limiting rod 211.Input limiting holes 211a is formed in sensor input limiting rod 211, loosely assembly engaging connects
It is shank 119, and ploughing and weeding depth setting bar 133 is attached to sensor and inputs limiting rod 211.Moreover, implementing with first
Mode is identical, ploughing and weeding back cover 43 uplifted side sharp displacement and keep sensor conductor 111 loose it is big when, link shank
119 input limiting holes 211a in move, on the other hand, ploughing and weeding back cover 43 decline side sharp displacement and so that sensor is led
When line 111 stretches big, declines side absorption spring 113 and compressed, it is therefore prevented that rotary cultivator 24 sharp rises or falls, and reduces
Swing (unstable control action) that the ploughing and weeding depth of rotary cultivator 24 automatically controls etc..
As shown in Fig. 1, Fig. 6, Figure 11, via link mechanism 23 by as the rotary cultivator 24 of working rig over the ground liftably
It is installed on the tractor 1 as the working truck supported freely by front vehicle wheel 3 and the walking of rear wheel 4 and has lifting and move
After ploughing and weeding of the hydraulic lifting cylinder 71 and lift valve 81 and detection of dynamic rotary cultivator 24 as the sensor of operation over the ground of rotary cultivator 24
In the posture control device for covering the working rig of the sensor conductor 111 of 43 angles, in the company of lift valve 81 and sensor conductor 111
Knot is provided with sensor input limitation body 112 on the way.Therefore, it is possible to be limited by the limitation of the angle detection limit of ploughing and weeding back cover 43
Lift valve 81 processed switches range, and ploughing and weeding depth, Neng Goufang can be controlled in the slow region of the lifting speed of hydraulic lifting cylinder 71
Only swing.For example, in the case where installing rotary cultivator 24 as working rig over the ground, according to ploughing and weeding back cover 43 (over the ground made
Industry sensor) the testing result rotated upwardly and downwardly switch hydraulic lifting valve 81, the ploughing and weeding depth of rotary cultivator 24 remained into perseverance
In the construction that fixed tilling depth automatically controls, even if sharp displacement obtains greatly ploughing and weeding back cover 43, the liquid controlled by hydraulic lifting valve 81
The work oil stream amount of pressure lift cylinders 71 will not change greatly, suitably tilling depth can be kept to automatically control amplitude.In addition, with electricity
Detect to property ploughing and weeding back cover 43 rotate upwardly and downwardly and according to the testing result come switch the hydraulic lifting valve of electromagnetic type construction,
Or separately set the construction of the special hydraulic valve automatically controlled for tilling depth except hydraulic lifting valve 81 and compare, it can be simply
Simplify tilling depth and automatically control construction, and can easily reduce the manufacturing cost that tilling depth automatically controls construction.
As shown in Fig. 6, Figure 11, using having the sensor input lever 114 that sensor conductor 111 is attached to lift valve 81
Construction, and be configured to absorb spring 113 by declining side and sensor input lever 114 is suppressed into sensor conductor 111 stretch
Side.Therefore, it is possible to reduce rotary cultivator 24 (back cover 43) big displacement influence.For example, being stretched in sensor conductor 111
When side changes greatly, the mutation of Absorbing Sensor conducting wire 111 is capable of in the overcoming elastic force pressure displacement of sensor input lever 114, another
Aspect can be inputted limitation body 112 by sensor and absorb above-mentioned sensing in sensor conductor 111 when slack-side changes greatly
The mutation of device conducting wire 111, therefore, it is possible to simplify the construction of sensor input limitation body 112.
As shown in Fig. 6, Figure 11, as working rig over the ground and had for setting ploughing and weeding depth using setting rotary cultivator 24
The ploughing and weeding depth as ploughing and weeding depth setting member of degree sets the construction of bar 126, and the sensor input limitation body 112 is made to connect
Tie ploughing and weeding depth setting bar 126.It is controlled in limited amplitude therefore, it is possible to set the set depth of bar 126 in ploughing and weeding depth
The lifting speed of rotary cultivator 24.The set depth operation that bar 126 is set regardless of ploughing and weeding depth, can be always in lifting speed
Spend slow region control ploughing and weeding depth.
As shown in Fig. 6, Figure 11, using the ploughing and weeding depth as ploughing and weeding depth setting member having for setting ploughing and weeding depth
The construction of bar 126 is set, and setting makes sensor input limitation body 112 be attached to the ploughing and weeding depth that ploughing and weeding depth sets bar 126
Bar 133 is set, ploughing and weeding depth setting bar 133 is made to be formed to stretch, is configured to adjustment sensor input limitation body 112
Limited amplitude.Therefore, it is possible to simply change sensor input limitation body 112 restricted area (uplifted side restricted area with
Decline the balance of side restricted area), the response of lift valve 81 can be improved.For example, the change relative to sensor conductor 111
Change, the lifting speed of rotary cultivator 24 can be set to decline side small, uplifted side rises greatly, rotary cultivator can be inhibited
Sharp increase (overload operating) of 24 driving load etc..
In the following, 7~Figure 20 referring to Fig.1, illustrates the construction of hydraulic rolling cylinder 32 and hydraulic circuit.As shown in figure 20, hydraulic pressure
The lift valve 81 that elevating mechanism 20 has the lift cylinders 71 of lifting driving left and right lift arm 29 and control lift cylinders 71 work.It constitutes
To switch lift valve 81 by the operation of working rig elevating lever 63, so that lift cylinders 71 is worked, make 24 lifting moving of rotary cultivator.
In addition, having the hydraulic rolling valve 181 for the electromagnetic type that control rolling cylinder 32 works.Rolling valve 181 has 182 He of left-leaning solenoid
Right deviation solenoid 183.It is configured to, according to the testing result of roll sensor 67, to left-leaning solenoid 182 or Right deviation solenoid
183 carry out excitation, switch Rolling valve 181, and rolling cylinder 32 is made to work, and the bearing of rotary cultivator 24 is horizontal in couples.
Also, as shown in figure 20, via flow divider 185, lift valve 81 and Rolling valve 181 is made to be hydraulically connected to by diesel engine
The hydraulic pump 184 of 5 drivings.In addition, via oil circuit 188,189, Rolling valve 181 is made to be hydraulically connected to the bar side cylinder chamber of rolling cylinder 32
186 and bottom side cylinder chamber 187, and the oil circuit 188 between Rolling valve 181 and bar side cylinder chamber 186, it is packed into the non-return being arranged in parallel
Valve 190 and hydraulic throttle valve 191 adjust the hydraulic flow of oil circuit 188 by check-valves 190 and hydraulic throttle valve 191, constitute
For the Performance optimization of the backhaul movement and drawback movement of the rolling cylinder 32 for having made piston rod 33 down-set.
On the other hand, as shown in Fig. 4, Figure 17~Figure 19, via lift pin 192, the suspension part 193 of rolling cylinder 32 is made to link
To lift arm 29, the piston rod 33 of rolling cylinder 32 is made to be downwardly projected towards lower link 21 (link mechanism 23).Make piston main body
195 slideably in insert in the cylinder barrel 194 of rolling cylinder 32, be fastened and fixed one end of piston rod 33 in the side of piston main body 195
Side (upper end side).Inside cylinder barrel 194, via piston main body 195, bar side cylinder chamber 196 and bottom side cylinder chamber 197 are formd.
In addition, the cylinder cap 223 in rolling cylinder 32 integrally fixes suspension part 193, and make hydraulic oil in the configuration of cylinder cap 223
The bar side mouth 221 of disengaging bar side cylinder chamber 196 and the bottom side mouthful 222 for making hydraulic oil disengaging bottom side cylinder chamber 197.In 221 He of bar side mouth
Hydraulic hose conjugant 224,225 is respectively set in bottom side mouthful 222, and each hydraulic hose conjugant 224,225 is made to be connected respectively to liquid
Press each oil circuit 188,189 of Rolling valve 181.
Also, so that the one end of oil-way pipe 227 is attached to the cylinder mouth body 226 of bar side cylinder chamber 196, make the one of oil-way pipe 227
End side is communicated to bar side cylinder chamber 196.On the other hand, the another side of oil-way pipe 227 is made to be attached to cylinder cap 223, and in cylinder cap
223 in plunger 228 via setting pressure-regulating valve body 229.By pressure-regulating valve body 229, forms check-valves 190 and be opened in only
Return the hydraulic throttle valve 191 of valve 190.In the back pressure side of check-valves 190, the another of oil-way pipe 227 is connected to via connection oil circuit 230
End side is configured to, and the hydraulic oil of hydraulic pump 184 is made to be supplied to bar side cylinder chamber 186 via hydraulic rolling valve 181 and check-valves 190,
On the other hand, so that the hydraulic oil of bar side cylinder chamber is returned to via hydraulic throttle valve 191 and hydraulic rolling valve 181 and be used as operating oil tank
Gearbox 16.
In the following, as shown in figure 21, having the ability of posture control controller 234 formed by microcomputer.Make setting rotary cultivator
The inclination at 24 angle of inclination over the ground sets dial (Japanese：ダ イ ヤ Le) 235, detect tractor movement speed speed
The promotion of the PTO rotation sensors 237 of the rotary speed of sensor 236, detection PTO shaft 28, the lifting angle of detection lift arm
Angle transducer 238 and the roll sensor 67, input are connected to ability of posture control controller 234.On the other hand, make "Left"-deviationist
Solenoid 182 and the output of Right deviation solenoid 183 are connected to ability of posture control controller 234.
Moreover, as shown in the flow chart of Figure 22, the inclination angle that roll sensor 67 is detected is read, and read inclination and set
It calibrates 235 value of scale, 236 value of vehicle speed sensor, 237 value of PTO rotation sensors and promotes 238 value of angle transducer.According to inclination
It sets 235 value of dial, 236 value of vehicle speed sensor, 237 value of PTO rotation sensors and promotes 238 value of angle transducer, operation rotation
Sentence at the angle of inclination over the ground of rotary cultivator 24 and inconsistent inclination setting 235 value of dial at the angle of inclination over the ground of the machine of ploughing 24
The "Left"-deviationist of disconnected rotary cultivator 24 or Right deviation, to carry out excitation, switching hydraulic pressure rolling to left-leaning solenoid 182 or Right deviation solenoid 183
Dynamic valve 181, corrects the angle of inclination over the ground of rotary cultivator 24 (tilt angle).
As shown in Fig. 1, Fig. 5~Figure 20, via link mechanism 23 by 24 liftable of rotary cultivator as working rig over the ground
Ground is installed on the tractor 1 as the working truck supported freely by front vehicle wheel 3 and the walking of rear wheel 4 and has level
Control the agricultural work vehicle of the hydraulic rolling cylinder 32 of rotary cultivator 24 and the roll sensor 67 of detection rotary cultivator to tilt
In posture control device, check-valves 190 and hydraulic throttle valve 191 are provided in the cylinder cap 223 of rolling cylinder 32.Therefore, it is possible to right
The performance of check-valves 190 and hydraulic throttle valve 191 is all ensured that in each rolling cylinder 32.Oil path structure can be constituted at low cost.
The natural decline of rotary cultivator 24 can be ensured with hydraulic cylinder structure.Each of multiple types that need not be different to specification respectively with
Each specification is accordingly specially constructed the hydraulic rolling valve 181 of Performance optimization, and the level of can be easily implemented automatically controls construction
Simplification or manufacturing cost reduction etc..
As shown in Fig. 5~Figure 20, in 223 built-in check valve 190 of cylinder cap and hydraulic throttle valve 191 of rolling cylinder 32, and
The bar side mouth 221 for having the bar side cylinder chamber 196 configured for piston rod 33 for making hydraulic oil disengaging rolling cylinder 32, in rolling cylinder 32
Cylinder cap 223 is provided with bar side mouth 221.Therefore, it is possible to simply form the face shaping of rolling cylinder 32, while can be to each rolling
Dynamic cylinder 32 all ensures that the performance of check-valves 190 and hydraulic throttle valve 191.
As shown in Fig. 5~Figure 20, so that rolling cylinder 32 is attached to the lift arm 29 of tractor 1, make the work of above-mentioned rolling cylinder 32
Stopper rod 33 is downwardly projected towards link mechanism 23, and so that hydraulic oil is passed in and out rolling cylinder 32 in the configuration of the cylinder cap of rolling cylinder 32 223
The bar side cylinder chamber 196 configured for piston rod 33 bar side mouth 221 and so that hydraulic oil is passed in and out the bottom side cylinder chamber 197 of rolling cylinder 32
On the other hand bottom side mouthful 222 is configured to, so that the one end of oil-way pipe 227 is connected to bar side cylinder chamber 196, make oil-way pipe 227
Another side is connected to the interior above-mentioned check-valves 190 set on cylinder cap 223 and hydraulic throttle valve 191.Therefore, it is possible to simply form
The face shaping of rolling cylinder 32, while the performance of check-valves 190 and hydraulic throttle valve 191 can be ensured each rolling cylinder 32.
In particular, making piston rod 33 hydraulic hose can be made to concentrate on rolling cylinder 32 from 32 downward projection of construction of rolling cylinder
Be piped to 223 side of cylinder cap of end side, can simply by hydraulic hose be supported on tractor 1 29 side of lift arm it is higher
Position.
Reference sign
1 tractor (working truck)
3 front vehicle wheels
4 rear wheels
23 3 point linkage mechanisms
24 rotary cultivators (working rig over the ground)
32 rolling cylinders
33 piston rods
43 ploughing and weeding back covers (operation sensor over the ground)
67 roll sensors
71 lift cylinders
81 lift valves
111 sensor conductors
112 sensors input limitation body
114 sensor input levers
133 ploughing and weeding depth set bar
181 hydraulic rolling valves
190 check-valves
191 hydraulic throttle valves
196 bar side cylinder chambers
197 bottom side cylinder chambers
211 sensors input limiting rod (sensor input limitation body)
221 bar side mouths
222 bottom sides mouthful
223 cylinder caps
227 oil-way pipes.
Claims (8)
1. a kind of posture control device of working rig working rig will be liftably installed on by front vehicle wheel over the ground via link mechanism
Walk the working truck that supports freely with rear wheel, and have described in lifting moving the hydraulic lifting cylinder of working rig over the ground and
Lift valve and the sensor conductor that the sensor angles of operation over the ground of the working rig over the ground are detected, which is characterized in that
It is provided with sensor input limitation body on the way in the connection of the lift valve and sensor conductor, moreover, being configured to
Adjust the limited amplitude of the sensor input limitation body.
2. the posture control device of working rig according to claim 1, which is characterized in that
It is formed separately the sensor input limitation body.
3. the posture control device of working rig according to claim 1, which is characterized in that
Using the construction for having the sensor input lever that sensor conductor is attached to the lift valve, and it is configured to the biography
Sensor input lever suppresses the sensor conductor tensile side.
4. the posture control device of working rig according to claim 1, which is characterized in that
Working rig and has ploughing and weeding depth setting member for setting ploughing and weeding depth over the ground as described in using setting rotary cultivator
Construction, and linked sensor input limitation body in the ploughing and weeding depth setting member.
5. the posture control device of working rig according to claim 1, which is characterized in that
Have the hydraulic rolling cylinder of working rig and the rolling of working rig to tilt over the ground described in detection over the ground described in horizontal control
Dynamic sensor,
It is provided with check-valves and hydraulic throttle valve in the cylinder cap of the rolling cylinder.
6. the posture control device of working rig according to claim 5, which is characterized in that
The check-valves and hydraulic throttle valve built in cylinder cap in the rolling cylinder, and having makes hydraulic oil pass in and out the rolling
The bar side mouth of the bar side cylinder chamber for piston rod configuration of cylinder is provided with the bar side mouth in the cylinder cap of the rolling cylinder.
7. the posture control device of working rig according to claim 5, which is characterized in that
So that the rolling cylinder is attached to the lift arm of the working truck, makes the piston rod of the rolling cylinder towards the connecting rod machine
Structure is downwardly projected, and the bar configured for piston rod for making hydraulic oil pass in and out the rolling cylinder is configured in the cylinder cap of the rolling cylinder
The bar side mouth of side cylinder chamber and the bottom side mouthful for the bottom side cylinder chamber that hydraulic oil passes in and out the rolling cylinder is made on the other hand to be configured to, make oil
The one end of road pipe is connected to the bar side cylinder chamber, and the another side of the oil-way pipe is made to stop set on the described of the cylinder cap with interior
Valve is returned to be connected to hydraulic throttle valve.
8. the posture control device of working rig according to claim 1, which is characterized in that
Sensor is set and inputs limiting rod as sensor input limitation body, shape on limiting rod is inputted in the sensor
At there is input limiting holes.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013166347A JP6325210B2 (en) | 2013-08-09 | 2013-08-09 | Attitude control device for work equipment |
| JP2013-166348 | 2013-08-09 | ||
| 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 CN105472965A (en) | 2016-04-06 |
| CN105472965B true CN105472965B (en) | 2018-07-24 |
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Family Applications (1)
| 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 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105472965B (en) |
| WO (1) | WO2015019942A1 (en) |
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| JP2889412B2 (en) * | 1991-11-03 | 1999-05-10 | 三菱農機株式会社 | Tillage depth detection device for tractors |
| CN201025763Y (en) * | 2005-08-29 | 2008-02-27 | 王吉会 | Up-down manual automatic compound control mechanism of tractor cultivation machine set |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5973128U (en) * | 1982-11-09 | 1984-05-18 | ヤンマーディーゼル株式会社 | Agricultural tractor work equipment control device |
| JPS5988008A (en) * | 1982-11-15 | 1984-05-21 | ヤンマーディーゼル株式会社 | Working machine control apparatus of agricultural tractor |
| JPS6217807U (en) * | 1985-07-19 | 1987-02-03 | ||
| JP4884997B2 (en) * | 2007-02-07 | 2012-02-29 | ヤンマー株式会社 | Work vehicle |
-
2014
- 2014-07-31 WO PCT/JP2014/070243 patent/WO2015019942A1/en active Application Filing
- 2014-07-31 CN CN201480044132.2A patent/CN105472965B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2889412B2 (en) * | 1991-11-03 | 1999-05-10 | 三菱農機株式会社 | Tillage depth detection device for tractors |
| CN201025763Y (en) * | 2005-08-29 | 2008-02-27 | 王吉会 | Up-down manual automatic compound control mechanism of tractor cultivation machine set |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3977838A4 (en) * | 2019-05-29 | 2023-07-05 | Kubota Corporation | Tractor |
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| Publication number | Publication date |
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| WO2015019942A1 (en) | 2015-02-12 |
| CN105472965A (en) | 2016-04-06 |
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