JP2002058308A - Working implement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely prevent the interference of a working device with a travel vehicle body. SOLUTION: This working machine characterized by disposing a parallel return control mechanism formed to return and hold the working device in an approximately parallel posture in which the relative rotation change of the working device to a travel vehicle body is zero or approximately zero, by connecting a lift detection means for detecting the lift of the working device with respect to a prescribed ground level and a relative rotation displacement detection means for detecting a relative rotation displacement on a support shaft for swinging the working device with respect to the travel vehicle body to the input side of the above control means, canceling the functions of a horizontal control mechanism on the basis of the detection result of the lift detection means, and operating a posture control means on the basis of the detection result of the relative rotation displacement detection means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a working machine.

[0002]

2. Description of the Related Art Conventionally, as one form of a working machine, a working device is connected to the rear of a traveling vehicle body via an elevating mechanism, and the hitch body is connected to the elevating mechanism via a swing support shaft whose axis is oriented in the front-rear direction. The hitch body is swingable about a swing support shaft. The hitch body is provided with a swing attitude detecting means for detecting the swing attitude of the working device with respect to the ground. A posture control means is provided between the body and the elevating mechanism, and the swing posture detection means is connected to the input side of the control means, while the posture control means is connected to the output side of the control means, and the swing detection means is provided. Some have a horizontal control mechanism configured to maintain the working device in a substantially horizontal posture by operating the posture control means based on the detection result of the above.

[0003]

However, in the working machine described above, the working device is raised at the time of traversing. However, since the horizontal control mechanism is functioning, the traveling vehicle body is caused by irregularities in the field scene and the like. Is in a tilted posture,
A problem may occur in which the working device held in a substantially horizontal posture by the horizontal control mechanism interferes with the traveling vehicle body in the inclined posture as it rises.

[0004]

SUMMARY OF THE INVENTION Therefore, the present invention relates to a swing support shaft in which a working device is connected to the rear of a traveling vehicle body via an elevating mechanism, and the hitch body is oriented in the front-rear direction to the elevating mechanism. The hitch body is swingable about a swing support shaft, and the hitch body is provided with a swing attitude detecting means for detecting the swing attitude of the working device on a ground reference. Attitude control means is provided between the hitch body and the elevating mechanism, and the swing attitude detection means is connected to the input side of the control means, while the attitude control means is connected to the output side of the control means to detect the swing. In a working machine having a horizontal control mechanism configured to hold the working device in a substantially horizontal posture by operating the attitude control means based on the detection result of the means, the working device has risen above a predetermined ground height. Rise detecting means for detecting A relative rotation displacement detecting means for detecting a relative rotation displacement about a swing support shaft of the working device with respect to the traveling vehicle body, on an input side of the control means, and based on a detection result of the ascent detection means. By releasing the function of the horizontal control mechanism and operating the attitude control means on the basis of the detection result of the relative rotation displacement detection means, the working device can be moved relative to the traveling vehicle body to zero or substantially zero. The present invention provides a working machine including a parallel return control mechanism configured to return to and hold a parallel posture.

[0005] The present invention also has the following features.

The parallel return control mechanism shares the control means of the horizontal control mechanism and is electrically detachably connected to the horizontal control mechanism.

The relative rotation displacement detecting means includes a pair of left and right rotation displacement detection switches integrally attached to the lifting mechanism,
A swing cam that is integrally attached to the hitch body and swings around a swing support shaft, and the contact terminals of the rotation displacement detection switch are provided at left and right ends of the swing cam, respectively. Abutting to detect that the traveling vehicle body and the working device are in a substantially parallel posture.

[0008]

The embodiments of the present invention will be described below.

That is, the working machine according to the present invention has a basic structure in which a working device is connected to the rear of a traveling vehicle body via an elevating mechanism, and the hitch body is pivoted to the elevating mechanism in a longitudinal direction. Attached via a support shaft, the hitch body is swingable about a swing support shaft, and the hitch body is provided with a swing posture detecting means for detecting the swing posture of the working device on a ground reference. At the same time, providing attitude control means between the hitch body and the elevating mechanism, connecting the swing attitude detection means to the input side of the control means, while connecting the attitude control means to the output side of the control means, There is provided a horizontal control mechanism configured to maintain the working device in a substantially horizontal posture by operating the posture control means based on the detection result of the swing detection means.

As a characteristic structure, an ascent detecting means for detecting that the working device has risen to a predetermined height above the ground, and a relative rotational displacement of the working device with respect to the traveling vehicle body about the swing support shaft. Relative rotation displacement detection means to the input side of the control means, cancels the function of the horizontal control mechanism based on the detection result of the rise detection means, and outputs the detection result of the relative rotation displacement detection means. A parallel return control mechanism configured to operate the attitude control means based on the attitude control means so as to return and hold the working device to a substantially parallel attitude in which the relative rotational displacement with respect to the traveling vehicle body is zero or close to zero is provided.

Here, the parallel return control mechanism shares the control means of the horizontal control mechanism, and is electrically detachably connected to the horizontal control mechanism.

The relative rotation displacement detection means includes a pair of left and right rotation displacement detection switches integrally attached to the lifting mechanism, and is attached to the hitch body so as to be swingable about a swing support shaft. And the contact terminals of the rotation displacement detection switch are respectively brought into contact with the left and right end portions of the swing cam so that the traveling vehicle body and the working device are in a substantially parallel posture. I try to detect.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

A shown in FIG. 1 is a working machine according to the present invention. In the working machine A, a tilling device C as a working device is connected to the rear of a traveling vehicle body B via a lifting mechanism D.

As shown in FIG. 1, a traveling vehicle body B has a vehicle body frame 2 interposed between a pair of left and right crawler traveling units 1 and 1, and a driving unit 3 is provided on the vehicle body frame 2 at a front portion.
And a prime mover unit 4 and a transmission unit 5 are vertically arranged at the rear, and the traveling units 1 and 1 are connected to the prime mover unit 4 via the transmission unit 5 in an interlocked manner.

The traveling section 1 has a front driven wheel 11 attached to a front end of a traveling frame 10 extending in the front-rear direction via an idler fork 12, a rear driven wheel 13 attached to a rear end, and a transmission section. A driving wheel 15 is interlocked to the driving wheel 5, and a crawler belt 16 is wound around these driving wheels 11, 13, and 15. On the lower side of the traveling frame 10, three first -The second and third rolling wheels 17a, 17b, 17c are mounted. 11a is a front driven wheel support shaft, 13a is a rear driven wheel support shaft, 15a
Is a drive shaft, and 18 is a drive shaft support frame.

The vehicle body frame 2 has a front left-right connecting frame 19 between the front portions of a pair of left and right running frames 10 extending in the front-rear direction. A pair of right and left extension frames 21 and 21 are laid between the front and rear left and right connection frames 19 and 20 with the rear left and right connection frame 20 interposed therebetween.
A guard frame 22, which is formed in a rectangular frame shape in a plan view, is laterally formed on the front and rear extension frames 21, 21. 29 is a safety frame.

The operating section 3 has a floor 23 extending in the front half of the guard frame 22 and a handle column 24 on the front of the floor 23.
A handle 27 (steering wheel) is attached to the handle column 24 via a handle support shaft 26, and a seat 27 is disposed at a position behind the handle 25. Various operation levers are arranged at the side position.

At a position below the seat 27, a control means 28 for controlling the posture of the working device, which will be described later, is provided.

The engine unit 4 is provided with an engine E at a position rearward of the seat 27, and the transmission unit 5 is interlocked to an output shaft 30 of the engine E via a first transmission mechanism 31 and a chain case 32. And a PTO shaft described later on the output shaft 30.
33 is interlockingly connected via a second transmission mechanism 34.

As shown in FIG. 2, the PTO shaft 33 is provided between the middle portions of the rising frames 21a, 21a formed by raising the rear portions of the pair of right and left extending frames 21, 21 upward. An input pulley that extends horizontally and extends through the coaxial receiving pipe 35 and forms a part of the second transmission mechanism 34 at the left end of the PTO shaft 33.
A transmission mechanism 37 is interposed between the right end of the PTO shaft 33 and the input shaft 36 of the tilling device C, which will be described later, while attaching 34a.

In the tilling apparatus C, as shown in FIGS. 1 and 2, a connecting body 41 is attached to an upper end of a vertically extending chain case 40, and an input shaft 36 projects outward from an upper side wall. The transmission mechanism 37 is connected to the right end of the input shaft 36 in an interlocking manner, while the lower end of the chain case 40 is penetrated by a cultivating shaft 43 oriented in the left-right direction. A plurality of 44s are attached along the axis of the tilling shaft 43. 40a is an output sprocket, 40b is an input sprocket, 40c is a transmission chain, 45 is an input shaft case, 46 is a side cover, 47 is a rear cover, and 48 is a hanger rod.

As shown in FIG. 2, the transmission mechanism 37 includes a pair of front and rear gear cases 50, 51, a transmission shaft 52 interposed between the two gear cases 50, 51, and a shaft covering the outer periphery of the transmission shaft 52. And a cover 53.

The front gear case 50 has a first input gear 54 removably spline-fitted to the right end of the PTO shaft 33.
A first output gear 55 meshed with the first input gear 54,
A first output shaft 56 supporting the first output gear 55 and a first output shaft 56 are accommodated in a first case body 57.

The first case body 57 is provided with a first connection receiving member attached to a lifting arm 80 of a lifting mechanism D which will be described later.
It is detachably connected to 58 via a first connection piece 59. 58
a is a female screw portion, 59a is a first bolt insertion hole, 60 is a first connection bolt, and 61 is a first washer.

The rear gear case 51 has a second input gear which is detachably spline-fitted to the right end of the input shaft 36.
66 and a second output gear 67 meshed with the second input gear 66
And a second output shaft 68 supporting the second output gear 67 are housed in a second case body 69.

The second case body 69 is detachably connected to a second connection receiver 70 attached to the input shaft case 45 via a second connection piece 71. 70a, 71a are second and third bolt insertion holes, 72 is a second connection bolt, 73 is a nut, and 74 is a second washer.

The transmission shaft 52 is provided between a first universal joint 75 attached to the first output shaft 56 and a second universal joint 76 attached to the second output shaft 68 via a shaft body 77 formed to be extendable. It is set up and configured.

Thus, the front and rear gear cases 50,
Reference numeral 51 is removably linked to the PTO shaft 33 and the input shaft 36 so that the transmission mechanism 37 can be moved back and forth.

Further, since the transmission mechanism 37 makes the transmission shaft 52 extendable and retractable and bendable, the lifting mechanism D
Thereby, even when the tillage device C is moved up and down, the connected state can be kept good, and the transmission function can be secured well.

Here, the gear ratios of the first input / output gears 54, 55 provided in the front gear case 50 and the second input / output gears 66, 67 provided in the rear gear case 51 are different. The gears 50 and 51 are switched back and forth to
By interlockingly connecting the TO shaft 33 and the input shaft 36, the PT
The power transmitted from the O-shaft 33 to the input shaft 36 can be changed.

The lifting mechanism D is, as shown in FIGS.
The front ends of a pair of left and right elevating arms 80, 80 are pivotally supported on a bearing pipe 35 supporting the PTO shaft 33 via a pivot boss 81, so that both elevating arms 80, 80 can be vertically rotated. The rear ends of both lifting arms 80, 80 are extended rearward to form a pair of left and right connecting pieces 80a, 80a, and the lower end of the lifting cylinder 82 is connected between the two connecting pieces 80a, 80a. The upper end of the lifting cylinder 82 is connected to the rear part of the guard frame 22, and the lifting arm 80 is turned up and down around the axis of the PTO shaft 33 in conjunction with the expansion and contraction operation of the lifting cylinder 82. It moves and moves up and down.

A swing support shaft 84 is attached to the rear end of the elevating arm 80 so that the swing support shaft 84 is oriented in the front-rear direction, and the swing boss 83 is coaxially turned around the outer peripheral surface of the swing support shaft 84. Fitted movably, a hitch body 85 was attached to the rear end of the swing boss portion 83, and an axis was oriented vertically as attitude control means between the hitch body 85 and the elevating arm 80. An electric attitude control cylinder 86 is interposed, and the hitch body 85 is linked with the expansion / contraction operation of the attitude control cylinder 86.
Perform a swing operation of swinging about the swing support shaft 84. 87 and 88 are cylinder connection brackets, and 89 is a connection cord.

The hitch body 85 is located above the swing support shaft 84 at the upper end of the hitch body 90 formed in a rectangular frame shape.
On the other hand, at the lower end of the hitch body 90, a locking hook 92 is provided below the swing support shaft 84 and serves as a lower bearing.

At the lower end of the hitch main body 90, a hook support shaft 93 whose axis is directed in the left-right direction is horizontally rotatively mounted around the axis via a pair of left and right shaft support bosses 94, 94. ,
A locking hook 92 is attached to the hook support shaft 93 in the middle part toward the rear, and a connecting arm 95 protrudes forward from the locking hook 92, and the connecting arm 95 and the hitch main body. 90
A locking spring 96 and a guide body 97 are interposed between the hook support shaft 93 and the unlocking lever.
The lower end of 98 is attached. 96a and 96b are spring retaining pieces.

Here, the above-described tillage device C is detachably connected to the above-described hitch body 85 via a connecting body 41. While a pair of upper connecting pins 100, 100 are provided, a lower connecting pin 101 whose axis is directed in the left-right direction is provided at the lower part.

As described above, when the upper connecting pins 100, 100 of the connecting body 41 are engaged with the connecting pin receiving recesses 91, 91 of the hitch body 85 from above, and the lifting mechanism D is raised in the same state, The tillage device C is rotated downward by its own weight around the upper connecting pins 100 and 100, and the lower connecting pin 101 is
Locked to 2, the connection work can be completed easily.

When disconnecting the tilling device C from the hitch body 85, the unlocking lever 98 is rotated forward by opposing the urging of the urging spring 96.
The locking hook 92 can be unlocked from the lower connecting pin 101, and if the lifting mechanism D is lowered in the same state, the connecting pin receiving recesses 91, 91 are engaged with the upper connecting pins 100, 100. The connection is released, and the connection release operation can be easily completed.

At the center of the upper end of the hitch body 85, a swinging posture detecting sensor 110 as a swinging posture detecting means for detecting the swinging posture of the tillage device C is mounted via a sensor stay 111. The swing posture detection sensor 110 is arranged at a position above the swing support shaft 84 and at a position in front of the hitch body 85.

In this manner, the tilling device C can be detected by the oscillating posture detecting sensor 110 to follow the oscillating operation of the traveling vehicle body B in the right and left directions. Since the swing posture detection sensor 110 is disposed above the swing support shaft 84 and in front of the hitch body 85, the swing posture detecting sensor 110 swings when the tilling device C is separated from the traveling vehicle body B. It is not necessary to remove the posture detecting sensor 110 one by one, and it is possible to prevent the tilling and scattering soil from adhering to the oscillating posture detecting sensor 110. The effect of motion can be reduced as much as possible.

As shown in FIG. 7, the swing posture detecting sensor 110 is connected to the input side of the control means 28, and is connected to the output side of the control means 28. Cylinder 86 is connected. 110a is a connection code.

As described above, when the tilling device C swings right and left during the tilling operation by the tilling device C, the swing detection sensor 110 detects the operation, and the detection result is obtained. Is output to the control means 28, a signal is output from the control means 28 to the attitude control cylinder 86, and the attitude control cylinder 86 is extended and retracted, so that the hitch body 85 is centered on the swing support shaft 84. A horizontal control mechanism 130 is configured to swing (left-right swing operation) to hold the tilling device C in a horizontal posture with respect to the tilling surface.

Therefore, in the tilling operation by the tilling device C by the horizontal control mechanism 130, the tilling depth can be kept constant, and the tilling operation efficiency can be improved.

As shown in FIGS. 2 to 7, a parallel return control mechanism 131 is provided between the hitch body 85 and the elevating mechanism D. Ascent detection means for detecting that the vehicle has risen above a predetermined ground clearance
132 and a relative rotation displacement detecting means 133 for detecting a relative rotation displacement of the tillage device C about the swing support shaft 84 with respect to the traveling vehicle body B on the input side of the control means 28, The function of the horizontal control mechanism 130 is released based on the detection result of the detection means 132, and the relative rotation displacement detection means 1 is released.
By operating the attitude control cylinder 86 based on the detection result of 33, the tilling apparatus C is configured to return to and hold a substantially parallel attitude in which the relative rotational displacement with respect to the traveling vehicle body B is zero or close to zero. I have.

Here, the parallel return control mechanism 131 shares the control means 28 of the horizontal control mechanism 130, and
30 is electrically detachably connected with a harness or the like.

The ascending detecting means 132 attaches an ascending detecting switch 134, such as a limit switch, between the pair of left and right elevating arms 80, 80 via a support 135, and at a predetermined position of the bearing pipe 35. Lift detection protrusion 136
Is protruding.

In this manner, a pair of left and right lifting arms
When the lifting arms 80, 80 move upward, the lifting detection switch 134 moves upward integrally with the lifting arms 80, 80, and the lifting detection switch 134 comes into contact with the lifting detection protrusion 136 to turn from the ON state to the OFF state. And the function of the swing detection sensor 110 is stopped via the control means 28.

The relative rotation displacement detecting means 133 includes a pair of left and right rotation displacement detection switches 138 and 139 such as a limit switch integrally mounted on the support 135 via a switch mounting bracket 137, and a hitch body. A swing cam 140 which is integrally attached to a swing boss portion 83 supporting the swing cam 85 and is capable of swinging about a swing support shaft 84. Left and right ends of the swing cam 140 The contact terminals 143, 144 of the rotation displacement detection switches 138, 139 are brought into contact with the engagement recesses 141, 142 formed in the above.

In this manner, the contact terminals 143, 144 of the rotational displacement detecting switches 138, 139 are brought into contact with the engaging concave portions 141, 142 formed at the left and right end portions of the swing cam 140, respectively. In the OFF state, it is detected that the traveling vehicle body B and the tillage device C are in a substantially parallel posture, and one of the rotation displacement detection switches 138 (13
The contact terminal 143 (144) of (9) is engaged with the engagement concave portion 141 (1) of the swing cam 140.
42) and the rotation displacement detection switch 138
Is turned on, it is possible to detect that the traveling vehicle body B and the tillage device C are relatively rotationally displaced.

Accordingly, when the rise detecting means 132 detects that the tillage device C has risen to a predetermined height above the ground, the horizontal control function of the horizontal control mechanism 130 is released and the parallel return control mechanism 131 is released. The parallel return control function is activated to return the tilling device C to a substantially parallel posture with the traveling vehicle body B. Therefore, it is possible to reliably prevent the tilling device C from interfering with the traveling vehicle body B. it can.

Further, such a parallel return control mechanism 131
Since it can be retrofitted to an existing work machine having the horizontal control mechanism 130, the function of the existing work machine can be easily improved.

[0052]

According to the present invention, the following effects can be obtained.

According to the first aspect of the present invention, the rising detecting means for detecting that the working device has risen above the predetermined ground height, and the relative rotational displacement of the working device with respect to the traveling vehicle body about the swing support shaft. Is connected to the input side of the control means to release the function of the horizontal control mechanism based on the detection result of the rise detection means and to detect the relative rotation displacement detection means. By operating the attitude control means based on the result, a parallel return control mechanism configured to return and hold the working device to a substantially parallel attitude in which the relative rotational displacement with respect to the traveling vehicle body is zero or close to zero is provided. I have.

In this way, when the rise detecting means detects that the working device has risen above the predetermined height above the ground, the horizontal control function of the horizontal control mechanism is released and the parallel return control mechanism is released. Since the parallel return control function is activated to return the working device to a posture substantially parallel to the traveling vehicle body, it is possible to reliably prevent the working device from interfering with the traveling vehicle body.

In the second aspect of the present invention, the parallel return control mechanism shares the control means of the horizontal control mechanism and is electrically detachably connected to the horizontal control mechanism.

In this way, the parallel return control mechanism can be retrofitted to the existing working machine having the horizontal control mechanism, and the function of the existing working machine can be easily improved.

According to the third aspect of the present invention, the relative rotation displacement detecting means includes a pair of left and right rotation displacement detection switches integrally attached to the lifting mechanism, and a swing support shaft integrally attached to the hitch body. And a contact terminal of the rotation displacement detection switch is brought into contact with left and right ends of the swing cam, respectively. It detects that it is in a substantially parallel posture.

In this way, for example, if the contact terminals of the pair of left and right rotation displacement detection switches are in contact with the left and right end portions of the swing cam and both rotation displacement detection switches are in the OFF state, the traveling Detects that the vehicle body and the working device are in a substantially parallel posture, and makes the contact terminal of one of the rotation displacement detection switches non-contact with the side end of the swing cam, and makes the same rotation. When the displacement detection switch is turned on, it is possible to detect that the traveling vehicle body and the working device are relatively rotationally displaced.

Therefore, the relative rotational displacement between the traveling vehicle body and the working device can be reliably detected with a simple structure.

[Brief description of the drawings]

FIG. 1 is a side view of a working machine according to the present invention.

FIG. 2 is a cross-sectional plan view showing a power transmission structure between a traveling vehicle body and a tillage device.

FIG. 3 is a side view of a lifting mechanism.

FIG. 4 is a plan view of the lifting mechanism.

FIG. 5 is a rear view of the lifting mechanism.

FIG. 6 is an explanatory rear view of a set attitude detection sensor.

FIG. 7 is a control block diagram.

[Explanation of symbols]

 Reference Signs List A Working machine B Running body C Tillage device D Lifting mechanism 1 Running section 2 Body frame 3 Operating section 4 Engine section 5 Transmission section

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B304 KA01 KA11 KA16 LA02 LA06 LB05 LB14 MA09 MB02 PC12 QA07 QA24 QB02 QB04 QB14 QC03 QC14 QC16 RA09

Claims (3)

[Claims] 1. A swing device having a working device connected to a rear side of a traveling vehicle body (B) via an elevating mechanism (D), and a hitch body (85) having an axis directed in the front-rear direction to the elevating mechanism (D). Attached via the shaft (84), the hitch body (85) can swing freely around the swing support shaft (84), and the hitch body (85) swings the work equipment on the ground basis. A swing attitude detecting means for detecting the attitude is provided, and
(85) and the elevation mechanism (D) are provided with attitude control means, and the swing attitude detection means is connected to the input side of the control means (28),
The attitude control means is connected to the output side of the control means (28),
By operating the attitude control means based on the detection result of the swing detection means, a work machine including a horizontal control mechanism (130) configured to hold the work apparatus in a substantially horizontal attitude, Rise detection means for detecting that the height has risen to a height or higher, and relative rotation displacement detection means for detecting relative rotation displacement about the swing support shaft (84) of the working device with respect to the traveling vehicle body (B), Connected to the input side of the control means (28), the function of the horizontal control mechanism (130) is released based on the detection result of the elevation detection means, and the attitude control is performed based on the detection result of the relative rotation displacement detection means. A parallel return control mechanism (131) configured to return and hold the working device in a substantially parallel posture in which the relative rotation displacement with respect to the traveling vehicle body (B) is zero or close to zero by operating the means. A working machine characterized by the following. 2. The parallel return control mechanism (131) is a horizontal control mechanism.
The control means (28) of (130) is shared and the horizontal control mechanism (13
The working machine according to claim 1, wherein the working machine is electrically detachably connected to (0). 3. The relative rotation displacement detection means includes a lifting mechanism (D).
A pair of left and right rotation displacement detection switches integrally mounted on the
(138, 139) and a swing cam (140) which is integrally attached to the hitch body (85) and is capable of swinging about the swing support shaft (84).
With the contact terminals (143, 144) of the rotation displacement detection switches (138, 139) abutting respectively on the left and right ends of the swing cam (140), the traveling vehicle body (B) and the working device The work machine according to claim 1, wherein the work machine detects that the robot is in a substantially parallel posture.