JP2020006875A - Work machine traction device, work machine steering device, and work machine comprising the same - Google Patents

Abstract

To provide a work machine traction device, a work machine steering device, and a work machine comprising them, which can suppress pitching of the work machine caused by transmission of vertical vibration of a tractor.SOLUTION: A work machine traction device comprises: a left-right rotation support shaft 4 provided at a tip of a work machine 1 with its axis oriented in a substantially vertical direction; a work machine side hitch 5 supported rotatably in a left-right direction on the left-right rotation support shaft 4; a vertical rotation support shaft 6 provided at a tip of the work machine side hitch 5 with its axis orthogonal to a longitudinal direction of the work machine side hitch 5 and oriented in a substantially horizontal direction; a tractor side hitch 7 supported on the vertical rotation support shaft 6 so as to be rotatable at a substantially central position in the longitudinal direction; a left-right steering hydraulic cylinder 8 that horizontally steers the work machine 1 by expanding and contracting; and a vertical vibration buffer member 9 that buffers vertical vibration of the tractor side hitch 7.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a work implement traction device, a work implement steering device, and a work implement including the same, which connects a drawbar installed at a rear end of a tractor and a work implement towed by the tractor to steer the work implement. It is about.

  A work machine pulled by a tractor includes, for example, a boom sprayer that sprays liquid fertilizer, agricultural chemicals, and the like. Liquid fertilizers, pesticides and the like must be evenly sprayed to grow the crops to be grown evenly and to protect them from pests evenly. However, the boom sprayer of the type towed by the tractor simply travels while being towed by the tractor, and therefore turns later than the turn of the tractor. For this reason, when turning at the field end, it is difficult to operate, and the tractor meanders and the like, which causes difficulty in the spraying operation, which causes unevenness in the spraying.

  Therefore, conventionally, an invention related to a steering device for a working machine towed by such a tractor has been proposed. For example, in Japanese Unexamined Patent Application Publication No. 2007-191139 filed by the present applicant, a hitch angle sensor for detecting a hitch angle formed by the working machine with respect to a hitch, and the hitch angle connected to the hitch and the working machine are provided. Hitch angle increasing / decreasing means for increasing / decreasing, storage means for storing, as a reference offset value, the hitch angle when the traveling direction of the work equipment coincides with the traveling direction of the tractor, and a numerical value which is changed by operating the tractor. When the turning condition detecting means detects the turning condition of the tractor, and when the turning condition detecting means detects the start of turning based on a numerical value changed by the operation of the tractor, the work machine controls the hitch angle increasing / decreasing means to change the turning direction of the tractor. The angle of the hitch is increased or decreased so as to be outward with respect to the turning direction. When detecting the turn has been completed on the basis of the numbers, and a steering control means for increasing or decreasing as the hitch angle by controlling the hitch angle adjusting unit is a reference offset value, the working machine of the steering device is disclosed. (Patent Document 1).

JP 2007-191139 A

  According to the invention described in Patent Document 1, the steerability of the work machine is improved, and the unevenness of application of liquid fertilizer or the like can be suppressed at each stage. On the other hand, the tractor running on the field vibrates up and down due to undulation. Then, this is transmitted to the work machine, and the front-rear position of the work machine is inclined in the vertical direction, so that so-called pitching may cause uneven distribution. Therefore, there is a new problem that it is desired to suppress the pitching of the working machine caused by the transmission of the vertical vibration of the tractor. Further, in a tow-type boom sprayer, when a chemical solution or the like is fully loaded in a chemical solution tank, a load due to a load on a hitch, a mounting portion between the hitch and the tractor, and a connecting portion on a work machine side connecting the hitch is large. In recent years, since the size of the tow-type boom player has been increasing, the load due to the load has been further increased. Furthermore, although the maintenance speed of the farmland and the farm roads around the farmland has been advanced and the traveling speed has been increased, when the vehicle travels on an unexpected bad road due to depression or the like, the load condition applied to the hitch or the like is extremely deteriorated due to the impact, and the hitch Etc. may be damaged.

  The present invention has been made in order to solve the above-described problems, and suppresses pitching of a working machine caused by transmission of vertical vibration of a tractor, and also suppresses the work machine-side load applied to a hitch or the like. It is an object of the present invention to provide a work machine traction device, a work machine steering device, and a work machine equipped with these, which can reduce the burden.

  The work machine tow device according to the present invention, to solve the problem of buffering the vertical vibration of the tractor transmitted to the work machine, a draw bar installed at the rear end of the tractor and a work machine towed by the tractor A left-right rotation support shaft provided at the tip of the work machine with its axis oriented substantially vertically, and a left-right rotation support shaft rotatably supported by the left-right rotation support shaft. A work machine side hitch, a vertical rotation support shaft which is provided at the tip of the work machine side hitch with its axis perpendicular to the longitudinal direction of the work machine side hitch and substantially in the horizontal direction, and A tractor-side hitch that has a drawbar connecting portion that is rotatably supported on the support shaft at a substantially central position in a longitudinal direction thereof and that is connected to the drawbar at the tip thereof, a side position of the working machine-side hitch, and the working machine. Nire And a left-right steering hydraulic cylinder for extending and contracting the work machine in the left-right direction, and a vertical direction of the tractor-side hitch provided between a rear end of the tractor-side hitch and the work machine-side hitch. And a vertical vibration damping member for damping the vibrations.

  In addition, as one aspect of the present invention, in order to solve the problem of facilitating exhibiting the buffering performance of the vertical vibration damping member, the vertical vibration damping member is a rear end of the vertical rotation support shaft, and The distance along the longitudinal direction from the vertical rotation support shaft may be provided at a position substantially equal to the distance along the longitudinal direction from the vertical rotation support shaft to the drawbar connecting portion.

  Further, as one aspect of the present invention, in order to solve the problem of damping vibrations in any of up and down directions, the work implement side hitch is formed in a tubular shape with an open end, and the tractor side hitch is provided. Are supported by the vertically rotating support shaft while being inserted into the work implement side hitch from the opening, and the vertical vibration damping member is provided between the rear end lower surface of the tractor side hitch and the work implement side hitch. A lower cushioning member connected between the inner lower surface and the rear end of the tractor-side hitch for damping vibration when the rear end of the tractor-side hitch swings downward; and a work implement-side hitch provided on a rear end upper surface of the tractor-side hitch. An upper cushioning member may be provided which buffers the vibration when the rear end of the tractor-side hitch is swung upward by being sandwiched between the inner upper surface of the hitch.

  Further, as one aspect of the present invention, in order to solve the problem of adjusting the strength of the reaction force against vertical vibration, while being disposed between the lower buffer member and the inner lower surface of the work machine side hitch, A reaction force adjusting member that adjusts the strength of the reaction force against vertical vibration of the rear end of the tractor-side hitch by the lower buffer member by increasing or decreasing the thickness may be provided.

  Further, as one aspect of the present invention, in order to solve the problem of facilitating attachment, detachment, and replacement of the lower cushioning member and the reaction force adjusting member, the arrangement of the lower cushioning member on the inner lower surface of the work machine side hitch. An opening may be formed at the position, and a cushioning member connection lid to which the lower cushioning member is connected may be detachably attached to the opening.

  The work machine steering device according to the present invention is configured such that, in order to solve the problem of performing the steering control of the work machine by the left and right steering hydraulic cylinders, the work towed by the tractor by the left and right steering hydraulic cylinders in the work machine traction device. A work machine steering device for steering a machine, a hitch angle detecting means for detecting a hitch angle formed by the work machine with respect to the work machine side hitch, and a drawbar angle formed by the drawbar with respect to the tractor side hitch. The drawbar angle detecting means to be detected, and the right and left steering hydraulic cylinders are controlled to expand and contract based on the hitch angle detected by the hitch angle detecting means and the drawbar angle detected by the drawbar angle detecting means, and the work machine is steered. Steering control means, wherein the drawbar angle detecting means is provided at the tip of the tractor-side hitch. A drawbar follower arm, which is installed rotatably in the direction and is connected to the tractor-side hitch, to follow the left-right turning operation of the drawbar, and a drawbar angle transmission for transmitting the left-right rotation angle of the drawbar follower arm A link, and an angle sensor main body that detects a rotation angle of the drawbar following arm transmitted by the drawbar angle transmission link, and the angle sensor main body uses the power of the tractor to drive a work machine. The tractor-side hitch can be prevented from interfering with a power take-out mechanism.

  Further, as one aspect of the present invention, in order to solve the problem of improving the followability of the drawbar following arm to the drawbar, the drawbar following arm has a size capable of inserting the drawbar following arm provided on the drawbar. May be slidably inserted in the front-rear direction into the arm insertion frame formed in the shape of a horizontally long elliptical frame.

  Furthermore, as one aspect of the present invention, in order to solve the problem of preventing the drawbar following arm from interfering with the drawbar, the drawbar following arm is installed rotatably in the left-right direction at the top surface of the tip of the tractor side hitch. And the distal end thereof may be bent upward so as to avoid interference with the drawbar.

  Further, as one aspect of the present invention, in order to solve the problem of avoiding interference between the drawbar angle transmission link and the angle sensor main body and the drawbar tracking arm, the drawbar angle transmission link is configured to rotate the drawbar tracking arm in the left-right direction. A rotation interlocking arm integrally linked to movement, an angle input arm for inputting a rotation angle to the angle sensor main body, and a left and right side of the rotation interlocking arm connected to the rotation interlocking arm and the angle input arm. An angle transmission arm for transmitting a rotation in the direction to the angle input arm, wherein the angle transmission arm is curved outwardly convex so as to avoid interference with the angle sensor body and the drawbar following arm. It may be.

  The working machine according to the present invention is characterized in that in order to solve the problem of suppressing pitching of the working machine due to the vertical vibration of the tractor and reducing the load on the working machine, the vertical rotating support shaft and the vertical vibration damping member The work machine traction device, or the work machine traction device and the work machine steering device.

  ADVANTAGE OF THE INVENTION According to this invention, while pitching of the working machine which generate | occur | produces by transmitting the vertical vibration of a tractor can be suppressed, the burden by the load on the working machine side which hits a hitch etc. can be reduced.

It is a perspective view showing one embodiment of the state where the work machine concerning the present invention was connected to the tractor. It is a side view showing the state where the work machine of this embodiment was connected to the tractor. It is a top view showing the state where the work machine of this embodiment was connected to the tractor. However, the illustration of the left boom of the working machine is omitted. It is a side view showing the work equipment traction device of this embodiment. It is a bottom view showing the work equipment traction device of this embodiment. It is a block diagram showing composition of a work implement steering device of this embodiment. FIG. 3 is a perspective view illustrating a drawbar angle detecting unit according to the embodiment. It is a top view showing the drawbar angle transmission link of the drawbar angle detection means in this embodiment.

  Hereinafter, an embodiment of a work machine traction device, a work machine steering device, and a work machine provided with these according to the present invention will be described with reference to the drawings.

  The work machine 1 is a vehicle for agricultural work which is run by being pulled by a tractor 10, and in the present embodiment, is a boom sprayer as shown in FIGS. The work machine 1 of the present embodiment includes a work machine traction device 2 for connecting to the tractor 10, and a work machine steering device 3 that uses the work machine traction device 2 to steer the work machine 1. Hereinafter, each configuration will be described.

  The working machine towing device 2 of the present embodiment connects the drawbar 11 installed at the rear end of the tractor 10 and the working machine 1 towed by the tractor 10, and as shown in FIG. A left-right rotation support shaft 4 provided at the tip of the work machine 1, a work machine-side hitch 5 rotatably supported in the left-right direction by the left-right rotation support shaft 4, and a tip 51 of the work machine-side hitch 5 A tractor-side hitch 7 rotatably supported by the vertically rotating support shaft 6, a left and right steering hydraulic cylinder 8 for steering the work machine 1 in the left and right direction, A vertical vibration damping member 9 for suppressing vertical vibration of the tractor-side hitch 7.

  The left-right rotation support shaft 4 is a support shaft for rotatably supporting the working machine 1 in the left-right direction. As shown in FIGS. It is provided in a state facing.

  The work implement side hitch 5 connects the tractor 10 and the work implement 1 together with the tractor side hitch 7, and is supported rotatably in the left-right direction on the left-right rotation support shaft 4. The work machine side hitch 5 in the present embodiment is formed by cutting a steel plate material having a predetermined thickness by a laser cutting machine and bending the steel plate material so that a longitudinal section having an opening at the tip end 51 side is substantially rectangular. It is formed in the shape of a cylinder.

  On the lower surface 52 of the working machine side hitch 5, an opening 53 for facilitating attachment, detachment or replacement of a reaction force adjusting member 93 described later and a cushioning member connection lid 54 attached to the opening 53 are provided. Have.

  The opening 53 is an opening on the inner lower surface 58 of the work implement side hitch 5 at a position where a lower cushioning member 91 described later is arranged. In this embodiment, as shown in FIGS. 4 and 5, the left and right side surfaces 57 are also continuously opened in order to provide the lower cushioning member 91 whose width in the traveling direction is larger than the width of the working machine side hitch 5. Have been.

  As shown in FIG. 5, the cushioning member connection lid 54 is provided with a lower cushioning member 91, and is formed to be larger in the front-rear direction than the opening 53, and overlaps with the lower surface 52 of the working machine side hitch 5. Are detachably fixed by a plurality of bolts 55.

  The vertical rotation support shaft 6 is a support shaft for rotatably supporting the tractor-side hitch 7 in the vertical direction, and its axis is aligned with the longitudinal direction of the work machine-side hitch 5 at the tip end 51 of the work machine-side hitch 5. It is installed so as to be substantially horizontal and perpendicular to. As shown in FIG. 4, the vertical rotation support shaft 6 in the present embodiment is provided near the opening end of the tip 51 of the work implement side hitch 5 and substantially at the center in the vertical direction of the opening.

  The tractor-side hitch 7 connects the tractor 10 and the work implement 1 together with the work implement-side hitch 5 and is supported by a vertically movable rotation support shaft 6 at a substantially central position in the longitudinal direction so as to be vertically rotatable. Have been. The tractor-side hitch 7 in the present embodiment is formed to be thinner than the inside of the work implement-side hitch 5 so as to be inserted into the tubular work implement-side hitch 5. The tractor-side hitch 7 is supported by the vertically rotating support shaft 6 with the rear end 71 inserted into the work implement-side hitch 5, and the rear end 71 has an inner lower surface of the work implement-side hitch 5. It swings up and down from 58 to the inner upper surface 56.

  The tip 72 of the tractor-side hitch 7 has a drawbar connecting portion 73 connected to the drawbar 11. In the present embodiment, a connecting column (not shown) provided substantially rearward at the rear end of the drawbar 11. ) Is formed therein. Note that the configuration of connection with the drawbar 11 is not limited to the configuration using the connection pillar, and may be, for example, a configuration that can be connected to a substantially spherical projection provided on the drawbar 11, a so-called hitch ball.

  The left-right steering hydraulic cylinder 8 is for steering the work machine 1 in the left-right direction, and is made of a hydraulic cinder that expands and contracts by hydraulic control. The left and right steering hydraulic cylinders 8 are connected to the position of the side surface 57 of the work implement side hitch 5 and the work implement 1. Specifically, a cylinder connecting portion 81 protruding outward is provided at a position on a right side surface 57 with respect to the traveling direction of the work implement side hitch 5, and each end of the left and right steering hydraulic cylinders 8 is The connecting portion 81 and a position on the right side of the center of the tip end of the work machine 1 are rotatably connected to each other. Thus, the work implement 1 is steered to the left with respect to the traveling direction of the tractor 10 by contraction of the left and right steering hydraulic cylinders 8, and is steered to the right by extension.

  The vertical vibration buffering member 9 buffers the vertical vibration of the tractor-side hitch 7 and is provided between the rear end 71 of the tractor-side hitch 7 and the work implement-side hitch 5. As shown in FIG. 4, the vertical vibration damping member 9 in the present embodiment is arranged such that the distance along the longitudinal direction from the vertical rotation support shaft 6 is the same as the longitudinal direction from the vertical rotation support shaft 6 to the drawbar connection portion 73. Is provided at a position substantially equal to the distance along. Thus, the balance between the force acting on the vertical vibration damping member 9 and the displacement in the vertical direction is maintained.

  That is, if the distance from the vertical rotation support shaft 6 to the vertical vibration damping member 9 is shorter than the distance from the vertical rotation support shaft 6 to the drawbar connecting portion 73, the vertical vibration damping member 9 caused by the vertical vibration of the drawbar 11 is used. Is small, but the force applied to the vertical vibration damping member 9 is increased by leverage. Therefore, the vertical vibration damping member 9 must be made of a material having high hardness and resistant to deformation in order to oppose the received force. However, a buffer material having a high hardness is difficult to attenuate vibration and is inferior in durability. On the other hand, if the distance from the vertical rotation support shaft 6 to the vertical vibration damping member 9 is longer than the distance from the vertical rotation support shaft 6 to the drawbar connecting portion 73, the vertical vibration damping member 9 It is difficult to suppress vibration because the displacement of the motor becomes large. Therefore, in the present embodiment, in consideration of these problems, the installation position of the vertical vibration damping member 9 is set as the distance between the vertical rotation support shaft 6 and the distance between the support shaft 6 and the drawbar connecting portion 73 as described above. Are determined to be approximately equidistant.

  In addition, the vertical vibration damping member 9 in the present embodiment, as shown in FIG. 4, can buffer not only the downward swing but also the upward swing of the rear end 71 of the tractor-side hitch 7 as shown in FIG. A lower buffer member 91 connected between the rear lower surface 74 and the inner lower surface 58 of the work implement side hitch 5, and an upper buffer member 92 provided on the rear end upper surface 75 of the tractor side hitch 7.

  The lower cushioning member 91 buffers the vertical vibration of the rear end 71 of the tractor-side hitch 7, and mainly buffers the vibration when the rear end 71 swings downward. The rear end lower surface 74 and the inner lower surface 58 of the work implement side hitch 5 are connected. The lower cushioning member 91 in the present embodiment is a substantially cylindrical rubber having a hollow inside, and is a rubber cushioning member formed in a bellows shape in the vertical direction. The lower cushioning member 91 buffers the vibration by the elastic force of the rubber. And attenuate. In the present embodiment, as described above, since the balance between the force acting on the rear end 71 of the tractor-side hitch 7 and the displacement in the up-down direction due to the vibration is obtained, it is necessary to use a shock-absorbing material that deforms flexibly and has high damping performance. Can be. That is, the lower buffer member 91 in the present embodiment has a large energy that can be absorbed, and can absorb a large load and a large displacement.

  The lower cushioning member 91 in the present embodiment is located on the inner lower surface 58 side of the work implement side hitch 5 and at a symmetrical position on the buffer member connection lid 54 provided in the opening 53 of the work implement side hitch 5. Each is connected. Further, a reaction force adjusting member 93 is provided between the lower buffer member 91 and the buffer member connection cover 54. The reaction force adjusting member 93 adjusts the strength of the reaction force against the vertical vibration of the rear end 71 of the tractor-side hitch 7 by the lower cushioning member 91. Pressure is applied in advance to increase the reaction force. On the other hand, when the thickness is reduced, the pressure applied to the lower buffer member 91 is reduced, and the reaction force can be reduced.

  The upper cushioning member 92 serves to buffer the vertical vibration of the rear end 71 of the tractor-side hitch 7 and mainly the vibration when the tractor-side hitch 7 swings upward. 75 and is sandwiched between the inner upper surface 56 of the work implement side hitch 5. The upper cushioning member 92 in the present embodiment is made of a rubber cushioning member formed in an elliptical column shape.

  In addition, the lower buffer member 91 and the upper buffer member 92 are not limited to the above-described configuration and material, and are appropriately selected from those that buffer the vertical vibration of the tractor-side hitch 7. The number of the lower buffer members 91 and the upper buffer members 92 is not particularly limited. For example, when the load on the work implement 1 is relatively light, the lower buffer members 91 are placed on the buffer member connection lid 54. Only one may be installed, and if the load is relatively heavy, three or more may be installed. Further, when the work machine 1 has a difference between left and right weight balance and a difference between left and right vibrations, the lower buffer member 91 and the upper buffer member 92 may be arranged asymmetrically in the left and right directions.

  Next, the work implement steering device 3 of the present embodiment will be described. The work implement steering device 3 of the present embodiment is for steering the work implement 1 towed by the tractor 10 by the left and right steering hydraulic cylinders 8 in the work implement traction device 2, and as shown in FIG. It has a hitch angle detecting means 31 for detecting, a drawbar angle detecting means 32 for detecting a drawbar angle, and a steering control means 33 for controlling expansion and contraction of the left and right steering hydraulic cylinders 8 based on the hitch angle and the drawbar angle.

  The hitch angle detecting means 31 detects a hitch angle formed by the work implement 1 with respect to the work implement side hitch 5. In the present embodiment, the angle sensor main body 12 is installed at the tip of the work implement 1. The angle input arm is connected to the work machine side hitch 5.

  The drawbar angle detecting means 32 detects the drawbar angle formed by the drawbar 11 with respect to the tractor-side hitch 7. In the present embodiment, the drawbar follower arm 13 that follows the left-right turning operation of the drawbar 11, and the drawbar follower 13 It has a drawbar transmission link 14 for transmitting the rotation angle of the arm 13 in the left-right direction, and an angle sensor main body 15 for detecting the rotation angle transmitted by the drawbar transmission link 14.

  The drawbar following arm 13 is installed at the tip 72 of the tractor-side hitch 7 so as to be rotatable in the left-right direction. The drawbar following arm 13 of the present embodiment is formed in a shape bent into a hairpin shape as shown in FIGS. 7 and 8, and the distal end side thereof is connected to the drawbar 11 as shown in FIGS. 4 and 7. It is bent upward to avoid interference. The drawbar follower arm 13 has its base end rotatably installed in the left and right direction at the upper surface position of the distal end 72 of the tractor-side hitch 7 and is also able to rotate vertically. Note that the drawbar following arm 13 is not limited to the one in which the distal end side is bent in the upward direction, and may be a straight shape or bent downward as long as there is no problem of interference with the drawbar 11. .

  As shown in FIG. 4, an arm insertion frame 16 is provided on the drawbar 11 side. The arm insertion frame 16 has a size large enough to allow the drawbar follower arm 13 to be inserted. Although not shown, the arm insertion frame 16 in the present embodiment has a laterally long elliptical opening having an appropriate dimensional allowance for the drawbar following arm 13.

  The drawbar-following arm 13 is inserted into the arm insertion frame portion 16, rotates in the left-right direction following the left-right turning operation of the drawbar 11, and slides back and forth with respect to the arm insertion frame portion 16. Thus, displacement caused by pitching between the tractor 10 and the work vehicle 1 can be absorbed. Further, the drawbar following arm 13 slides down along the downward inclination toward the center at the left and right ends of the arm insertion frame 16 by its own weight, and is held at the center position.

  The drawbar transmission link 14 is for transmitting the left-right rotation angle of the drawbar following arm 13 to the angle sensor main body 15, and in the present embodiment, as shown in FIG. A rotation interlocking arm 141 integrally linked to the movement, an angle input arm 142 for inputting a rotation angle detected by the angle sensor main body 15, and connected to the rotation interlocking arm 141 and the angle input arm 142. And an angle transmission arm 143 for transmitting the rotation of the rotation interlocking arm 141 in the left-right direction to the angle input arm 142. The angle transmission arm 143 in the present embodiment is formed to have an outwardly convex curved shape so as not to interfere with the angle sensor main body 15 and the drawbar following arm 13.

  The angle sensor main body 15 detects a drawbar angle, and an angle input arm 142 that rotates integrally is provided at an angle input unit. The angle sensor main body 15 in the present embodiment is a tip 72 of the tractor-side hitch 7 for avoiding interference with a power take-out mechanism (not shown) for taking out the power of the tractor 10 for driving the work implement 1. It is installed at the position 76 of the side surface. The angle sensor main body 15 in the present embodiment is provided on the right side surface 76 of the tractor-side hitch 7 with respect to the traveling direction of the tractor 10.

  The steering control means 33 controls the expansion and contraction of the left and right steering hydraulic cylinders 8 based on the hitch angle detected by the hitch angle detection means 31 and the drawbar angle detected by the drawbar angle detection means 32 to control the steering of the work implement 1. For example, similarly to the steering control means 33 of the steering device disclosed in Japanese Patent Application Laid-Open No. 2007-191139, the hitch angle at the time of coincidence with the traveling direction of the tractor 10 is stored as a reference offset value. When the start of turning of the tractor 10 is detected based on the detection result of the drawbar angle detecting means 32, the left and right steering hydraulic cylinders 8 are controlled to increase or decrease the hitch angle so that the work implement 1 is directed outward with respect to the turning direction of the tractor 10. When the end of turning of the tractor 10 is detected based on the detection result of the drawbar angle detecting means 32, the left and right steering hydraulic pressure Controls Linda 8 hitch angle is increased or decreased so that the reference offset value.

  Next, the operation of each component in the work implement traction device 2, the work implement steering device 3, and the work implement 1 including these will be described.

  The work implement 1 is connected to the drawbar 11 installed at the rear end of the tractor 10 by the work implement traction device 2. When the tractor 10 travels in this state, the work implement 1 is towed and travels following the tractor 10.

  If there is undulation in a traveling field or the like, the tractor 10 vibrates up and down accordingly. The vertical vibration of the tractor 10 is transmitted to the work implement traction device 2 via the drawbar 11 provided at the rear end.

  In the work implement traction device 2 of the present embodiment, the vertical vibration of the tractor 10 transmitted via the drawbar 11 is buffered. Specifically, the vertical vibration of the tip 72 side of the tractor-side hitch 7 is transmitted to the rear end 71 of the tractor-side hitch 7 by rotating about the vertical rotation support shaft 6. At this time, the vibration on the rear end 71 side of the tractor-side hitch 7 is buffered by the vertical vibration buffering member 9 and the transmission to the work implement-side hitch 5 is suppressed. In the present embodiment, the vertical vibration damping member 9 is provided above and below the rear end 71 of the tractor-side hitch 7 so that vibration in the vertical direction can be damped. In the present embodiment, since the lower cushioning member 91 is made of a cushioning material that is supplely deformed and has high damping performance, vibration can be suppressed and damped quickly.

  When the reaction force of the lower buffer member 91 is weak and the vibration is hardly attenuated, a reaction force adjusting member 93 is attached between the lower buffer member 91 and the inner lower surface 58 of the work implement side hitch 5 or the thickness is reduced. Is exchanged with a reaction force adjusting member 93 having an increased number to increase the reaction force. Conversely, when the reaction force is strong due to the lower buffer member 91 and the vibration is directly transmitted, the reaction force adjustment member 93 is removed or replaced with a reaction force adjustment member 93 having a reduced thickness to weaken the reaction force. In the present embodiment, the attachment, detachment or replacement of the reaction force adjusting member 93 having an appropriate thickness can be easily performed by the cushioning member connection lid 54.

  In this way, by using the work machine traction device 2 to prevent the vertical vibration of the tractor 10 from being transmitted to the work machine 1, for example, when the work machine 1 is a boom sprayer, a chemical solution (herbicide or disinfectant) is used. Etc.), liquid fertilizers (liquid fertilizers that are nutrients necessary for growing crops) and the like can be evenly applied.

  When the tractor 10 performs a turning operation in the left-right direction, the work implement 1 is steered by the work implement steering device 3.

  In the drawbar angle detecting means 32, the drawbar following arm 13 rotates following the turning of the drawbar 11. The rotation of the drawbar following arm 13 is transmitted to the angle sensor main body 15 by the drawbar angle transmission link 14, and the drawbar angle is detected. At this time, since the drawbar following arm 13 slides in the front-rear direction with respect to the arm insertion frame 16, the drawbar 11 can smoothly follow the turn of the drawbar 11 even when subjected to vibration or the like. Further, since the distal end side of the drawbar following arm 13 is bent in the upward direction, the drawbar following arm 13 does not buffer with the drawbar 11.

  The steering control means 33 controls the expansion and contraction of the right and left steering hydraulic cylinders 8 based on the hitch angle detected by the hitch angle detection means 31 and the drawbar angle detected by the drawbar angle detection means 32 to steer the work implement 1. At this time, in the drawbar angle detecting means 32, the angle sensor main body 15 is provided at a position very close to the drawbar connecting portion 73 which is the center of the drawbar angle, and the drawbar following arm 13 directly detects the drawbar angle. When the control unit 33 controls the extension and retraction of the left and right steering hydraulic cylinders 8, it is not necessary to perform correction based on the difference between the positions of the drawbar angle detection unit 32 and the drawbar connection unit 73.

According to the working machine traction device 2, the working machine steering device 3, and the working machine 1 including the above, according to the present embodiment, the following effects can be obtained.
1. By supporting the tractor-side hitch 7 so as to be rotatable in the vertical direction and providing the vertical vibration damping member 9 at the rear end 71, it is possible to suppress pitching of the working machine 1 steered by the left and right steering hydraulic cylinders 8. .
2. Since the vertical vibration damping member 9 can be relatively gently deformed and can use a shock absorbing material having a high damping performance, the effect of suppressing vibration can be enhanced and the durability can be improved.
3. Since it is possible to buffer both up and down shaking, the durability of the buffer members 91 and 92 arranged above and below can be extended.
4. The strength of the reaction force of the lower shock absorbing member 91 can be easily adjusted by the reaction force adjusting member 93 and the shock absorbing member connecting lid 54 connecting the same.
5. By arranging the angle sensor main body 15 of the drawbar angle detecting means 32 at the position of the side surface 76 of the tractor-side hitch 7, it is possible to avoid interference with a power take-out mechanism for taking out the power of the tractor 10 for driving the work implement 1. it can. Therefore, it can be applied to various tractors 10 and working machines 1.
6. In the drawbar angle transmission link 14, since the angle transmission arm 143 is curved, interference with the angle sensor main body 15 and the drawbar following arm 13 can be avoided.

  In addition, the working machine traction device, the working machine steering device, and the working machine provided with these according to the present invention are not limited to the above-described embodiment, and can be appropriately changed. For example, the working machine 1 is not limited to a boom sprayer, and various harvesters such as a manual spreader for spraying compost, a towed broadcaster for spraying fertilizer, a potato harvester, or a trailer vehicle for transporting harvested products. Can be widely applied to towing, agricultural machinery.

REFERENCE SIGNS LIST 1 work machine 2 work machine traction device 3 work machine steering device 4 left and right rotation support shaft 5 work machine side hitch 6 vertical rotation support shaft 7 tractor side hitch 8 left and right steering hydraulic cylinder 9 vertical vibration damping member 10 tractor 11 drawbar 12 angle Sensor body 13 Drawbar following arm 14 Drawbar angle transmission link 15 Angle sensor body 16 Arm insertion frame 31 Hitch angle detection means 32 Drawbar angle detection means 33 Steering control means 51 Tip 52 Lower surface 53 Opening 54 Buffering member connection cover 55 Bolt 56 Upper surface 57 Side surface 58 Inner lower surface 71 Rear end 72 Front end 73 Drawbar connecting portion 74 Rear end lower surface 75 Rear end upper surface 76 Side surface 81 Cylinder connecting portion 91 Lower buffer member 92 Upper buffer member 93 Reaction force adjusting member 141 Rotating interlocking arm 142 Angle input arm 143 Angle transmission arm

Claims (10)

A work machine tow device for connecting a draw bar installed at a rear end of the tractor and a work machine towed by the tractor,
A left-right rotation support shaft provided at the tip of the working machine with its axis oriented substantially vertically,
A work machine-side hitch rotatably supported in the left-right direction by the left-right rotation support shaft;
A vertically rotating support shaft provided at the tip of the work implement side hitch so that its axis is substantially perpendicular to the longitudinal direction of the work implement side hitch and oriented substantially horizontally,
A tractor-side hitch that has a drawbar connecting portion that is rotatably supported by the vertically rotating support shaft at a substantially central position in the longitudinal direction and that is connected to the drawbar at the end thereof;
A left-right steering hydraulic cylinder connected to the side surface position of the work machine side hitch and the work machine and extending and contracting to steer the work machine in the left-right direction,
A vertical vibration damping member that is provided between a rear end of the tractor-side hitch and the work implement-side hitch and buffers vertical vibration of the tractor-side hitch.   The vertical vibration damping member is a rear end of the vertical rotation support shaft, and a distance along a longitudinal direction from the vertical rotation support shaft is a longitudinal direction from the vertical rotation support shaft to the drawbar connecting portion. The work implement traction apparatus according to claim 1, wherein the work equipment traction apparatus is provided at a position substantially equal to a distance along the line. The work implement-side hitch is formed in a tubular shape with an open end, and the tractor-side hitch is supported by the vertically rotating support shaft in a state of being inserted into the work implement-side hitch from the opening. Yes,
The vertical vibration damping member,
A lower cushioning member that is connected between a rear end lower surface of the tractor-side hitch and an inner lower surface of the work implement-side hitch and buffers vibration when the rear end of the tractor-side hitch swings downward;
An upper cushioning member that is provided on a rear end upper surface of the tractor-side hitch and is interposed between an inner upper surface of the work implement-side hitch and buffers vibration when the rear end of the tractor-side hitch swings upward; The work machine traction device according to claim 1 or claim 2.   The lower shock absorbing member is disposed between the lower shock absorbing member and the inner lower surface of the work implement side hitch, and the thickness of the lower shock absorbing member is reduced to reduce the strength of a reaction force against vertical vibration of the rear end of the tractor side hitch. The work machine traction device according to claim 3, further comprising a reaction force adjusting member for adjusting.   An opening is formed on the inner lower surface of the work implement side hitch at a position where the lower buffer member is arranged, and a buffer member connection lid to which the lower buffer member is connected is detachably attached to the opening. The work machine traction device according to claim 3 or claim 4. A work machine steering device for steering the work machine towed by the tractor by the left and right steering hydraulic cylinders in the work machine traction device according to any one of claims 1 to 5,
Hitch angle detecting means for detecting a hitch angle formed by the working machine with respect to the working machine side hitch,
Drawbar angle detection means for detecting a drawbar angle formed by the drawbar with respect to the tractor-side hitch,
Steering control means for controlling the expansion and contraction of the left and right steering hydraulic cylinders based on the hitch angle detected by the hitch angle detection means and the drawbar angle detected by the drawbar angle detection means to steer the work machine. And
The drawbar angle detecting means,
A drawbar follower arm that is installed rotatably in the left-right direction at the tip of the tractor-side hitch and that follows the left-right turning operation of the drawbar connected to the tractor-side hitch;
A drawbar angle transmission link for transmitting the horizontal rotation angle of the drawbar following arm;
An angle sensor main body that detects a rotation angle of the drawbar following arm transmitted by the drawbar angle transmission link,
The angle sensor body is a tip of the tractor-side hitch capable of avoiding interference with a power take-out mechanism that takes out the power of the tractor for driving a work machine, and is installed at a right or left side position. Work implement steering device.   The drawbar-following arm is slidably inserted in the front-rear direction with respect to an arm insertion frame formed in a horizontally long elliptical frame having a size capable of inserting the drawbar-following arm provided in the drawbar. The work implement steering device according to claim 6.   The drawbar-following arm is installed rotatably in the left-right direction at a tip upper surface position of the tractor-side hitch, and a tip end thereof is bent upward so as to avoid interference with the drawbar. The work implement steering device according to claim 6 or 7. The drawbar angle transmission link, a rotation interlocking arm that integrally cooperates with the horizontal rotation of the drawbar following arm, an angle input arm that inputs a rotation angle to the angle sensor main body, the rotation interlocking arm, An angle transmission arm connected to the angle input arm and transmitting the rotation of the rotation interlocking arm in the left-right direction to the angle input arm;
The work implement steering device according to any one of claims 6 to 8, wherein the angle transmission arm is curved to protrude outward so as to avoid interference with the angle sensor main body and the drawbar following arm.   A work machine comprising the work machine traction device according to any one of claims 1 to 5, or the work machine traction device and the work machine steering device according to any one of claims 6 to 9.

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