JP2550538Y2 - Tilt sensor mounting structure for mobile work vehicles - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tilt sensor mounting structure for a mobile work vehicle.

[0002]

2. Description of the Related Art Conventionally, a traveling body (the machine) side of a mobile work vehicle in which working parts such as a planting section, a seeding section, a fertilizing section, and a chemical spraying section are connected to be movable up and down behind or in front of the traveling body. An inclination sensor that detects the degree of inclination of the vehicle body is attached to the body, and based on the detection result, the body posture working state such as the working posture and height of the working unit is always A device that is controlled to an appropriate state is already known and is in practical use.

[0003] In general, such a tilt control device detects the left-right tilt angle or the front-back tilt angle of the apparatus by a detecting means (sensor) such as a potentiometer and transmits a detection signal to a control unit comprising a microcomputer. In many cases, each control hydraulic valve is switched and controlled, thereby changing the flow path of the pressure oil from the hydraulic pump to operate hydraulic cylinders provided in each part of the machine body.

[0004]

However, in the prior art, when working on uneven terrain or the like, the body vibrates due to unevenness in the field, and the body vibration propagates to the tilt sensor itself, so that pitching and rolling are detected. In such a case, accurate data cannot be measured, and the control accuracy of the working unit is deteriorated.

[0005]

SUMMARY OF THE INVENTION The present invention is intended to solve such a problem. The present invention detects a tilting state of a traveling vehicle body and, based on the detection result, operates a working unit via a control unit. In a mobile work vehicle that controls the ground work state such as posture and height to an appropriate state, a rolling sensor for detecting the degree of left and right inclination of the traveling vehicle body and a pitching sensor for detecting the degree of front and rear inclination are respectively located at the center of the body width direction. The gist is that it is provided on a rigid portion located near the rear axle case.

[0006]

According to the tilt sensor mounting structure for a mobile work vehicle according to the present invention, the tilt sensors (rolling sensor and pitching sensor) are mounted at a position as low as possible on the vehicle body and on a rigid body portion. Vibration is difficult to propagate to the sensor itself, and the sensor position is close to the center of the rear axle, where displacement due to vehicle body vibration etc. is the smallest, so adverse effects on the sensor due to vehicle body vibration (inaccurate data measurement, etc.)
Can be suppressed as much as possible, whereby the lean state of the vehicle body can be accurately detected.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of the present invention will be described with reference to an embodiment shown in the drawings. In the drawing, a working unit (medicine spraying unit) 5 is connected to a rear side of a traveling vehicle body (the machine) 3 having a pair of left and right front wheels 1 and a large-diameter rear wheel 2 via a lifting link 4 having a connecting hitch 4 a by a hydraulic cylinder 6. A mobile work vehicle connected so as to be able to move up and down and to be able to adjust the right and left tilt is illustrated. The power of the engine E mounted on the front of the machine 3 is transmitted to the rear wheels 2 by the rear wheel transmission shaft 8 after being shifted by the transmission case 7. 9 is a body frame, 10 is a rear axle case, 11 is a gear case, 12 is a rotation sensor for detecting a running speed based on the rotation speed of the rear wheel transmission shaft 8, and is mounted near an input portion of the rear wheel transmission shaft 8. . Reference numeral 13 denotes a driver's seat. A control unit 14 including a microcomputer and a remote control unit 15 for unmanned operation are disposed behind the driver's seat. A direction sensor 16 for automatically controlling the direction of the vehicle is provided so that unmanned steering by remote control is possible. 17
Numerals are chemical tanks mounted on the left and right sides of the rear of the machine 3.

On the frame 18 of the medicine spraying section 5, a pump 21 for pressure-feeding the medicine in the tank 17 to the nozzle 20a side of the discharge hose 20 along the folding boom 19, and a continuously variable transmission for adjusting the spray amount. The device 22 is mounted. 22a
Is a speed change case. The boom 19 is supported by a hydraulic cylinder 24 so as to be freely tiltable left and right about a fulcrum shaft 23 provided at an intermediate portion in the width direction with respect to the frame 18.

The expansion and contraction operations of the hydraulic cylinder 24 for tilting the medicine spraying section 5 left and right and the hydraulic cylinder 6 for raising and lowering are performed based on a detection signal from a tilt sensor described later.
4 is automatically controlled via the control unit 4 in the same manner as in the prior art. The pitching sensor 26 to be detected is provided on a rigid body located near the rear axle case 10 near the center of the machine 3 in the machine width direction. In the present embodiment, a plate 27 is welded to the lower surface of the rear part of the body frame 9 along the front-rear direction, which is juxtaposed to the left and right, in a state where the plate 27 extends to the vicinity of the center S of the body.
The square gutter-shaped bracket 28 with the a
, And the rolling sensor 25 is screwed into the concave portion 28b of the bracket 28 and the pitching sensor 26 is screwed on the upper surface of the flange 28a near the fuselage center S. The tilt sensors 25 and 26 are located inside the left and right
In addition, they are arranged in a space surrounded by the body frame 9, the rear axle case 10 and the adapter case 29 at a position close to the rotation sensor 12 in a superposed state orthogonal to each other.

Reference numeral 30 denotes a speed detecting device provided with a pair of left and right mounting members 31 and 32 supported below the traveling vehicle body 3 and rotatably supporting a grounding wheel 33 between the left and right mounting members 31 and 32. A rotation sensor 34 for detecting the actual speed of the traveling vehicle body 3 is provided inside the ground contact wheel 33. That is, a support rod 36 made of an elastic material is pivotally supported on a bracket 35 fixed to the body frame 9 in a vertically suspended manner in a vertically suspended state, and the lower ends of the hollow bosses 31a, 32a and the axis of the bosses 31a, 32a. One end of a pair of left and right substantially rectangular attachment bodies 31, 32 having fulcrum pins 31b, 32b protruding on a virtual extension line is fixed, and a rotation sensor 34 is fixed in a boss 31a with a screw 37, while a large number is provided on the outer periphery. The shaft 33b of the grounding wheel 33 having the protrusion 33a is rotatably supported by the mounting body 31 on one side, and the inner end of the shaft 33b on the grounding wheel 33 side is
The hollow boss 33c of the grounding wheel 33 and the other-side mounting body 32 are bolted to the fourth side shaft 34a so as to be fitted and engaged concentrically.
The rotation speed sensor 34 detects the actual speed of the traveling vehicle body 3 due to the grounding rotation of the grounding wheel 33 and transmits the actual speed to the control unit 14, and the rotation speed of the rear wheel transmission shaft 8 (the rotation sensor 1)
2), the number of rotations of the pump 21 is changed by the continuously changing speed, and the spray amount is automatically controlled to correspond to the actual speed. 39 is a seal, 40 is a bearing, 41 is a stopper, and C is a retaining member. The side near the rotation start end of the support rod 36 is linked to one lower link 4a via an arm 42 with a U-shaped seat 42a, a horizontal shaft 43, an arm 44, a rod 45, and the like. When the working unit (spraying unit) 5 is raised, the grounding wheel 33 is displaced to the upwardly retracted position shown by the phantom line in FIG. 2, and when the working unit 5 is lowered, it returns to the operating position shown by the solid line. .

A sled body 46 for regulating the amount of subsidence of the grounding wheel is held on the mounting bodies 31 and 32 so as to be able to swing up and down and via a biasing member 47 so that the sled body 46 is held in a front-up position in a non-ground state. It is supported. That is, the window hole 46 in which the front side is bent upward and the projection 33a can appear and disappear in the middle part.
The sled body 46 having the notch a is connected to the fulcrum pins 31b and 32b.
And the slewing body 46 and the boss 32a of the mounting body 32 are connected by an urging member 47 composed of a coil spring, so that the sled body 46 is urged when there is no load. The sled body 46 is always held by the member 47 in the forward-upward posture about the fulcrum pins 31b and 32b. a is a piloerection crop.

According to the embodiment configured as described above,
The mounting position of the inclination sensor, that is, the rolling sensor 25 and the pitching sensor 26 is at the low position of the traveling vehicle body 3 close to the upper surface of the rear axle case 10 and is attached to the body frame 9 which is a rigid body, so Even if the traveling vehicle body 3 vibrates in the
It becomes difficult to propagate to 5, 26 itself. In addition, since the mounting positions of the rolling sensor 25 and the pitching sensor 26 approach the center of the rear axle where the displacement amount due to the vehicle body vibration or the like is the smallest, adverse effects (inaccurate data measurement, etc.) on the sensors 25 and 26 due to the vehicle body vibration are reduced. As a result, the right and left inclination state of the vehicle body can be accurately detected by the rolling sensor 25, and the front and rear inclination state can be accurately detected by the pitching sensor 26. Therefore, the chemical spraying section 5 can always be controlled to an appropriate grounding state.

[0013]

According to the present invention, as described above, since the inclination sensors (rolling sensor and pitching sensor) are mounted at the lowest possible position on the vehicle body and on the rigid body, the vibration of the vehicle body when traveling on uneven terrain and the like propagates to the sensor itself. In addition, since the sensor position is close to the center of the rear axle, which has the least amount of displacement due to vehicle body vibration and the like, adverse effects on the sensor (inaccurate data measurement, etc.) due to vehicle body vibration can be suppressed as much as possible. The working state can always be controlled to a proper ground work state because the inclination state of the work can be accurately detected.

[Brief description of the drawings]

FIG. 1 is a side view of a mobile work vehicle equipped with the present invention.

FIG. 2 is an enlarged side view of a rolling sensor and a pitching sensor mounting portion.

FIG. 3 is a rear view of a rolling sensor and a pitching sensor mounting portion.

FIG. 4 is a perspective view of a rolling sensor and a pitching sensor mounting bracket.

FIG. 5 is a cross-sectional view of the speed detection device.

FIG. 6 is a front view of the speed detection device.

FIG. 7 is a plan view of a speed detection device and a sled body.

FIG. 8 is a side view showing a storage posture and a working posture of the speed detection device and the sled body.

FIG. 9 is a side view showing the state of the sled body when the vehicle is grounded and when it is not grounded.

[Explanation of symbols]

 Reference Signs List 3 Running body 5 Working part (drug spraying part) 9 Body frame 10 Rear axle case 15 Control part 25 Rolling sensor 26 Pitching sensor

 ────────────────────────────────────────────────── ─── Continuation of the front page Examiner Jun Koriyama (56) References JP-A-1-240101 (JP, A) JP-A-3-232404 (JP, A)

Claims (1)

(57) [Scope of request for utility model registration] 1. A mobile work vehicle in which a tilting state of a traveling vehicle body is detected, and a ground work state such as a working posture and a height of a working unit is controlled to an appropriate state via a control unit based on the detection result. A mobile work vehicle characterized in that a rolling sensor for detecting the degree of left and right inclination of the traveling vehicle body and a pitching sensor for detecting the degree of front and rear inclination are respectively provided in a rigid body portion located near the rear axle case near the center of the fuselage width direction. Tilt sensor mounting structure.