JP2562516B2 - Mower with cutting height control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention connects a flail mower-type mowing device to a front portion of a traveling machine body including a pair of left and right crawler traveling devices, and a hydraulic pressure. The present invention relates to a mower in which a lift arm that is vertically rocked by a cylinder lifts and interlocks the link mechanism so that the mower can be driven up and down.

[Prior Art] In the lawnmower having the above-mentioned configuration, conventionally, the hydraulic control valve of the hydraulic cylinder is driven manually by an operating lever to expand and contract the hydraulic cylinder to change and adjust the cutting height of the mowing device. There was one configured.

[Problems to be Solved by the Invention]

However, in the above conventional structure, immediately after the start of work, the mowing device that is lifted and supported by the lift arm is maintained at the set height by the operation lever.
The oil temperature of the hydraulic oil rises as the work progresses, and the amount of hydraulic oil leaks from the hydraulic control valve that is held in the neutral position at the above set height due to the weight of the mowing device and the like. There was a drawback that the lift arm gradually descended and the cutting height changed.

Therefore, as a method for solving the above-mentioned drawback, for example, the sixth method
The structure shown in the figure was considered. That is, the non-contact distance sensors (30) and (30) for detecting the ground height are provided at the front and rear positions of the cutting blade (4a) of the mowing device (4), and the operation lever is provided. Is provided with a set value detecting means for detecting the set height, and a control means is provided for driving and controlling the hydraulic control valve so that the detected set value and the cutting height detected by the distance sensors (30), (30) match. is there. This improved structure is designed to detect the height above the ground and maintain a constant expansion / contraction amount of the hydraulic cylinder after mowing by the cutting blade regardless of forward / backward movement of the machine body.

However, in the above-described improved structure, since the height detection portion is a grassland, there is a disadvantage that light or ultrasonic waves are diffusely reflected and effective height detection cannot be performed.

Further, if grass or the like is entangled with the link mechanism, it may hinder the up-and-down operation of the mowing device. Therefore, it has been desired to prevent grass from being entangled with the link mechanism. Especially when operating remotely, since the pilot is far away from the aircraft, it is bothersome to go to the mower to remove the entangled grass, etc., and the pilot recognizes that a problem such as grass entanglement has occurred. Since it is difficult to do so, there is a possibility that the response to the problem may be delayed.

The present invention aims to solve the above-mentioned problems.

[Means for solving the problem]

A mowing device according to the present invention is a lift arm that is connected to a front part of a traveling machine body having a pair of left and right crawler traveling devices, a flair mower type mowing device via a link mechanism, and is vertically rocked by a hydraulic cylinder. Is a mower that is configured to drive and lift the mower by interlocking and linking the link mechanism with the mower, wherein the mower is a front side of the crawler travel device within a range extending between the left and right crawler travel devices. The front end of the crawler traveling device, the front end of the traveling machine body is projected forward, and the detection means for detecting the tilt angle of the lift arm with respect to the body, the detection result of the detection means, The setting means is provided with a control means for driving and controlling the hydraulic cylinder so as to match a setting value manually set by remote control operation in advance. Linkage, and wherein constituting said mower unit, a cutting height control device with mower is provided in a range surrounded by the crawler traveling device and the traveling machine body.

[Action]

After starting the work with the hydraulic cylinder hydraulically fixed so that the mowing device is at the height set by the setting means,
Even if the hydraulic oil leaks due to a rise in the oil temperature or the weight of the mowing device, and the expansion / contraction amount of the hydraulic cylinder changes,
The detection means detects the change in the angle of the lift arm, and the control means drives and controls the hydraulic cylinder to return to the set height. Further, since the link mechanism is provided in a range surrounded by the mowing device, the crawler traveling device, and the traveling machine body, when performing mowing work by remote control, the link mechanism is surrounded by the mowing device, the crawler traveling device, and the traveling machine body. The grass is prevented from entering the standing range while standing, so that the grass is less likely to come into contact with the link mechanism, and thus is less entangled.

〔The invention's effect〕

Therefore, according to the present invention, the hydraulic cylinder is controllably driven to the set cutting height position by detecting the height of the mowing device with respect to the machine body, so that the cutting height control is always performed accurately regardless of the situation of the work place. It became possible. In addition, since the grass is less likely to come into contact with the link mechanism, which in turn makes it difficult to get entangled, it is possible to suppress the occurrence of problems such as the link mechanism being unable to move up and down due to tangling grass during remote control mowing work. As a result, good mowing work can be continued for a long time, and work efficiency can be improved.

〔Example〕

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

2 and 3 show a remote-controlled mower according to the present invention. This mower has a pair of left and right crawler traveling devices (1), a traveling machine body (2) provided with a (1), and a link mechanism (3) on a front part of the mower device (4) so that the mower can be moved up and down and left and right can be rolled freely. It is configured by connecting. The traveling machine body is provided with a driving part (5) in the rear part, a fuel tank (6) in the left part of the front part, and a control device (7) and a battery (8) in the right part of the front part. The engine (9) is provided in the center of the drive part (5) on the left and right sides, and a pair of left and right engine cooling radiators (10), (1
0) is provided. Each radiator (10), (10) is configured to be cooled by a fan (12), (12) driven by an electric motor (11), (11), respectively.

More specifically, as shown in FIG. 3, the mowing device (4)
Are arranged along the left and right in a range extending between the crawler traveling devices (1) and (1) on the front side of the pair of left and right crawler traveling devices (1) and (1). The front ends of 1) and (1) are arranged so as to project more forward than the front end of the traveling body (2), and the link mechanism (3) for moving up and down the mowing device (4) includes the mowing device (4). ), The crawler traveling devices (1), (1) and the traveling machine body (2).

The right and left crawler traveling devices (1), (1) and the mowing device (4) are hydraulically driven. That is, the variable displacement hydraulic pumps (P1) and (P2) for traveling drive and the working hydraulic pump (P3) are connected in series at the front of the engine (9) so that they are driven by the same axis, and the crawler travels. The devices (1), (1) and the mowing device (4) are driven by hydraulic motors (M1), (M2), (M3) to move the mowing device (4) up and down and rolling operation, respectively, in a hydraulic cylinder (13). , (14).

As a result of being installed in the full hydraulic system as described above, a large amount of hydraulic oil is required. However, in this mower, a large hydraulic oil tank (15) is installed in each of the left and right crawler traveling devices (1), (1) track frames. It is also used as a frame member that connects (1A) and (1A).

Then, the variable displacement hydraulic pump (P
1) and (P2) are configured to drive and operate the trunnion shaft by the electric motors (16) and (16), respectively, and drive control of the hydraulic cylinders (13) and (14) and the working hydraulic motor (M3). The valves (V) are electromagnetically driven, and each of them is controlled and driven by the control device (7) based on remote operation by the remote operation part (17).

The mowing device (4) is constructed in a frame mower form,
A link mechanism (3) by a lift arm (18) that is driven up and down by a hydraulic cylinder (13) for lifting and lowering to move around a horizontal axis.
Is configured so as to move up and down in association with hoisting, and the hydraulic cylinder (1) is set so that the detection result of the tilt angle of the lift arm (18) with respect to the machine body and the preset cutting height setting value match.
The cutting height control means (A) for driving and controlling 3) is provided. More specifically, as shown in FIGS. 1 and 4, the remote operation section (17) is provided with a first potentiometer (PM1) as setting means for setting the cutting height by manual operation, and the lift arm is provided. A second potentiometer (PM2) as a detecting means for detecting the relative angle with respect to the body is provided at the swing fulcrum of (18), and the respective output values are given to the control device (7). The remote operation section (17) is provided with a manual mode switch (SW1) for canceling the above-mentioned automatic cutting height control and switching to the manual mode, and a lifting operation switch (SW2) for manual operation.

The control device (7) is provided with a microcomputer, is provided with the cutting height control means in advance in the form of a control program, and executes control as follows.

As shown in FIG. 5, if the manual mode switch (SW1) is set to the manual mode, the hydraulic cylinder (13) maintains the current position in the stopped state until the manual mode is turned off (steps S1 to S1). S3). Next, it is judged whether or not the raising / lowering operation switch (SW2) is operated, and if it is operated, the hydraulic control valve (V1) for the hydraulic cylinder (13) is lifted or raised until the switch (SW2) returns to the neutral position. The drive is controlled to the lower end side (steps S4 to S9). When there is no manual operation, the first and second potentiometers (PM
1), read the output of (PM2) (step S10), second
The value detected by the potentiometer (PM2), that is, the measured cutting height of the mowing device (4) is the first potentiometer (PM1).
It is judged whether or not the cutting height is within the predetermined range of the cutting height, and if it is not within the range, the hydraulic control valve (V
1) is driven and controlled so that it falls within the area and the set area and the actually measured area match (steps S11 to S13).

The cutting height control means (A) is constituted by the steps S10 to S13.

In this way, even if the lift arm (18) is gradually lowered due to a leak of hydraulic oil due to an increase in oil temperature, etc., the cutting height set by the setting potentiometer (PM1) is always maintained. Will be.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

1 to 5 show an embodiment of a mowing machine with a cutting height control device according to the present invention. FIG. 1 is a control block diagram, FIG. 2 is an overall side view, and FIG. 3 is an overall plan view. FIG. 4 is a perspective view of the remote control unit, and FIG. 5 is a control flowchart. And FIG. 6 is a side view showing a comparative example. (1) …… Crawler traveling device, (3) …… Link mechanism,
(4) …… Mower, (13) …… Hydraulic cylinder, (18)
…… Lift arm, (A) …… Control means, (PM1) ……
Setting means, (PM2) ... Detecting means.

Front page continued (72) Inventor Tetsuo Yamaguchi 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72) Inventor Nakamura 64, Ishizukitamachi, Sakai City Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72 ) Inventor Mitsugu Furubayashi 64 Ishizukita-machi, Sakai City, Osaka Prefecture, Kubota Sakai Plant (56) Reference JP 62-44105 (JP, A) JP 61-7931 (JP, U)

Claims (1)

(57) [Claims] 1. A pair of left and right crawler traveling devices (1),
A lift driven by a hydraulic cylinder (13) while a flare mower type mowing device (4) is connected to a front part of a traveling machine body (2) provided with (1) via a link mechanism (3). A lawn mower configured to lift and lower the link mechanism (3) by an arm (18) and drive the mower (4) up and down, wherein the lawn mower (4) includes the left and right crawlers. Traveling device (1), (1)
The crawler traveling device (1), (1) in the range extending over
Disposed on the front side of the crawler traveling device (1),
The front end of (1) is projected forward from the front end of the traveling machine body (2), and a detection means (PM2) for detecting an inclination angle of the lift arm (18) with respect to the machine body is provided. ) And the control means (A) for driving and controlling the hydraulic cylinder (13) so that the set value manually set by the remote control operation by the setting means (PM1) matches, and further, the link A mechanism (3) is a mowing machine with a mowing height control device provided in a range surrounded by the mowing device (4), the crawler traveling devices (1), (1) and the traveling machine body (2).