JP2594933Y2 - Lift control device of plow working machine in tractor - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lift control device for a plow working machine in a tractor to which a plow working machine is connected.

[0002]

2. Description of the Related Art
This type of plow working machine is connected to the rear of the tractor via a lower link and a top link so as to be able to move up and down freely.
Since the connection angle is set so as to be substantially horizontal during plowing work, the angle of entry into the soil at the beginning of plowing is necessarily insufficient, and as a result, the traveling distance until reaching the desired depth is long. In addition, there is a disadvantage that the working accuracy at the beginning of the penetration is inferior. Therefore, the top link connecting portion or the top link itself is provided with a flexible mechanism that allows the plow working machine to turn up and down around the lower link connecting portion, and a turn that can lock the turning of the plow working machine at the lower turning position. An automatic lock release mechanism for automatically transforming the rotation lock mechanism to the unlocked position when not working, and a lower side of the plow working machine associated with the ascent operation. It is proposed to connect an automatic locking means for automatically changing the rotation locking mechanism to the locking position based on the rotation to the rotation position. In other words, the plow working machine, which is unlocked during non-working, rotates upward based on the resistance received at the beginning of digging, so that it can reach a desired depth quickly with a large underground penetration angle, And
After reaching the desired depth, the rotation of the plow working machine is locked based on the lifting operation, so that the plowing operation can be performed in a substantially horizontal fixed posture. However, in this case, it is necessary to perform an ascending operation for locking the rotation of the plow work machine every time the plow work machine is inserted, which may complicate the operation and cause a decrease in operability. On the other hand, if the lifting operation is forgotten, there is a problem that the plow working machine is too deeply inserted to lower the working accuracy or to generate a so-called engine stall based on an overload.

[0003]

SUMMARY OF THE INVENTION The present invention has been conceived in view of the above-mentioned circumstances, and has as its object to provide a lift control device for a plow working machine in a tractor capable of eliminating these drawbacks. A plow working machine is connected to a rear portion of the traveling machine body via a lower link that is actively raised and lowered based on hydraulic operation of a lift arm, and a top link that is passively raised and lowered as the lower link is raised and lowered. At the same time, a flexible mechanism that allows the top link connecting portion or the top link itself to vertically rotate the plow working machine with the lower link connecting portion as a fulcrum, and a turn that allows the turning of the plow working machine to be locked at the lower turning position. An automatic lock release mechanism for automatically changing the rotation lock mechanism to the unlocked position when not working; and In a tractor connected to an automatic locking means for automatically changing a rotation locking mechanism to a locking position based on rotation of the plow working machine to a lower rotation position due to operation, a hydraulic pressure of the lift arm After the lowering operation of the plow working machine at the beginning of the plowing operation is continued until the plow working machine reaches a predetermined depth, the rotating rocking mechanism locks the plow working machine. It is characterized in that a plowing start control means for automatically raising the plow working machine until the plow working machine is changed to a posture is provided. With this configuration, the present invention eliminates the need for a lifting operation to lock the rotation of the plow working machine, thereby significantly improving operability, and also ensures that the operation accuracy is reduced due to forgetting to operate and occurrence of engine stalls. This can be prevented.

[0004]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling body of a tractor, and a plow working machine 4 is connected to a rear portion of the traveling body 1 via a lifting link mechanism 2 so as to be able to move up and down. The lifting link mechanism 2 includes a lift rod. A pair of left and right lower links 7 that are actively raised and lowered based on the hydraulic operation of a lift arm 6 connected via the link 5, and a single top link 8 that is passively raised and lowered as the lower links 7 are raised and lowered. Thus, a so-called three-point link mechanism is configured.

[0005] The plow working machine 4 includes a lifting link mechanism 2.
A vertical connecting frame 9, a beam 11 projecting rearward from the connecting frame 9, and rotating substantially 180 ° around an axis based on an expansion / contraction operation of a hydraulic cylinder 10, which will be described later. And three auxiliary plows 14 arranged in front of the plows 12 and the like. The plow working machine 4 thus configured balances a downward (clockwise in FIG. 1) moment based on its own weight and an upward (counterclockwise in FIG. 1) moment based on traction resistance. While the plowing work is performed, the plowed soil is turned to the right or left side, but the upper and lower plows 12 are used alternately based on the expansion and contraction operation of the hydraulic cylinder 10 to remove the plowed soil. The reverse direction can be switched alternately every time the aircraft turns.

The upper end of the hydraulic cylinder 10 is supported by the connecting frame 9 so as to be swingable right and left.
The lower end is an arm 11 projecting sideways from the beam 11.
a. That is, the beam 11 is rotated by 90 ° based on the contraction operation of the hydraulic cylinder 10 and the remaining 90 ° rotation is performed based on the extension operation. , From the A position to the B position or from the B position to the A position via the upright position.

The connecting frame 9 is formed to have a substantially U-shaped cross section, and connecting holes for connecting to the distal connecting pins 15 and 16 of the links 7 and 8 are formed at both upper and lower ends thereof. Although formed, the connection hole for the top link 8 formed at the upper end is formed in the elongated hole 9a facing in the front-rear direction, so that the plow working machine 4 having the connection pin 15 of the lower link 7 as a fulcrum is used as a fulcrum. Up and down rotation is allowed.

Reference numeral 17 denotes a swing arm provided inside the connection frame 9, and the lower end of the swing arm 17 is
The upper end is pivotally connected to the connecting pin 16 of the top link 8 while being pivotally supported via a rotating shaft 18.
Are protruded integrally.

Further, reference numeral 20 denotes a lock arm provided inside the connecting frame 9.
Has an engaging groove 20a at the front end of the arm, which can be engaged with the lock pin 19 of the swing arm 17 at the pivotal axis 21 as a fulcrum. That is, in the state where the engaging groove 20a is engaged with the locking pin 19, the rotation of the plow work machine 4 is locked at the lower rotation position (the plowing work position). Since the plow working machine 4 is constantly urged downward, when the plow working machine 4 is rotated from the upper rotation position (the swallowing position) to the lower rotation position, the rotation of the plow working machine 4 is rotated downward. It can be locked automatically in the moving position.

The rear end of the rock arm 20 is
A roller 23 that protrudes from a through hole 9b formed on the back surface of the connecting frame 9 and that interferes with the swing of the hydraulic cylinder 10 is provided at the protruding end. When the plow 12 is turned upside down during non-operation, the hydraulic cylinder 10 presses the roller 23 in the course of swinging, so that the rock arm 20 moves upward against the ammunition 22 and rotates. The lock is automatically released, but this unlocked state is maintained even after the hydraulic cylinder 10 presses the roller 23. That is, an engagement regulating plate 24 is provided at the front end of the lock arm 20 so as to swing back and forth. The engagement regulation plate 24 comes into contact with the lock pin 19 so as to regulate the downward movement of the lock arm 20. I have. The engagement restricting plate 24 is restricted by the stopper pin 25 from swinging backward beyond the engagement restricting position, and is constantly stopped by the stopper (not shown).
It is urged toward the fifth side.

Next, the operation of the lock arm 20 and the like will be described with reference to FIGS. However, when turning the aircraft,
It is assumed that the raising operation of the plow working machine 4 and the upside-down operation of the plow 12 are performed. By the way, at the beginning of the plowing, the plow working machine 4 is lowered based on the hydraulic operation of the lift arm 6, but at this time, the plow working machine 4 is located at the lower rotation position based on its own weight, Further, the lock arm 20 maintains the rotation lock release posture based on the already-performed reversal operation of the plow 12. And
When the plow work machine 4 starts traveling in synchronization with the touchdown of the plow work machine 4, the plow work machine 4 rotates upward due to the penetration resistance, obtains a large underground approach angle based on the rotation, and quickly moves. The rock arm 2
In the case of 0, the locking pin 19 comes into contact with the intermediate portion to maintain the rotation unlocking posture. Then, after the plow working machine 4 is driven into the desired depth, a lifting operation to be described later is performed. As the plow working machine 4 rotates downward, the locking groove 20 a of the rock arm 20 is automatically inserted into the locking pin 19. Engage,
The rotation of the plow work machine 4 is locked at the lower rotation position (to the plowing work position), and thereafter, the plow work machine 4 performs the plowing work in a substantially horizontal fixed posture.

On the other hand, reference numeral 26 denotes a control unit provided in the traveling body 1, and the control unit 26 is a control unit configured using a so-called microcomputer (including a CPU, a ROM, a RAM, and the like). The draft sensor 27 detects the traction resistance of the plow working machine 4 based on the detection of the compression force of the top link 8, the arm angle sensor 28 detects the vertical swing angle of the lift arm 6, the positioning lever (working machine). A position sensor 30 for detecting the operation angle of the lifting operation lever 29, a cultivation depth setting volume 31 for inputting a cultivation depth set value for automatic cultivation depth control, and a traction resistance set value (draft depth set value) for draft control, A signal is inputted from an automatic control switching volume 32 for switching automatic control, a dusting position volume 33 for adjusting a dusting position to be described later, and the like. In decision based on these input signals,
Lift cylinder 34 for hydraulically operating the lift arm 6
(The ascending solenoid 35a and the descending solenoid 35b of the hydraulic control valve 35) output an operation signal. In other words, the control unit 26 controls the lifting and lowering of the lift arm 6 so that the detection value of the arm angle sensor 28 matches the detection value of the position sensor 30, and the detection value of the plowing depth detection sensor provided in the rotary work machine. And automatic setting of the lift arm 6 for raising and lowering the lift arm 6 so as to match the set value of the till depth setting volume 31, and setting the lift arm 6 to match the detection value of the draft sensor 27 and the set value of the till depth setting volume 31. A control routine such as draft control for raising / lowering control is provided in advance (stored in the ROM). Of these controls, the position control and the draft control will be described in detail below.

In the position control, when the automatic plowing depth control and the draft control are not executed, the detected value of the position sensor 30 and the detected value of the arm angle sensor 28 are compared with each other and the two detected values are made to coincide with each other. A so-called anti-dusting function for reducing the contact speed of the work machine (a function for preventing the machine body from suddenly starting due to the plowing reaction force of a rotary work machine or the like), which outputs a lifting signal to the hydraulic control valve 35. ). That is, when outputting a lowering signal to lower the work machine, the arm angle sensor 28
Is continuously determined whether or not the detected value is smaller than the set value of the dusting position volume 33,
After the determination is YES, the duty ratio (pulse width) of the descending signal is gradually reduced to reduce the descending speed.

On the other hand, the draft control is executed in a state where the automatic control switching volume 32 is set to the "draft" position and the position lever 29 is operated to the substantially lowest position. Then, during the plowing operation, the detection value of the draft sensor 27 is compared with the set value of the tillage setting volume 31.
Here, when the detected value matches the set value, the lift arm 6 is stopped, and when the detected value is larger than the set value, the lift arm 6 is raised, while the detected value is larger than the set value. If it is smaller, the lift arm 6 is lowered to control the traction resistance to be constant. However, at the beginning of the above-described plowing, a different control routine is executed.

The control routine for starting the plowing is executed based on a descending operation after the position lever 29 is operated to the upper limit position (or the lift arm 6 is raised to the upper limit). In this control routine, First, the grounding of the plow working machine 4 is determined based on a change in the detection value of the draft sensor 27. Then, when it is determined that the landing is performed, the lift arm angle at the time of landing is stored, and the lift arm 6 is lifted.
Is lowered by a predetermined angle. That is, since the lift arm 6 is lowered by a predetermined angle regardless of the detection value of the draft sensor 27, even if the traction resistance received at the start of rushing exceeds the provisional command set value, the plow working machine 4 is reliably moved to the desired plowing depth. In this embodiment, the lowering angle of the lift arm 6 is determined based on the set value of the dusting position volume 33.

Further, after lowering the lift arm 6 by a predetermined angle, the lift arm 6 is raised by a predetermined angle. That is, since the lifting operation for changing the locking arm 20 to the locking position is automatically executed when the lifting arm 6 is lowered by a predetermined angle from the ground contact position, the plowing operation is performed without particularly raising the positioning lever 29. Although the rotation of the work machine 4 can be locked, in this embodiment, the rising angle of the lift arm 6 is determined based on the set value of the dusting position volume 33. After the lift arm 6 is raised by a predetermined angle, the normal draft control routine described above is executed to reset the plowing start flag.

In the embodiment of the present invention configured as described above, the plow working machine 4 unlocked at the raised position is
Since it pivots upward based on the resistance received at the beginning of digging, it will reach a desired depth quickly by obtaining a large angle of entry into the soil, and after reaching the desired depth, By locking the rotation of the plow working machine 4 based on this, the plowing work is executed in a substantially horizontal fixed posture, but the lifting operation for locking the rotation of the plow working machine 4 is performed by a lift arm. 6 is automatically executed at a stage in which the plow 6 is lowered from the ground contact position by a predetermined angle.
Can be locked. Therefore, it is possible to significantly reduce the operation burden on the operator as compared with the conventional method in which the position lever 29 is raised every time the plow working machine 4 is inserted. Inconveniences such as lowering or generating an engine stall based on overload can be reliably prevented.

Further, in this embodiment, since the lowering angle and the raising angle of the lift arm 6 in the plowing start routine can be adjusted, the plow operating machine 4 can be raised at an optimum timing regardless of the field conditions and the plowing depth. Therefore, the rotation of the plow working machine 4 can be surely performed.

Further, in this embodiment, since the angle adjustment is performed by using the dusting position volume 33, the number of parts can be reduced based on the dual use of the dusting position volume 33.

It should be noted that the present invention is not limited to the embodiment described above. For example, a flexible mechanism for allowing the plow working machine 4 to freely rotate is provided on the plow working machine 4 side. Without providing the top link connecting portion, it is also possible to form an accommodating mechanism by forming an elongated hole in the top link bracket on the fuselage side, or to constitute the accommodating mechanism by making the top link itself extendable and contractible. Further, a sensor for detecting the turning position of the plow working machine 4 may be separately provided without determining the ground contact at the beginning of the penetration based on the change in the detection value of the draft sensor 27. Further, in the above-described embodiment, the lift arm 6 is lowered by a predetermined angle after the plow working machine 4 has touched the ground.
May be lowered for a predetermined time. Further, in the above embodiment, after the plow operating machine 4 is lowered, the lift arm 6 is raised by a predetermined angle to perform the rotation lock. However, the lift arm 6 may be raised for a predetermined time, and It is also possible to stop the raising operation based on the detection of the rotation position of the machine 4 and the detection of the lock operation of the lock arm 20.

[0021]

In summary, since the present invention is constructed as described above, the plow working machine unlocked during non-working is pivoted upward based on the resistance received at the beginning of plowing. It will reach the desired depth promptly by obtaining the soil penetration angle, and after reaching the predetermined depth, the climbing operation will be performed to lock the rotation of the plow working machine. Since the raising operation is automatically performed when the plow working machine reaches a predetermined depth, it is possible to lock the rotation of the plow working machine without particularly raising the positioning lever. Therefore, compared to the conventional method in which the position lever is raised every time the plow work machine is inserted, it is possible to significantly reduce the operation burden on the operator. In addition, inconveniences such as generation of an engine stall based on overload can be reliably prevented.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor to which a plow working machine is connected.

FIG. 2 is a rear view of a main part of the plow working machine.

FIG. 3 is a side view of a main part of the plow working machine in a raised state (non-working state).

FIG. 4 is a side view of the main part of the same, showing a state of starting the penetration.

FIG. 5 is a side view of the main part of the same, showing a state where the predetermined angle is raised after the penetration.

FIG. 6 is a plan view of a first operation panel.

FIG. 7 is a plan view of a second operation panel.

FIG. 8 is a block diagram showing input / output of a control unit.

FIG. 9 is a flowchart of position control.

FIG. 10 is a flowchart of a pour start control.

FIG. 11 is a graph showing the relationship between the lifting / lowering angle of the lift arm and the dusting position volume 33 at the beginning of the penetration.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 2 Elevating link mechanism 4 Plow working machine 7 Lower link 8 Top link 9 Connecting frame 9a Elongated hole 10 Hydraulic cylinder 17 Swing arm 19 Lock pin 20 Lock arm 26 Control unit

Claims (1)

(57) [Scope of request for utility model registration] 1. A plow working machine at a rear portion of a traveling machine body via a lower link which is actively raised and lowered based on a hydraulic operation of a lift arm, and a top link which is passively raised and lowered as the lower link is raised and lowered. And a flexible mechanism that allows the top link connecting portion or the top link itself to vertically rotate the plow working machine with the lower link connecting portion as a fulcrum, and locks the turning of the plow working machine at a lower rotation position. A rotatable lock mechanism, wherein the rotatable lock mechanism further includes an automatic unlocking means for automatically changing the rotatable lock mechanism to the unlocked position when not in operation, and a plow working machine associated with an ascent operation. A tractor connected to an automatic locking means for automatically changing a rotation locking mechanism to a locking position based on the rotation to the lower rotation position. After the lowering operation of the plow working machine at the beginning of the plowing operation is continued until the plow working machine reaches a predetermined depth, the rotating rocking mechanism locks the plow working machine. A lift control device for a plow working machine in a tractor, further comprising a plowing start control means for automatically raising the plow working machine until the plow working machine is changed to a posture.