JP4050010B2 - Working vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention belongs to the technical field of working vehicles such as agricultural machines and construction machines.
[0002]
[Prior art]
Generally, in a working vehicle such as an agricultural machine or a construction machine, there are cases where a blade for performing a earthing work is attached to the airframe to perform work such as leveling and leveling. When performing this type of work, blades with the same width as the machine are usually used. However, for work with a relatively low work load, such as field leveling work, a wide blade is used to improve work efficiency. It has been proposed to let
[0003]
[Problems to be solved by the invention]
However, when a wide blade is mounted on the aircraft, the balance of the aircraft will change as the blade moves, and if the blade is tilted in the raised state, the balance of the aircraft will change significantly, resulting in a decrease in running stability. It was.
[0004]
[Means for Solving the Problems]
The present invention was created in view of the above-described circumstances in order to solve these problems, and the invention of claim 1 allows the blade for performing the earthing work to be freely moved up and down and tilted. A connected working vehicle, wherein the working vehicle has a non-working state judging means for judging a non-working state of the blade, and a tilt of the blade when the blade is judged to be in a non-working state. Upon Ru provided a tilt operation restriction means for restricting the operation, the non-working state determining means, tilt sensor for detecting a detection signal of the blade inclination sensor for detecting the lateral inclination angle of the blade, the lateral inclination angle of the traveling machine body And a non-working state of the blade is determined based on the detection signal . That is, it is possible to avoid the inconvenience that the balance of the body greatly changes due to the tilting operation of the blade when not working, and to improve the running stability. In addition , the determination accuracy can be improved by determining the non-working state of the blade based on a plurality of sensor signals.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a crawler tractor, and a rotary working machine (rear working machine) 2 as a tilling work attachment is mounted on a rear part of the traveling machine body 1 via a lifting link mechanism 3. Yes. The lift link mechanism 3 is provided with a lift arm cylinder 4 and a lift rod cylinder 5, and the rotary work machine 2 moves up and down according to the expansion and contraction of the lift arm cylinder 4 and according to the expansion and contraction of the lift rod cylinder 5. Tilt left and right.
[0006]
On the other hand, a blade working machine (front working machine) 6, which is a pushing work attachment, is attached to the front portion of the traveling machine body 1. The blade working machine 6 includes a lift frame 7 connected to the front part of the machine body so as to be pivotable up and down, an angle frame 8 coupled to the front end part of the lift frame 7 so as to be pivotable back and forth, and the angle frame 8 up and down. A blade 9 that is rotatably connected, a guide rail 10 that guides the left and right ends of the angle frame 8, a pair of left and right lift cylinders 11 interposed between the traveling machine body 1 and the lift frame 7, A pair of left and right angle cylinders 12 interposed between the lift frame 7 and the angle frame 8 and a tilt cylinder 13 interposed between the angle frame 8 and the blade 9 are provided. The blade 9 as a presser member lifts (lifts and lowers) according to the expansion and contraction of the lift cylinder 11, performs an angle operation (forward and backward tilt) according to the expansion and contraction of the angle cylinder 12, and further responds to the expansion and contraction of the tilt cylinder 13. Tilt.
[0007]
The blade 9 is supported by the angle frame 8 via a tilt support shaft (tilt operation fulcrum) 14 facing in the front-rear direction, and the angle frame 8 is lifted through an angle support shaft (angle operation fulcrum) 15 facing in the vertical direction. It is supported by the frame 7. The tilt support shaft 14 is provided near the lower side of the angle support shaft 15, and the tilt support shaft 14 is located on an extension line of the angle support shaft 15 at least in a front view. As a result, the load associated with the tilt operation and the load associated with the angle operation can be reduced as much as possible, and the stability of the tilt operation and the angle operation can be improved. It is possible to reduce the influence of the tilt operation in the angle operation and smoothly perform the simultaneous operation of the tilt operation and the angle operation.
[0008]
Next, two types of blade working machines 6A and 6B will be described with reference to FIGS. The blade working machine 6A shown in FIGS. 3 and 4 is provided with extension blades 16 that can be turned up and down at both left and right ends of the blade 9. A folding link mechanism 17 is interposed between the blade 9 and the extension blade 16, and a folding cylinder 19 is interposed between the pivot 18 of the folding link mechanism 17 and the upper part of the blade 9. ing. That is, when the folding cylinder 19 is extended, the extension blade 16 is in a working posture, and the working width of the blade working machine 6A is expanded. On the other hand, when the folding cylinder 19 is contracted, the extension blade 16 is rotated upward and the blade 9 Folded upwards. As a result, the extended blade 16 can be stored in a folded shape during non-working traveling or when the machine is retracted, and the traveling performance and storage performance can be improved. Can be arbitrarily switched.
[0009]
The blade working machine 6B shown in FIG. 5 and FIG. 6 includes extension blades 20 that can be rotated back and forth at both left and right ends of the blade 9. A folding cylinder (not shown) is interposed between the blade 9 and the extension blade 20, and when the folding cylinder is extended, the extension blade 20 becomes a working posture, and the working width of the blade working machine 6B is expanded. On the other hand, when the folding cylinder is reduced, the extension blade 20 is rotated approximately 90 ° rearward and stored along the left and right sides of the front part of the machine body. As a result, it is possible not only to obtain the same effect as the blade working machine 6A but also to secure a good front view even when folded.
[0010]
The rotary working machine 2 and the blade working machine 6 are respectively provided with masts 21F and 21R, and laser receivers 22F and 22R having a predetermined light receiving width in the vertical direction on the upper ends of the masts 21F and 21R. Is installed. A laser projector (not shown) for rotating and projecting laser light in a horizontal direction or an arbitrary inclination direction is installed at a predetermined place in a work site or a farm field, and the laser light projected from the laser projector is Light is received by the laser receivers 22F and 22R. Thereby, it becomes possible to detect the working height of the rotary working machine 2 and the blade working machine 6 with reference to the laser beam. In addition, the masts 21F and 21R are configured to be extendable and retractable, and are provided with mast cylinders 23F and 23R (electric cylinders) for mast expansion and contraction operations. A reference height of the work machines 2 and 6 in laser control to be described later is set.
[0011]
An operation unit 24 is configured on the traveling machine body 1. The operation unit 24 is covered with a cab 25, and a driver seat 26 on which an operator sits, a steering wheel 27 that steers the aircraft, and existing operation tools such as a travel shift lever 28 are provided inside the operation unit 24. A panel 29, an attachment operation panel 30 provided with an operation tool for attachment to be described later, and a light reception level indicator 31 for displaying the light reception levels of the laser receivers 22F and 22R are provided. The driver's seat 26 is configured to include armrests 26a on both the left and right sides, and is installed at the center of the operation unit 24 via a front / rear position adjustment mechanism (not shown) and a vertical position adjustment mechanism (not shown). The side panel 29 is configured to be adjustable in the front-rear position, and after adjusting the position of the driver seat 26 according to the physique and preference of the operator, the front-rear position of the side panel 29 disposed on the side of the driver seat 26 is adjusted. By doing so, the position of the side panel 29 is optimized.
[0012]
The attachment operation panel 30 is disposed between the driver seat 26 and the side panel 29. As a result, it is possible to arrange the attachment operation tool at the side position of the driver's seat 26 that is most easily operated, and to improve the operability by centrally arranging the attachment operation tool and the existing operation tool. Is possible. Further, the attachment operation panel 30 is integrally attached to the inner side portion of the side panel 29 via an attachment boss 32. Therefore, the front / rear position of the attachment operating tool can be adjusted using the front / rear position adjustment function of the side panel 29. Further, the attachment operation panel 30 is disposed on a front extension line of an armrest portion 26 a provided on the right side of the driver seat 26. Thereby, the operation tool for attachment can be operated in a state where the elbow is placed on the armrest portion 26a. As a result, stable operation can be performed and fatigue of the operator can be reduced. Further, the attachment operation panel 30 is formed to be bent in an inverted L shape in a plan view, and the inner corner portion of the bent portion is attached to the side panel 29 so as to be along the corner portion of the side panel 29. Yes. Therefore, compared to the case where the attachment operation panel 30 is configured linearly, the occupied space can be reduced, and the sense of unity between the existing side panel 29 and the attachment operation panel 30 attached later can be enhanced. become.
[0013]
The attachment operation panel 30 includes a joystick lever 33 for lifting the blade 9 as an operation tool for the front work machine, a tilt automatic switch 34 for turning on / off tilt automatic control (blade tilt automatic control), A laser automatic switch 35 for turning on / off laser automatic control, which will be described later, a dozer opening / closing switch 36 for opening / closing the extension blades 16 and 20, and a mast cylinder switch 37 for expanding / contracting the front mast 21F. As an operating tool for the rear working machine, a laser automatic switch 38 for turning on / off laser automatic control, which will be described later, a mast cylinder switch 39 for extending and retracting the rear mast 21R, and an attachment that operates hydraulically Hydraulic operation switch used when equipped with 0, a control changeover switch 41 for switching between laser control and automatic depth control, a quick-up switch 42 for raising and lowering the rotary work machine 2, and a setting for raising the rotary work machine 2 Raised height setting volume 43, working machine switching volume 44 for switching control according to the working machine to be installed, automatic depth switch 45 for turning on / off automatic depth control, automatic depth control A depth setting volume 46 for setting a target depth, an inclination automatic switch 47 for turning on / off inclination automatic control, and an inclination setting volume 48 for setting a target inclination for automatic inclination control are provided. Further, a display changeover switch 49 for switching the display of the light receiving level indicator 31 between the front working machine operating tool and the rear working machine operating tool. It is provided.
[0014]
The front working machine operating tools 33 to 37 are arranged on the front side of the attachment operating panel 30, and the rear working machine operating tools 38 to 48 are arranged on the rear side of the attachment operating panel 30. Therefore, it becomes easy to recognize the operation tools corresponding to the front and rear work machines 2 and 6, and the operability of the attachment operation tool is improved. Further, the rear side of the attachment operation panel 30 provided with the rear working machine operating tools 38 to 48 is flat, whereas the front side of the attachment operating panel 30 provided with the front working machine operating tools 33 to 37 has a front height. It is inclined to be high and low. This makes it possible to clearly distinguish the operation tools corresponding to the front and rear work machines 2 and 6.
[0015]
The received light level indicator 31 is configured to emit and display the received light levels of the laser receivers 22F and 22R. In the present embodiment, the light reception level indicator 31 is disposed at the right front corner portion in the cab 25. Therefore, the visibility of the light reception level indicator 31 is higher than that in the case where the light reception level indicator 31 is disposed outside the cab 25 (bonnet or the like). As a result, the light receiving level indicator 31 can be prevented from being damaged by an external obstacle.
[0016]
The traveling machine body 1 includes a first control unit 50 for controlling the front work machine and a second control unit 51 for controlling the rear work machine. The first control unit 50 is connected to the laser receiver 22F, the mast cylinder 23F, the received light level indicator 31, the front working machine operating tools 34 to 37, the display changeover switch 49, and the second control unit 51 described above. Are a lift angle sensor 52 that detects the lift angle of the blade 9, an angle angle sensor 53 that detects the angle angle of the blade 9, a tilt angle sensor 54 that detects the tilt angle of the blade 9, and the operating angle of the joystick lever 33. A lever angle sensor 55 for detecting the angle, an angle operation switch 56 and a tilt operation switch 57 provided on the grip portion of the joystick lever 33, and a blade inclination sensor 58 for detecting the right and left inclination angle of the blade 9 (capacitive inclination sensor). An extension solenoid 59 and a reduction solenoid 60 of a lift cylinder electromagnetic valve; And extension solenoid 61 and reduction solenoid 62 of the solenoid valve for the angle cylinder, the extension solenoid 63 and reduction solenoid 64 of the solenoid valve for the tilt cylinder, the extension solenoid 65 and reduction solenoid 66 of the solenoid valve for folding cylinder is connected.
[0017]
The second control unit 51 is connected to the laser receiver 22R, the mast cylinder 23R, the rear working machine operating tools 38 to 48 and the first control unit 50 described above, and further, a position lever 67 which is an existing operating tool. A position sensor 68 that detects the lever operating angle of the (rear working machine lifting lever), a tilling depth sensor 69 that detects the tilling depth of the rotary working machine 2, a lift arm sensor 70 that detects the lift arm angle, and a lift rod A lift rod sensor 71 for detecting the length, a machine body tilt sensor 72 (capacitance type tilt sensor) for detecting the right and left tilt angle of the traveling machine body 1, an extension solenoid 73 and a reduction solenoid 74 of a lift arm cylinder electromagnetic valve, An extension solenoid 75 and a reduction solenoid 76 of a lift rod cylinder electromagnetic valve are connected.
[0018]
The first control unit 50 includes laser control means (laser control routine) for the front work machine that automatically controls the blade work machine 6 to move up and down according to the laser light reception level of the laser receiver 22F, and the second control. The unit 51 includes a laser automatic control means for a rear working machine that automatically controls the rotary working machine 2 to move up and down according to the laser light receiving level of the laser receiver 22R. Accordingly, the working heights of the blade working machine 6 and the rotary working machine 2 can be independently and simultaneously controlled on the basis of the laser light projected from one laser projector. It is possible to eliminate inconvenience that the height varies, and to improve the work accuracy and work efficiency.
[0019]
Next, a control procedure of the first control unit 50 will be described along a flowchart. In the main routine of the first control unit 50, after a predetermined initial setting routine is executed, a manual control routine, a laser automatic control routine, a tilt automatic control routine, and a display control routine are repeatedly executed. In the display control routine, first, the switching position of the display selector switch 49 is determined. When the switching position is the front side, the light reception level data of the front laser receiver 22F is transmitted to the light reception level indicator 31, while when the switching position is the rear side, the light reception level of the rear laser receiver 22R. By transmitting the data to the light reception level display 31, the light reception level display 31 displays the light reception levels of the laser light receivers 22F and 22R corresponding to the switching position of the display changeover switch 49. In other words, the laser light receivers 22F and 22R are provided, but the light reception level display 31 is single, and the laser receivers 22F and 22R to be displayed are switched as necessary. As a result, the number of parts can be reduced and the cost can be reduced as compared with the case where the received light level display units 31 are provided by the number of the laser receivers 22F and 22R.
[0020]
In the manual control routine, first, a data set that determines signal changes of the lever angle sensor 55, the angle operation switch 56, and the tilt operation switch 57, and sets corresponding valve data (excluding blade ascent data) according to the signal changes. The routine is executed. Thereafter, the blade raising operation is determined based on the detection signal of the lever angle sensor 55. If the determination is YES, the blade raising data is set, and the valve data set flag and the upper limit value confirmation timer are set. After the valve data flag is set, it is determined whether the upper limit value confirmation timer has ended. If the determination is YES, the tilt cylinder 13 is set to the horizontal position, and the blade 9 is tilted by automatic tilt control. Limit. That is, when the blade 9 moves up for a predetermined time or longer, it is determined that the blade 9 is in a non-working state, and the tilting operation of the blade 9 is limited. By this tilting operation, it is possible to avoid the inconvenience that the body balance changes greatly and to improve the running stability.
[0021]
In the laser automatic control routine, first, it is determined whether or not the laser automatic switch 35 is ON / OFF. If it is ON, it is further determined whether or not the laser receiver 22F is within the laser receiving range. If this determination is YES, a laser control routine for automatically raising and lowering the blade 9 according to the laser light reception level of the laser receiver 22F is executed. On the other hand, if the above determination is NO, it is determined whether or not the blade 9 is moving up. If the determination is YES, the tilt cylinder 13 is set to the horizontal position and the blade 9 by automatic tilt control is used. Limiting the tilting operation. That is, even when the blade 9 is in the ascending operation state and the laser beam is out of the light receiving range of the laser receiver 22F, it is determined that the blade 9 is in a non-working state, and the tilt operation of the blade 9 is restricted. .
[0022]
In the automatic tilt control routine, it is first determined whether the automatic tilt switch 34 is ON / OFF. If this is ON, it is further determined whether or not the blade tilt sensor value is in a normal change state. If this determination is YES, a tilt control routine for automatically horizontally controlling the blade 9 according to the blade tilt sensor value is executed. On the other hand, if the determination is NO, it is determined whether or not the airframe tilt sensor value is in a normal change state. If the determination is NO, the tilt cylinder 13 is set to the horizontal position and the blade is automatically controlled by tilt. 9 tilt operation is limited. That is, focusing on the fact that the detected values of the tilt sensors 58 and 72 show a sudden change when the aircraft is turning, the non-working state of the blade 9 is determined based on the detected value change, and two tilt sensor values are used. The misunderstanding is prevented by referring to.
[0023]
In the structure configured as described above, in the traveling machine body 1 in which the blade 9 for performing the earthing work is connected so as to be movable up and down and tilted, the non-working state of the blade 9 is determined and the blade 9 is not working. When the state is determined to be in the state, the tilting operation of the blade 9 is limited, so that the disadvantage that the balance of the body greatly changes due to the tilting operation of the blade 9 when not working can be avoided and the running stability can be improved. it can.
[0024]
Further, the non-working state of the blade 9 is determined based on the detection signal of the blade inclination sensor 58 that detects the left / right inclination angle of the blade 9 and the detection signal of the body inclination sensor 72 that detects the left / right inclination angle of the traveling body 1. Therefore, the determination accuracy can be improved as compared with the case where the non-working state of the blade 9 is determined based on a single sensor signal.
[0025]
In addition, the blade 9 is provided with a laser receiver 22F that receives a laser beam as a reference for the working height, and the working height of the blade 9 is automatically controlled according to the light receiving level of the laser receiver 22F. When the blade 9 is in the ascending operation state and the laser beam is out of the light receiving range of the laser receiver 22F, it is determined that the blade 9 is in a non-working state and the tilt operation of the blade 9 is restricted. Therefore, the determination accuracy can be improved as compared with the case where the non-working state of the blade 9 is determined based on a single condition.
[Brief description of the drawings]
FIG. 1 is a side view of a crawler tractor.
FIG. 2 is a front view of the blade working machine.
FIG. 3 is a perspective view of a blade working machine showing a blade unfolded state.
FIG. 4 is a perspective view of the blade folded state.
FIG. 5 is a perspective view showing another example of a blade working machine (blade unfolded state).
FIG. 6 is a perspective view showing the folded state of the blade.
FIG. 7 is a plan view of an operation unit.
FIG. 8 is a plan view of an attachment operation panel.
FIG. 9 is a side view of the same.
FIG. 10 is a block diagram showing input / output of a first control unit and a second control unit.
FIG. 11 is a flowchart showing a main routine of the first control unit.
FIG. 12 is a flowchart of a display control routine.
FIG. 13 is a flowchart of a manual control routine.
FIG. 14 is a flowchart of a laser automatic control routine.
FIG. 15 is a flowchart of an automatic tilt control routine.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Traveling machine body 2 Rotary working machine 6 Blade working machine 14 Tilt support shaft 15 Angle support shaft 22 Laser receiver 24 Operation part 26 Driver's seat 26a Armrest part 29 Side panel 30 Attachment operation panel 31 Light reception level display 50 First control part 51 Second control unit

Claims (1)

A working vehicle in which a blade for pressing work is connected so as to be movable up and down and tilted freely. A non-working state judging means for judging a non-working state of the blade on the working vehicle, and the blade when There it is determined that the non-working state, when Ru is provided a tilt operation limiting means for limiting the tilting movement of the blades, the non-working state determining means, the blade inclination sensor for detecting the lateral inclination angle of the blade A working vehicle characterized in that a non-working state of the blade is determined based on a detection signal and a detection signal of an inclination sensor that detects a right and left inclination angle of the traveling machine body .

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