JP4833738B2 - Agricultural machine - Google Patents

Description

  The present invention relates to an agricultural machine that can realize subtle movement of a work body by variably controlling the moving speed of an actuator.

Conventionally, for example, a central work machine main body connected to the rear part of a tractor, which is a traveling vehicle, and the work machine main body are provided so that the position can be changed. Folding type agricultural working machines are known that include left and right working bodies that are positioned at the unfolding work position by rotation and an actuator composed of an electric hydraulic cylinder that changes the position of each working body, that is, turns (for example, a patent) Reference 1).
JP 2005-137353 A

  However, in the conventional agricultural machine described above, since the moving speed of the actuator is always constant, the movement of the work body is also constant, and it has not been possible to cope with a case where a delicate movement is required.

  The present invention has been made in view of the above points, and an object thereof is to provide an agricultural machine that can realize subtle movement of a work body by variably controlling the moving speed of an actuator.

請 Motomeko 1 agricultural machine according includes a work machine body is connected to the vehicle, rotatably provided in the vertical direction about the rotational axis in the lateral direction end portion of the machine body, folding The working body is positioned at the folding non-working position by rotating in the direction, and is positioned at the unfolding working position by rotating in the unfolding direction, and the working body is rotated in the vertical direction around the rotation center axis. An actuator and a control means for variably controlling the moving speed of the actuator, and the work implement body includes a cultivating body for performing a cultivating work and a fitting receiving portion, and performs leveling work at a rear position of the cultivating body. The working body has an extended tillage body that performs tillage work, and a fitting portion that fits with the fitting receiving portion when the working body is located at the unfolding work position. An extended leveling body that performs leveling work at the rear position of the extended tillage body. The actuator is an electric hydraulic cylinder having a rod portion to the reciprocating linear motion relative to and out capable provided the cylinder portion to the cylinder portion and the cylinder portion, wherein, the said electro-hydraulic cylinder An electric motor speed variable device for controlling a moving speed of the rod portion, wherein the fitting receiving portion of the leveling body of the work machine body and the extended leveling of the work body when the work body is rotated in the unfolding direction. The movable speed of the rod part of the electrohydraulic cylinder is set to the normal speed only after the fitting part of the body starts fitting until the fitting receiving part and the fitting part are completely fitted. It will be slower.

Agricultural machine according to claim 2, wherein, in the agricultural machine according to claim 1 Symbol placement, in which comprises expanded locking means for locking to the working machine body to the working body during a state in which the working body is positioned in the deployed working position .

According to a third aspect of the present invention, there is provided a work implement main body coupled to the traveling vehicle, and the work implement main body is provided so that the position of the work implement can be changed. A work body that performs a smearing operation while moving in the direction, an actuator that changes the position of the work body, a control means that variably controls the moving speed of the actuator, and a state in which the work body is in the forward work position. Locking means for locking the work body with respect to the work machine main body, the work body rotating in a predetermined direction behind the embankment part for performing the embankment work while rotating in a predetermined direction, and the advancing direction of the embankment part. The actuator includes a cylinder part and a cylinder part that can be moved in and out of the cylinder part. An electric hydraulic cylinder and a de unit, said control means, said an electric motor variable speed system for controlling a movable speed of the rod portion of the electric hydraulic cylinders, from just before the working body is positioned in the forward work position The movable speed of the rod portion of the electrohydraulic cylinder is made slower than the normal speed until the forward working position is reached.

  According to the present invention, since the actuator for changing the position of the work body and the control means for variably controlling the moving speed of the actuator are provided, a delicate movement of the work body is realized by variably controlling the moving speed of the actuator. it can.

  An embodiment of an agricultural machine according to the present invention will be described with reference to the drawings.

  In FIG. 1, reference numeral 1 denotes a foldable agricultural working machine having a three-part structure. The agricultural working machine 1 is a towing type scraper connected to a tractor (not shown) which is a traveling vehicle, for example. Then, the farm work machine 1 selectively performs the scraping work and the earthing work while moving the farm field by traveling of the tractor while being connected to the tractor.

  Agricultural work machine 1 is developed in the left and right longitudinal work machine body (central work body) 2 connected to the three-point link part (work machine lifting device) at the rear of the tractor and the left and right ends of work machine body 2. The position can be changed to the working position and the folding non-working position, that is, for example, pivotable in the vertical direction around the pivot center axis (fulcrum) 4 and positioned in the folding non-working position by pivoting in the folding direction. A folding work body (extension work body) 3 is provided as a pair of left and right work bodies located in a deployment work position by rotation in the deployment direction.

  The work machine main body 2 has a machine body 6 connected to a three-point link portion at the rear of the tractor. The body 6 is rotatably provided with a cultivating body that performs cultivating work while receiving power from an input shaft connected to the PTO shaft of the tractor via a transmission means and rotating. At the rear end portion of the tillage cover portion of the body 6, a leveling body 7 that performs leveling work while rotating in the vertical direction so as to follow the field scene at the rear position of the tillage body is provided so as to be able to rotate in the vertical direction. ing. The leveling body 7 has fitting receiving portions 7a at both ends in the left-right direction. The work machine main body 2 includes a machine body 6, a cultivating body, a ground leveling body 7, and the like.

  The folding work body 3 has an extension machine body 8 provided on the machine body 6 of the work machine body 2 so as to be pivotable in the vertical direction about the pivot center axis 4. The extension machine body 8 is rotatably provided with an extension tiller body that rotates by receiving power from the tiller body of the central work machine body 2 while rotating. At the rear end of the tilling cover portion of the extension machine body 8, an extension leveling body 9 that rotates in the vertical direction so as to follow the farm scene at the rear position of the extension tillage body can rotate in the vertical direction. Is provided. The extended leveling body 9 has a fitting portion 9a that fits with the fitting receiving portion 7a of the leveling body 7 of the work machine body 2 when the folding work body 3 is located at the unfolding work position. The folding work body 3 includes an extension machine body 8, an extended tillage body, an extended leveling body 9, and the like.

  Further, the farm work machine 1 outputs a driving force based on the operation of the operation unit to change the position of the folding work body 3, that is, for example, rotate about the rotation center axis 4, and the actuator 11 Control means 12 for variably controlling the movable speed and power supply means 13 such as a battery electrically connected to the control means 12 are provided.

  The actuator 11 is, for example, an electro-hydraulic cylinder (electro-hydraulic linear actuator), and is configured integrally with an electric motor 15, a hydraulic tank 16, and a hydraulic cylinder 17, as shown in FIG. 17 has a cylinder part 18 and a rod part 19 which is provided so as to be able to enter and exit the cylinder part 18 and which is a movable part that reciprocates linearly with respect to the cylinder part 18.

  Control means 12 for controlling the moving speed of the rod portion 19 of the hydraulic cylinder 17, for example, an electric motor speed variable device, is electrically connected to the electric motor 15 of the actuator 11.

  And the control means 12 is the expansion work in which the folding work body 3 is at least one work position when the folding work body 3 is rotated in the unfolding direction by changing the drive power supply pulse width to the electric motor 15 or the like. Between the position immediately before the position and the unfolding work position, that is, for example, the fitting receiving portion 7a of the leveling body 7 of the work machine body 2 and the fitting portion 9a of the extended leveling body 9 of the folding work body 3 The moving speed of the rod portion 19 of the actuator 11 is made slower than the normal speed only after the fitting starts until the fitting receiving portion 7a and the fitting portion 9a are completely fitted. That is, on the basis of the control of the control means 12, the rod portion 19 of the hydraulic cylinder 17 of the actuator 11 is only in the other cases until just before the hydraulic cylinder 17 reaches the longest state until the hydraulic cylinder 17 reaches the longest state. The cylinder section 18 is linearly moved at a speed slower than the normal speed.

  Although not shown, the agricultural working machine 1 is a deployment locking means, a folding work body 3 for locking the folding work body 3 to the work machine body 2 when the folding work body 3 is located at the unfolding work position. Is provided with a folding lock means for locking the folding work body 3 with respect to the work machine main body 2 when the folding work body 3 is positioned in the folding non-working position above the work machine main body 2.

  Next, the operation of the agricultural machine 1 will be described.

  When using the agricultural machine 1 to perform the cutting work with the maximum working width, the actuator 11 is operated to move the left and right folding work bodies 3 about the rotation center axis 4 in the unfolding direction. Until a predetermined angle is rotated.

  Then, the folding work body 3 is positioned at the unfolding work position, and the folding work body 3 is automatically locked with respect to the work machine body 2 by the unfolding locking means. The fitting receiving portion 7a and the fitting portion 9a of the extended leveling body 9 of the folding work body 3 are fitted to each other, and the leveling body 7 and the extended leveling body 9 are integrally turned up and down by this fitting. It becomes a state to do.

  At this time, based on the control of the control means 12, the rod portion 19 of the hydraulic cylinder 17 of the actuator 11 is only in a period from just before the hydraulic cylinder 17 is in the longest state until the hydraulic cylinder 17 is in the longest state. Since the linear movement is performed with respect to the cylinder portion 18 at a speed lower than the normal speed in the case, the fitting receiving portion 7a of the leveling body 7 and the fitting portion 9a of the extended leveling body 9 are slowly and reliably stabilized. The noise and impact at that time are alleviated. At the same time, the locking by the deployment lock means is performed slowly and surely and stably, and the noise and impact at that time are alleviated.

  Then, when the farm work machine 1 with the left and right folding work bodies 3 thus switched to the unfolded state is moved by traveling of the tractor, the cultivating body of the work machine body 2 and the extended tillage bodies of the left and right folding work bodies 3 The tilling work is performed at, and the leveling work is performed by the leveling body 7 of the work machine body 2 and the extended leveling body 9 of the left and right folding work bodies 3.

  When the left and right folding work bodies 3 are switched to the folded state, the actuator 11 rotates the left and right folding work bodies 3 about the rotation center axis 4 toward the deployment work position by a predetermined angle. You can do it.

  And according to the agricultural machine 1, since it is the structure provided with the actuator 11 which changes the position of the folding work body 3, and the control means 12 which variably controls the movable speed of this actuator 11, the actuator 11 By variably controlling the movable speed, it is possible to realize a delicate movement of the folding work body 3. Therefore, for example, the fitting receiving portion 7a of the leveling body 7 of the work machine body 2 and the fitting portion 9a of the extended leveling body 9 of the folding work body 3 can be reliably and stably fitted. It is possible to reduce noise, impact, etc. at the time of joining, and at the same time, locking by the deployment locking means can be performed reliably and stably, and noise, impact, etc. at that time can also be reduced.

  Next, another embodiment of the agricultural machine according to the present invention will be described with reference to the drawings.

  In FIG. 3, reference numeral 21 denotes an agricultural machine, and the agricultural machine 21 is a towed coater connected to a tractor (not shown) that is a traveling vehicle, for example. Then, the farm work machine 21 performs the hulling work while moving the farm field by the forward traveling and the back traveling of the tractor while being connected to the tractor.

  The farm work machine 21 can be repositioned to a forward work position, a non-work position, and a back work position on the work machine body 22 connected to the three-point link part (work machine lifting device) at the rear of the tractor. And a work body 23 provided on the machine.

  The working body 23 includes a filling portion (rotary) 24 that performs the filling work while rotating in a predetermined direction, and a ridge forming portion (disk) 25 that performs the ridge forming work while rotating in the predetermined direction behind the filling portion 24 in the traveling direction. And have.

  When the work body 23 is located at the forward work position, the work body 23 performs the smearing operation while moving in the traveling direction based on the forward travel of the tractor (see FIG. 3), and when the work body 23 is located at the back work position, With the tractor moving back in the direction of travel based on the back travel of the tractor (see Fig. 5), it is positioned behind the tractor so that it does not protrude sideways from the tractor when it is in the non-working position (storage position). (See FIG. 4).

  The farm work machine 21 outputs a driving force based on the operation of the operation unit to change the position of the work body 23, that is, the first actuator 31a and the second actuator 31b, for example, the first actuator 31a, Control means 32 for variably controlling the moving speed of the second actuator 31b and power supply means 33 such as a battery electrically connected to the control means 32 are provided.

  Each of the first actuator 31a and the second actuator 31b is, for example, an electric hydraulic cylinder (electrohydraulic linear actuator), and is integrated by an electric motor 35, a hydraulic tank 36, and a hydraulic cylinder 37, as shown in FIG. The extendable hydraulic cylinder 37 includes a cylinder part 38 and a rod part 39 that is provided so as to be able to enter and exit the cylinder part 38 and that is a movable part that reciprocates linearly with respect to the cylinder part 38. Yes.

  The moving speed of the rod portion 39 of the hydraulic cylinder 37 of the first actuator 31a and the moving speed of the rod portion 39 of the hydraulic cylinder 37 of the second actuator 31b are applied to the electric motor 35 of the first actuator 31a and the electric motor 35 of the second actuator 31b. Control means 32 for controlling the motor, for example, an electric motor speed variable device is electrically connected.

  Then, the control means 32 makes the movable speed of the rod portion 39 of the first actuator 31a slower than the normal speed from immediately before the work body 23 is located at the forward work position until it is located at the forward work position. Further, the control means 32 decreases the movable speed of the rod 39 of the first actuator 31a from the normal speed immediately before the work body 23 is located at the back work position until it is located at the back work position. .

  Further, when the work body 23 changes its position from the forward work position to the non-work position, the control means 32 performs the first operation from immediately before the work body 23 is located at the non-work position until the work body 23 is located at the non-work position. 1 When the movable speed of the rod portion 39 of the actuator 31a is made slower than the normal speed and the work body 23 is changed from the back work position to the non-work position, the non-work position is immediately before the work body 23 is located at the non-work position. The movable speed of the rod portion 39 of the second actuator 31b is made slower than the normal speed until the working position is reached.

  Although not shown, the agricultural work machine 21 is a first locking means for locking the work body 23 with respect to the work machine body 22 when the work body 23 is in the forward work position, and the work body 23 is in the non-work position. A second locking means for locking the work body 23 with respect to the work machine main body 22 when the work body 23 is positioned; and a second lock means for locking the work body 23 with respect to the work machine main body 22 when the work body 23 is in the back work position. 3 locking means and the like are provided.

  Next, the operation of the agricultural machine 21 will be described.

  When the tractor is moved forward and the farm work machine 21 performs the haze work, the work body 23 is moved to the forward work position and locked by the first locking means. At this time, based on the control of the control means 32, the rod portion 39 of the first actuator 31a is cylinders at a speed slower than the normal speed from immediately before the work body 23 is located at the forward work position until the work body 23 is located at the forward work position. Since the portion 38 is linearly moved, the lock by the first locking means is performed slowly and surely stably, and noise and impact are alleviated.

  Further, when the tractor is driven back in the corner of the field and the padding work is performed by the farm work machine 21, the work body 23 is moved to the back work position and locked by the third locking means. At this time, based on the control of the control means 32, the rod portion 39 of the first actuator 31a is cylinders at a speed slower than the normal speed from immediately before the work body 23 is located at the back work position until the work body 23 is located at the back work position. Since the linear movement is performed with respect to the portion 38, the locking by the third locking means is performed slowly and surely stably, and noise, impact, etc. at that time are alleviated.

  When transporting the farm work machine 21 to a warehouse or the like while being connected to the tractor, the work body 23 is moved to the non-working position and locked by the second locking means. At this time, based on the control of the control means 32 Since the rod part 39 of the hydraulic cylinder 37 moves linearly with respect to the cylinder part 38 at a speed slower than the normal speed from just before the working body 23 is located at the non-working position to the non-working position, Locking by the second locking means is performed slowly and reliably and stably, and noise, impact, etc. at that time are alleviated.

  And according to the farm work machine 21, since the actuator 31a, 31b for changing the position of the work body 23 and the control means 32 for variably controlling the movable speed of the actuators 31a, 31b, the control means 32 is used. By variably controlling the moving speeds of the actuators 31a and 31b, a delicate movement of the work body 23 can be realized. Therefore, for example, the first to third locking means for locking the work body 23 at the forward work position, the non-work position, and the back work position can be reliably and stably performed, and noise, impact, etc. at that time can be reduced. You can also

The farm work machine 21 is not limited to the configuration in which the position of the work body 23 is changed by the two actuators 31a and 31b, and may be a structure in which the position of the work body 23 is changed by one actuator .

It is a rear view of the agricultural working machine which concerns on one embodiment of this invention. It is a figure which shows the actuator of an agricultural working machine same as the above. It is a schematic plan view of the agricultural working machine which concerns on other embodiment of this invention. It is a schematic plan view in the state where the working body of the agricultural working machine is located at a non-working position. It is a schematic plan view in the state in which the working body of the agricultural working machine is located at a back work position.

DESCRIPTION OF SYMBOLS 1 Farm work machine 2 Work machine main body 3 Folding work body which is a working body 4 Rotation center axis 7 Ground leveling body
7a Fitting receiving part 9 Extended leveling body
9a Mating part
11 Actuator (electric hydraulic cylinder)
12 Control means
18 cylinder
19 Rod part
21 Farm machines
22 Work implement body
23 Work body
24 embankment
25 ridge formation part
31a, 31b Actuator (electric hydraulic cylinder)
32 Control means
38 cylinder
39 Rod part

Claims (3)

A work machine body connected to the traveling vehicle;
The work machine body is provided at the end in the left-right direction so that it can rotate in the vertical direction around the rotation center axis. A work body located at the unfolding work position,
An actuator for rotating the working body in the vertical direction about the rotation center axis;
Control means for variably controlling the moving speed of the actuator,
The working machine body is
A plowing body for plowing work,
A leveling body that has a mating receiving part and performs leveling work at a rear position of the tillage body
The working body is:
An extended tillage body for plowing work,
Having a fitting portion that fits with the fitting receiving portion when the working body is located at a deployment work position, and having an extended leveling body that performs leveling work at a rear position of the extended tillage body,
The actuator is an electric hydraulic cylinder having a cylinder portion and a rod portion that is provided so as to be able to enter and exit the cylinder portion and reciprocates linearly with respect to the cylinder portion,
The control means is an electric motor speed variable device that controls a moving speed of the rod portion of the electric hydraulic cylinder, and the fitting of the ground leveling body of the work implement main body when the work body is rotated in a deployment direction. The electrohydraulic pressure is applied only after the fitting portion and the fitting portion of the extended leveling body of the working body start to be fitted until the fitting receiving portion and the fitting portion are completely fitted. An agricultural machine characterized in that the moving speed of the rod portion of the cylinder is made slower than a normal speed. Agricultural machine according to claim 1 Symbol mounting work body is characterized in that it comprises deployment locking means for locking to the working machine body to the working body during a state of being positioned in the deployed working position. A work machine body connected to the traveling vehicle;
A work body that is provided in the work machine main body so as to be capable of changing the position, and performs a smearing work while moving in the traveling direction based on the forward traveling of the traveling vehicle when in the forward working position,
An actuator for changing the position of the work body;
Control means for variably controlling the moving speed of the actuator;
Lock means for locking the work body with respect to the work machine body when the work body is in the forward work position;
The working body includes a banking portion that performs banking work while rotating in a predetermined direction, and a ridge forming unit that performs paddle forming work while rotating in a predetermined direction behind the banking portion in the traveling direction.
The actuator is an electric hydraulic cylinder having a cylinder portion and a rod portion that is provided so as to be able to enter and exit the cylinder portion and reciprocates linearly with respect to the cylinder portion,
The control means is an electric motor speed variable device that controls the moving speed of the rod portion of the electric hydraulic cylinder, and from immediately before the working body is positioned at the forward working position until it is positioned at the forward working position, A farm working machine , wherein a moving speed of the rod portion of the electric hydraulic cylinder is made slower than a normal speed.

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