JP5143641B2 - Steering angle detection structure of work equipment - Google Patents

Description

  The present invention relates to a steering angle detection structure for a work implement that includes a steering angle sensor when the work implement is turned.

  In order to provide the steering angle sensor, it was attached to the rotating shaft of the pitman arm constituting the steering mechanism (Patent Document 1).

Japanese Examined Patent Publication No. 6-49422 (page 3, column 5, line 22 to line 30, FIG. 1)

  As described above, in the case where the steering angle sensor is attached to the rotation axis of the pitman arm, the pitman arm is positioned below the step floor of the driving control unit because it is necessary to link the left and right steering wheels with tie rods. become. Then, the installation position of the steering angle sensor must also be lower than the step floor of the driving control unit, and there is a possibility of causing a failure due to the adhesion of soil from the farm surface, etc. It was necessary to select a good position.

  An object of the present invention is to provide a highly reliable steering angle detection structure of a work machine by rationally setting the mounting position of the steering angle sensor to avoid failure and the like.

(Constitution)
The characteristic configuration of the invention according to claim 1 is that a steering angle sensor that detects a steering angle of a front wheel and a steering member that is swing-operated by a steering handle are linked by a linkage mechanism , Connecting the right and left tie rods connected to the right and left front wheels, and connecting the right and left operation rods for operating the right and left side clutches of the right and left rear wheels; The steering angle sensor is positioned between the right and left operating rods in plan view, and the linkage mechanism extends rearward from the steering member and bypasses the lower side of the transmission case. a linkage rod arranged on state, is erected in the vertical direction orientation in the rear of the transmission case, and composed of a rotary linkage axis you transfer the operation of the linkage rod, the linking of the steering angle sensor Upper end of mechanism Ri is in the point which had been located above, the effects thereof are as follows.

(Function)
As is conventional, rather than directly connected to steering angle sensor for detecting a steering angle of the front wheels to the shaft or the like of pin Ttoman'amu, to find the installation position of the steering angle sensor, first, the right and left front wheel with connecting the connected right and left tie rods, the linkage rod from the steering member is connected to the right and left of the operating rod for operating the right and left side clutch rear wheels of right and left rearward By extending and arranging the connecting rod so as to bypass the lower side of the transmission case, the position once deviated backward from the steering member is selected as the position of the steering angle sensor . At the selected position , find the space in the vertical direction behind the mission case, erect the rotary linkage shaft in the vertical orientation , and set the installation position of the steering angle sensor at the upper end position of the rotary linkage shaft . A steering angle sensor is linked to the rotary linkage shaft, and the steering angle sensor is positioned above the upper end of the linkage mechanism. The linkage mechanism and the steering angle sensor are positioned between the right and left operating rods in plan view.
With such an arrangement, the steering angle sensor can be provided at a higher position than before.

(Effect of the invention)
The steering angle sensor is located at a position away from the steering member via a linkage mechanism equipped with a linkage rod extended in the lateral direction and a rotary linkage shaft in a vertically oriented posture that transmits the operation of the linkage rod. It was possible to set up above the field.
As a result, it was possible to arrange the steering angle sensor at a position with little mud fog while preventing the minimum ground clearance from being lowered too much, and to provide a highly reliable detection structure.
In addition, focusing on the fact that the space below the transmission case is an empty space for linking to the rotary linkage shaft in the vertical orientation, the linkage rod is arranged, and the arrangement space for the linkage mechanism can be found easily. I was able to.
Furthermore, to find the empty space in the vertical direction, the rotary linkage shaft could be arranged at a position away from the engine by finding it behind the mission case. For example, when the engine is arranged in front of the mission case, the steering angle sensor can be arranged at a position where the influence of heat from the engine can be suppressed .

(Constitution)
The characteristic configuration of the invention according to claim 2 resides in that the steering angle sensor is disposed in the vicinity of the main frame, and the operation and effect thereof are as follows.

(Function and effect)
Since the main frame is arranged at a high position sufficiently away from the field surface in the aircraft, by arranging the steering angle sensor to the vicinity of the main frame, the steering angle sensor can be arranged at a position away from the field surface, The steering angle sensor is not easily soiled. In addition, since it is protected by the main frame, it is protected from contact with other objects.

(Constitution)
Characterizing feature of the invention according to claim 3 is in that it is linked to the linkage rod Gapi Ttoman'amu, the effects thereof are as follows.

(Function and effect)
Compared to the case where steering angle sensors are attached to the left and right steering wheels, a single sensor can be used, the sensor structure can be simplified, and the rotational operation amount of the handle shaft can be directly detected by the steering angle sensor. It becomes possible.

  As shown in FIG. 1, a link mechanism 3 is supported by a rear part of a machine body supported by right and left front wheels 1 and right and left rear wheels 2 (corresponding to wheels) so that the link mechanism 3 can be moved up and down. A single-acting hydraulic cylinder 4 (equivalent to an elevating mechanism) that is driven to move up and down is provided, and a seedling planting device 5 (equivalent to an operating device) is supported on the rear portion of the link mechanism 3, and is an example of a work vehicle. A riding rice transplanter is constructed. In general, a paddy field has a mud or water layer formed on a hard cultivator G1 (corresponding to a work site) below, and the uppermost surface of the mud or water layer is a field surface G2, and the right and left front wheels 1. The right and left rear wheels 2 run on the tiller G1 while being in contact with the ground.

A mounting structure for the balance weight 52 disposed below the engine bonnet 51 will be described. As shown in FIGS. 1 and 6, the suspension brackets 54 are fixedly attached to the inward facing surfaces of the left and right engine frames 53, and the left and right suspension brackets 54 are formed in an angle shape. The vertical bracket side surface of the suspension bracket 54 is fixedly attached to the engine frame 53, and the balance weight 52 is received by the horizontal bearing surface.
The balance weight 52 can be mounted and fixed by mounting and fixing the plate member 56 with the nut 56A fixed to the upper surface of the balance weight 52 and inserting the mounting bolt 55 upward from below the horizontal receiving surface of the suspension bracket 54. it can.
As described above, since the mounting bolt 54 can be mounted from below the suspension bracket 54, the balance weight 52 can be easily operated.

  In addition, since the balance weight 52 is disposed below the engine frame 53, the balance weight 52 does not protrude forward from the engine bonnet 51, and contact between the balance weight 52 and another object can be avoided.

This has the following effects. That is, as shown in FIG. 9 (a), in an 8-row rice transplanter, when turning at the heel, it once advances to a position where the tip of the engine bonnet 51 substantially contacts the heel C. . Then, after slightly retreating, it moves forward again and turns.
As shown in FIG. 9 (a), such a swivel form is adopted when the longitudinal length W from the tip of the engine bonnet 51 to the planting position is as long as 8 lines as shown in FIG. 9 (b). This is because the length corresponds to the planting width.

  Then, as shown in FIG. 9A, the planting is stopped on the front side by the length of the front and rear of the rice transplanter by moving forward to a position where the tip of the engine bonnet 51 is substantially in contact with the ridge C as shown in FIG. can do. Therefore, after completing the adjacent planting, as shown in FIG. 9 (b), when performing headland planting while moving along the edge of the headland part left in the width of the longitudinal length W, Since there is still a headland for the planting width of the 8jo rice transplanter, planting can be carried out without excess or deficiency.

  Even when such a planting operation is adopted, the balance weight 52 is provided below the engine bonnet 51 so as not to protrude from the engine frame 53, so that the balance weight 52 can be prevented from coming into contact with the heel. it can.

  As shown in FIG. 1, the seedling planting device 5 includes four planting transmission cases 6, a rotary case 7 supported on the left and right of the rear portion of the planting transmission case 6, and rotatably supported at both ends of the rotary case 7. A pair of planting arms 8, a plurality of grounding floats 9, a seedling platform 10, and the like are provided and configured in an 8-row planting type. A hopper 14 for storing fertilizer and four feeding units 15 in two-row units are provided on the rear side of the driver seat 13, and a blower 16 is provided on the lower side of the driver seat 13. A groover 17 is provided on the ground float 9, and a hose 18 is connected across the feeding portion 15 and the groover 17.

As shown in FIG. 1, right and left markers 19 are provided on the right and left side portions of the seedling planting device 5, and an action posture (see FIG. 1) that touches the surface G <b> 2 to form an index, and the surface It is configured to be freely changeable to a retracted posture away from G2. On the other hand, as shown in FIGS. 1 and 7, a center mascot 57 is erected at the center position of the left and right width at the tip of the engine bonnet 51, and the driver feels as if the driver is sitting on the driver seat 13. By moving the aircraft so that the center mascot 57 matches the index, the rice transplanter can be operated along the index.

In such a case, when the depth from the field surface G2 to the tilling board G1 is deep, the index engraved by the marker 19 may be difficult to visually recognize from the driver seat 13.
Therefore, as shown in FIG. 7, an LED-type illumination lamp 58 is attached to the engine frame 53 below the engine bonnet 51. Even if the indicator is deeply carved from the field surface G2 toward the tilling board G1 with the illumination light 58, the light of the illumination light 58 penetrates deeply into the field surface G2 so that the indicator is easily visible.

Next, the transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be described.
As shown in FIGS. 1 and 2, the power of the engine 31 is transmitted to the hydrostatic continuously variable transmission 33 and the transmission case 34 via the transmission belt 32, and the auxiliary transmission (not shown) inside the transmission case 34 is shown. ) To the right and left front wheels 1 through the front axle case 35. The hydrostatic continuously variable transmission 33 is configured to be steplessly variable from the neutral position to the forward side and the reverse side. The hydrostatic continuously variable transmission is provided by a shift lever 45 provided on the left side of the steering handle 20. The device 33 is operated.

  As shown in FIGS. 2 and 3, a steering member 41 having a trapezoidal shape in plan view is swingably supported around the vertical axis P <b> 2 at the lower part of the mission case 34. The steering member 41 is configured to swing by the steering handle 20, and a tie rod 42 is connected across the steering member 41 and the right and left front wheels 1. Thus, by operating the steering handle 20, the right and left front wheels 1 can be steered from the straight travel position over the right and left steering limits.

As shown in FIG. 2, the right and left operation shafts 43 for sliding the operation members (not shown) of the right and left side clutches 40 are supported downward by the rear axle case 37, and the steering members 41 are operated. The right and left operation rods 44 are connected to the right and left operation shafts 43 through the lower side of the front axle case 35. The right and left operation rods 44 are provided with long holes 44 a as interchangeable portions at the connection portions with the right and left operation shafts 43.
Here, the steering handle 20, the steering member 41 driven by the steering handle 20, and the side clutch 40 driven by the steering member 41 are collectively referred to as a steering mechanism A.

Next, the steering angle sensor 47 mounting structure for detecting the steering angle by the steering handle 20 and the linkage mechanism B between the steering angle sensor 47 and the steering mechanism A will be described. As shown in FIGS. 2 and 3, the linkage rod 48 extends rearward from the steering member 41 constituting the steering mechanism A, and the linkage rod 48 is positioned below the mission case 34. . In the vicinity of the rear end position of the linkage rod 48, a rotary linkage shaft 49 in an upright posture for transmitting the operation of the linkage rod 48 is erected.
Thus, extending the linkage rod 48 rearward is also included in the lateral concept described in claim 1.

As shown in FIGS. 3 and 4, the rotary linkage shaft 49 is supported by a pair of upper and lower brackets 46 and is positioned behind the mission case 34. At the lower end position of the rotary linkage shaft 49, a linkage arm portion 49A is formed by bending the lower end portion of the rotary linkage shaft 49 in the horizontal direction and extending in the horizontal direction. As a result, the linkage arm portion 49 </ b> A is mounted integrally with the rotary linkage shaft 49 so as to be rotatable around the axis of the rotary linkage shaft 49. On the other hand, a steering angle sensor 47 is attached to the upper end side bracket 46 that supports the rotation linkage shaft 49, and the steering angle sensor 47 and the upper end portion of the rotation linkage shaft 49 are linked. At the lower end position of the rotational linkage shaft 49, the distal end portion of the linkage arm 49A and the linkage arm 49A are engaged, and the linkage arm 49A is linked to swing back and forth by the operation of the linkage arm 49A.
The linkage rod 48 and the rotation linkage shaft 49 are referred to as linkage mechanism B as described above. Further, as the steering angle sensor 47, a potentiometer, a rotary encoder, or the like can be used.

  On both sides of the rotary linkage shaft 49, left and right main frames 36 are provided in a front-rear orientation, and an upper end side bracket 46 extends from one main frame 36. With such a configuration, the steering angle sensor 47 is located above the main frame 36 at the upper end of the mission case 34 and is located above the upper end portion of the linkage mechanism B.

The detection result of the steering angle sensor 47 is used for the following control via a control device (not shown).
When the aircraft reaches the heel and the front wheel is steered, it is determined that the turn at the shore has started, and the distance sensor starts detecting (accumulating) the mileage of the aircraft and the seedling planting device Driven up automatically or manually.

  Next, in the second half of the turning at the heel, when the traveling distance of the aircraft reaches the set distance, it is determined that the turning at the heel has ended, and the seedling planting device is automatically driven downward. As a result, the number of operations performed by the driver when turning at the heel is reduced (the operation for lowering the seedling planting device by the elevating lever is not required), and the operability is improved.

Here, different embodiments in which the power steering device 24 is introduced will be described. As shown in FIG. 8, a power steering device 24 is attached to the lower end portion of the steering handle 20 so that the steering operation can be performed by the power steering device 24. An output gear 24A is provided on the output shaft of the power steering device 24, the output gear 24A and the pitman arm 25 are engaged with each other, and the front wheel 1 is steered by the pitman arm 25.
A hydraulic pump 28 is provided at the lower end of the engine 31, the hydraulic pump 28 is driven by the engine 31, and the power steering device 24 is operated by the pressure oil from the hydraulic pump 28.

  An accelerator lever 26 extends from an engine governor (not shown) at the upper end of the engine 31, and a connecting wire 27 is provided between the accelerator lever 26 and the pitman arm 25. And the pitman arm 25 are linked.

When the steering handle 20 is turned to the maximum, the pressure may be high enough to activate the relief valve of the hydraulic circuit of the power steering device 24. For this reason, it is conceivable that the engine 31 is affected via the hydraulic pump 28 and the rotational speed of the engine 31 rapidly decreases. Since the vehicle turns at a low speed when turning at the shore, it must be taken into consideration that the engine 31 stops.
However, even in such a case, since the pitman arm 25 and the accelerator lever 26 are linked by the linkage wire 27, when the steering handle 20 is turned to the maximum, the accelerator lever 26 is operated. A decrease in engine speed is suppressed.

[Another embodiment]
(1) The steered wheels may be either front or rear wheels.
(2) The steering mechanism to which the linkage rod 48 is linked may be linked not only to the pitman arm 25 but also to one knuckle arm of the steering wheel.
(3) In the present invention, a rotary cultivator (corresponding to a working device) can be connected to a rotary tiller (equivalent to a working device) at the rear part of the machine body, and a cutting part (equivalent to a working apparatus) can be raised and lowered to the front part of the machine body It can also be applied to a work vehicle such as a combine that is supported so as to be freely driven.

Overall side view of riding rice transplanter Plan view showing steering operation system of right and left front wheels, transmission system to right and left front wheels, right and left rear wheels Side view showing a linkage mechanism that links the steering mechanism and the steering angle sensor Plan view showing steering angle sensor and linkage mechanism Front view showing steering angle sensor and linkage mechanism Front view showing balance weight installation Side view showing the mounting condition of the illuminating lamp that illuminates the indicator with the marker Configuration diagram showing linkage between power steering device and engine (A) Explanatory drawing which shows the state before performing a corner turning in adjacent planting, (b) Explanatory drawing which shows the state of headland planting

DESCRIPTION OF SYMBOLS 1 Steering wheel 25 Pitman arm 34 Mission case 36 Main frame 40 Side clutch 47 Steering angle sensor 48 Linking rod 49 Rotating linkage shaft A Steering mechanism B Linking mechanism

Claims (3)

The steering angle sensor that detects the steering angle of the front wheels and the steering member that is swung by the steering handle are linked by a linkage mechanism,
Connected to the steering member are right and left tie rods connected to the right and left front wheels, and right and left operating rods for operating the right and left side clutches of the right and left rear wheels. And
The linkage mechanism and the steering angle sensor are positioned between the right and left operating rods in a plan view;
The linkage mechanism extends rearward from the steering member and is disposed so as to bypass the lower side of the mission case; and the linkage rod is erected in an upright posture at the rear of the mission case. actuation constituted by a rotary linkage axis you transmit, steering angle detection structure of the working machine which had been positioned above the upper end of the linkage mechanism the steering angle sensor. The steering angle detection structure for a working machine according to claim 1, wherein the steering angle sensor is disposed in the vicinity of the main frame . The steering angle detection structure for a working machine according to claim 1 or 2 , wherein the linkage rod is linked to a pitman arm .

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