JPH0132492Y2 - - Google Patents
Info
- Publication number
- JPH0132492Y2 JPH0132492Y2 JP1982183525U JP18352582U JPH0132492Y2 JP H0132492 Y2 JPH0132492 Y2 JP H0132492Y2 JP 1982183525 U JP1982183525 U JP 1982183525U JP 18352582 U JP18352582 U JP 18352582U JP H0132492 Y2 JPH0132492 Y2 JP H0132492Y2
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- safety mechanism
- working
- control device
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000007246 mechanism Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 3
- 241001124569 Lycaenidae Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Emergency Alarm Devices (AREA)
Description
【考案の詳細な説明】
本考案は、乗用型耕耘機やコンバインなどの作
業機で、詳しくは、走行機体の左右傾動に拘らず
所期の作業を確実に行なうことができるように、
走行機体に対して駆動装置を介して左右駆動揺動
自在に作業装置を連設するとともに、前記走行機
体に、その走行機体の左右傾斜を検出するセンサ
ーを設け、そのセンサーの検出結果に基づいて、
前記走行機体に対する前記作業装置の相対姿勢
を、走行機体の左右傾斜にかかわらず特定の対地
姿勢が維持されるように、前記駆動装置を作動さ
せる制御装置を設けてある作業機に関する。[Detailed description of the invention] This invention is a working machine such as a riding tiller or a combine harvester, and more specifically, it is designed to ensure that the intended work can be performed regardless of the horizontal tilting of the traveling machine.
A working device is connected to the traveling machine via a drive device so that it can be driven and oscillated left and right, and the traveling machine is provided with a sensor that detects the left and right inclination of the traveling machine, and based on the detection result of the sensor, ,
The present invention relates to a working machine that is provided with a control device that operates the drive device so that the relative attitude of the working device with respect to the running machine body is maintained at a specific ground attitude regardless of whether the running machine body is tilted left or right.
この種の作業機では、走行機体が左右に一定以
上に傾動すると、機体の転倒を招来する可能性が
高いため、走行機体の左右傾斜量が安全範囲内に
あるか否かを的確に検出し把握する必要がある。 In this type of work equipment, if the running machine tilts to the left or right beyond a certain level, there is a high possibility that the machine will fall, so it is necessary to accurately detect whether or not the amount of left-right tilt of the running machine is within the safe range. It is necessary to understand.
そのため、従来では、走行機体が左右に設定値
以上に傾動したことを検出するオン・オフ式のセ
ンサーとこのセンサーの検出結果に基づいて自動
的に作動する警報ブザー等の安全機構とを設けて
いたが、これによる場合は、安全機構作動のため
に、作業装置の姿勢維持のためのセンサーとは別
個なセンサーが必要となるため、全体的にコスト
の高騰を招来する欠点があつた。 Therefore, in the past, safety mechanisms such as an on/off type sensor that detects when the traveling aircraft tilts left or right beyond a set value and a warning buzzer that automatically activates based on the detection results of this sensor were installed. However, in this case, a sensor separate from the sensor for maintaining the posture of the working device is required to operate the safety mechanism, which has the disadvantage of causing an overall increase in costs.
本考案は、上述の欠点を改善する点に目的を有
する。 The present invention aims to remedy the above-mentioned drawbacks.
かかる目的を達成するためになされた本考案の
特徴構成は、前述した作業機において、前記制御
装置とは別に、走行機体が設定値以上傾斜したと
きに作動させる安全機構を設け、前記センサー
を、その出力信号が、前記制御装置と前記安全機
構との双方に対する入力信号として伝達されるよ
うに、前記制御装置と前記安全機構との双方に連
係させてある点にある。 A characteristic configuration of the present invention made to achieve such an object is that, in the above-mentioned work machine, a safety mechanism is provided, separate from the control device, to be activated when the traveling machine body is tilted by more than a set value, and the sensor is The control device is linked to both the control device and the safety mechanism such that its output signal is transmitted as an input signal to both the control device and the safety mechanism.
つまり、作業装置を特定姿勢に制御するために
走行機体に本来付設されているセンサーを有効利
用して、このセンサーを、機体が左右に設定以上
に傾動したか否かを判別するための安全機構用と
してのセンサーに兼用構成したことにより、従来
では必要であつた安全機構用センサーを省くこと
ができるとともに、センサーのみならずそれを取
付けるための部品も削減することが可能で、従来
に比して機体転倒防止のための安全装置全体を簡
単かつ安価に構成することができるに至つた。 In other words, it is a safety mechanism that effectively utilizes the sensor originally attached to the traveling aircraft to control the work equipment in a specific posture, and uses this sensor to determine whether the aircraft has tilted left or right beyond the set limit. By configuring it to be used as a sensor for both functions, it is possible to omit the sensor for the safety mechanism that was required in the past, and it is also possible to reduce not only the sensor but also the parts to attach it, compared to the past. As a result, the entire safety device for preventing the aircraft from tipping over can be constructed easily and inexpensively.
以下、本考案構成の実施例を図面に基づいて説
明する。 Hereinafter, embodiments of the configuration of the present invention will be described based on the drawings.
作業機の一例である乗用型耕耘機を構成する
に、農用トラクタ（走行機体の一例）１の後部
に、トツプリンク２ａと左右一対のロアーリンク
２ｂ，２ｂからなる３点リンク機構２を介してロ
ータリ耕耘装置（作業装置の一例）３が連結さ
れ、前記ロアーリンク２ｂ，２ｂとトラクタ１の
上部に駆動装置の一例として装備された一対のリ
フトアーム４，４とがリフトロツド５，６にて
夫々連結され、このリフトアーム４，４を１つの
単動型油圧シリンダ７〔以下リフトアームシリン
ダと呼称する〕で一体的に上下揺動することによ
つて、ロータリ耕耘装置３を油圧で上昇させ、自
重で下降させることができるようになつている。
又、一方の前記リフトロツド５は復動型の油圧シ
リンダ〔以下リフトロツドシリンダと呼称する〕
で構成されていて、このリフトロツドシリンダ５
を伸縮することによつて左右ロアーリンク２ｂ，
２ｂの高さを変え、もつてロータリ耕耘装置３の
左右傾斜姿勢を変更調節できるようになつてい
る。 To configure a riding type cultivator, which is an example of a working machine, a three-point link mechanism 2 consisting of a top link 2a and a pair of left and right lower links 2b, 2b is connected to the rear of an agricultural tractor (an example of a traveling machine) 1. A rotary tilling device (an example of a working device) 3 is connected, and the lower links 2b, 2b and a pair of lift arms 4, 4 provided as an example of a drive device on the upper part of the tractor 1 are connected by lift rods 5, 6, respectively. The rotary tilling device 3 is hydraulically raised by vertically swinging the lift arms 4 and 4 together by one single-acting hydraulic cylinder 7 (hereinafter referred to as lift arm cylinder). It is designed to be able to be lowered by its own weight.
Further, one of the lift rods 5 is a double-acting hydraulic cylinder (hereinafter referred to as lift rod cylinder).
This lift rod cylinder 5
By expanding and contracting the left and right lower links 2b,
By changing the height of the rotary tiller 2b, the left and right tilting posture of the rotary tiller 3 can be changed and adjusted.
前記リフトアームシリンダ７はトラクタ１に装
備した操作レバーの操作位置に応じた位置で停止
でき、又、一方のリフトロツドとしての油圧シリ
ンダ５は、トラクタ１に装備されたアナログ式の
左右傾斜センサー８の検出結果に基づいて後述の
ように作動されてロータリ耕耘装置３を常に水平
となるように自動的に維持するローリング制御を
行うよう構成されている。 The lift arm cylinder 7 can be stopped at a position corresponding to the operating position of the operating lever installed on the tractor 1, and the hydraulic cylinder 5 as one of the lift rods can be stopped at a position corresponding to the operating position of the operating lever installed on the tractor 1. The rotary tiller 3 is configured to perform rolling control that is operated as described later based on the detection result and automatically maintains the rotary tiller 3 horizontally at all times.
前記リフトロツドシリンダ５には、該シリンダ
５の伸縮量を検出するために直線式ポテンシヨメ
ータからなるストロークセンサー９が装備されて
いて、前記傾斜センサー８で検出されたトラクタ
１の左右傾斜角に対応して演算される目標制御量
にリフトロツドシリンダ５を伸縮させることでロ
ータリ耕耘装置３を水平に調節するよう、このシ
リンダ５のローリング制御弁１０を作動させる制
御装置として、電気式のローリング制御の制御回
路２３が装備されている。 The lift rod cylinder 5 is equipped with a stroke sensor 9 consisting of a linear potentiometer to detect the amount of expansion and contraction of the cylinder 5, and the left and right inclination angle of the tractor 1 detected by the inclination sensor 8 is An electric control device is used as a control device to operate the rolling control valve 10 of the cylinder 5 so as to horizontally adjust the rotary tiller 3 by expanding and contracting the lift rod cylinder 5 to a target control amount calculated in accordance with the control amount. A control circuit 23 for rolling control is provided.
つまり、重錘を利用した回転ポテンシヨメータ
として構成した傾斜センサー８からの検出傾斜値
θは演算回路１１に入力され、ここでロータリ耕
耘装置３を水平にするのに必要なリフトロツドシ
リンダ５の伸縮量が目標制御量L0として演算さ
れる。そして、この目標制御信号L0とストロー
クセンサー９からの検出信号ｌとが比較判別回路
１２に入力されて制御の要否及びこの制御方向が
判別され、その判別結果に基づいてローリング制
御弁１０の駆動回路１３を作動させて、リフトロ
ツドシリンダ５を目標伸縮量に近づけるよう構成
されている。 In other words, the detected inclination value θ from the inclination sensor 8 configured as a rotary potentiometer using a weight is input to the arithmetic circuit 11, where the lift rod cylinder 5 necessary to level the rotary tiller 3 is input. The amount of expansion/contraction is calculated as the target control amount L 0 . Then, this target control signal L0 and the detection signal l from the stroke sensor 9 are input to a comparison/determination circuit 12 to determine whether or not control is necessary and the control direction.Based on the determination result, the rolling control valve 10 is The drive circuit 13 is operated to bring the lift rod cylinder 5 closer to the target expansion/contraction amount.
従つて、ローリング制御の制御装置２３は、演
算回路１１、ストロークセンサー９、比較判別回
路１２、駆動回路１３、および制御弁１０から構
成されているのである。 Therefore, the rolling control control device 23 is composed of an arithmetic circuit 11, a stroke sensor 9, a comparison/discrimination circuit 12, a drive circuit 13, and a control valve 10.
而して、前記傾斜センサー８の検出傾斜値が第
１設定値θ1以上でかつ第２設定値θ2未満の範囲に
あるとき警報ブザー１４を自動的に作動させ、か
つ、検出傾斜値が第２設定値以上に達したときエ
ンジン停止機構１５を自動的に作動させる安全機
構１６を設けている。 The alarm buzzer 14 is automatically activated when the detected inclination value of the inclination sensor 8 is in the range of not less than the first set value θ 1 and less than the second set value θ 2 . A safety mechanism 16 is provided that automatically operates the engine stop mechanism 15 when the second set value or higher is reached.
つまり、前記安全機構１６は、前記傾斜センサ
ー８からの検出傾斜値θと機体の危険傾斜角度を
設定する第１設定器１７からの第１設定値θ1とが
比較判別回路１８に入力されて警報の要否が判別
され、その判別結果に基づいて警報ブザー１４の
駆動回路１９を作動させる。また、前記傾斜セン
サー８からの検出傾斜値θと前記第１設定値θ1よ
りも大なる機体の危険傾斜角度を設定する第２設
定器２０からの第２設定値θ2とが比較判別回路２
１に入力されて安全か否かが判別され、その判別
結果に基づいてエンジン停止機構１５の駆動回路
２２を作動させるように構成してある。 That is, in the safety mechanism 16, the detected inclination value θ from the inclination sensor 8 and the first setting value θ 1 from the first setting device 17 for setting the dangerous inclination angle of the aircraft are input to the comparison and determination circuit 18. It is determined whether an alarm is necessary or not, and the drive circuit 19 of the alarm buzzer 14 is activated based on the determination result. Further, the detected inclination value θ from the inclination sensor 8 and the second set value θ 2 from the second setter 20 that sets the dangerous inclination angle of the aircraft that is larger than the first set value θ 1 are compared and determined by a circuit. 2
1, it is determined whether it is safe or not, and the drive circuit 22 of the engine stop mechanism 15 is operated based on the result of the determination.
尚、本考案は上述実施例の乗用型耕耘機のみな
らずコンバインや乗用田植機などにも適用できる
こと勿論である。 It goes without saying that the present invention can be applied not only to the riding tiller of the above-described embodiment, but also to combine harvesters, riding rice transplanters, and the like.
第１図は乗用型耕耘機後部の斜視図、第２図は
制御系統図である。
１……走行機体、３……作業装置、４……駆動
装置、８……センサー、１６……安全機構、２３
……制御装置。
FIG. 1 is a perspective view of the rear part of the riding-type cultivator, and FIG. 2 is a control system diagram. 1... Traveling body, 3... Working device, 4... Drive device, 8... Sensor, 16... Safety mechanism, 23
……Control device.
Claims (1)
駆動揺動自在に作業装置３を連設するととも
に、前記走行機体１に、その走行機体１の左右
傾斜を検出するセンサー８を設け、そのセンサ
ー８の検出結果に基づいて、前記走行機体１に
対する前記作業装置３の相対姿勢を、走行機体
１の左右傾斜にかかわらず特定の対地姿勢が維
持されるように、前記駆動装置４を作動させる
制御装置２３を設けてある作業機において、前
記制御装置２３とは別に、走行機体１が設定値
以上傾斜したときに作動させる安全機構１６を
設け、前記センサー８を、その出力信号が、前
記制御装置２３と前記安全機構１６との双方に
対する入力信号として伝達されるように、前記
制御装置２３と前記安全機構１６との双方に連
係させてあることを特徴とする作業機。 ２ 前記安全機構１６が警報機構である実用新案
登録請求の範囲第１項に記載の作業機。 ３ 前記安全機構１６が警報機構とエンジン停止
機構である実用新案登録請求の範囲第１項に記
載の作業機。[Claims for Utility Model Registration] 1. A working device 3 is connected to the traveling body 1 via a drive device 4 so as to be able to freely drive and oscillate left and right, and the traveling body 1 is provided with a working device 3 which can be tilted left and right. A sensor 8 for detecting is provided, and based on the detection result of the sensor 8, the relative attitude of the working device 3 with respect to the traveling machine body 1 is set such that a specific ground attitude is maintained regardless of the horizontal inclination of the traveling machine body 1. In a working machine equipped with a control device 23 for operating the drive device 4, a safety mechanism 16 is provided separately from the control device 23 to operate when the traveling machine body 1 is tilted by more than a set value, and the sensor 8 is , characterized in that it is linked to both the control device 23 and the safety mechanism 16 so that its output signal is transmitted as an input signal to both the control device 23 and the safety mechanism 16. work equipment. 2. The working machine according to claim 1, wherein the safety mechanism 16 is an alarm mechanism. 3. The working machine according to claim 1, wherein the safety mechanism 16 is an alarm mechanism and an engine stop mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18352582U JPS5987201U (en) | 1982-12-02 | 1982-12-02 | work equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18352582U JPS5987201U (en) | 1982-12-02 | 1982-12-02 | work equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5987201U JPS5987201U (en) | 1984-06-13 |
| JPH0132492Y2 true JPH0132492Y2 (en) | 1989-10-04 |
Family
ID=30397170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18352582U Granted JPS5987201U (en) | 1982-12-02 | 1982-12-02 | work equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5987201U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5782001B2 (en) * | 2012-09-26 | 2015-09-24 | 株式会社クボタ | Paddy field work vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56127072U (en) * | 1980-02-28 | 1981-09-28 |
-
1982
- 1982-12-02 JP JP18352582U patent/JPS5987201U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5987201U (en) | 1984-06-13 |
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