JPH04148601A - Agricultural tractor - Google Patents

Abstract

PURPOSE:To constantly maintain a relative tilting angle between a running vehicle body and a working device by driving and controlling a rolling cylinder so as to coincide with the memorized value of the elongation degree of the rolling cylinder, the value being memorized in a working running state. CONSTITUTION:In a trailing load-controlling operation, a running vehicle body is set at a prescribed counter-ground tilting angle, and a working device is further set in a counter-ground horizontal state. The detection value of a stroke sensor 11 at the time is memorized in a memorizing means 20. A rolling cylinder 9 is driven and controlled so that the detection value of the stroke sensor is coincident with the detection value memorized in the memorizing means.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention connects a ground working device to the rear of a traveling vehicle body so that it can be driven up and down by a lift cylinder and can be driven horizontally and rolled by a rolling cylinder, and also A feedback signal from a stroke sensor that calculates a target operating amount of the rolling cylinder for setting the working device to a horizontal attitude relative to the ground from the detection result of the inclination angle above the ground, and detects the actual operating amount of the rolling cylinder. a ring control means for driving and controlling the rolling cylinder so that the target value matches the target value; and a traction load for driving and controlling the lift cylinder so that the detection result of the work traveling traction load of the working device matches a predetermined set value. The present invention relates to an agricultural tractor comprising a control means.

[Conventional technology]

In the above agricultural tractor, the rolling control is mainly used during rotary plowing work, etc., and the plowing work area is always maintained at a constant level, regardless of the horizontal inclination caused by the unevenness of the field when the vehicle is traveling on uncultivated land. The above-mentioned traction load control is mainly used during plowing work, and when the traction load becomes large, it automatically controls the lifting and lowering of the work equipment to reduce the traction load. It is designed to be kept constant.

In the above-mentioned plowing work, the soil has already been reversely plowed in the area where the wheels on one side of the vehicle run, so the vehicle body is always tilted to the ground in a fixed left and right direction, as shown in Figure 5, for example. However, since plowing is generally performed at high speed, when the rolling control is activated, the operation of the rolling cylinder cannot follow the vehicle speed, making smooth control difficult.

Therefore, conventionally, in the above-mentioned traction load control mode, work was carried out with the traveling vehicle body tilted in the above-mentioned working position and the oil pressure of the rolling cylinder set to a neutral lock state.

[Problem to be solved by the invention]

However, when using the above conventional structure, the weight of the working equipment and the work load are applied to the rolling cylinder, so as the work progresses, the oil in the cylinder leaks.
There was a drawback that the relative tilt position between the vehicle body and the work equipment gradually changed.

The present invention aims to solve the above-mentioned problems.

[Means to solve the problem]

A characteristic configuration of the present invention is that, in the agricultural tractor described at the beginning, in the traction load control operation, the traveling vehicle body is set in a working posture with a predetermined inclination angle with respect to the ground, and the working device is set in a horizontal posture with respect to the ground. storage means for storing the detection value of the stroke sensor in the state as a reference value; and posture stabilization means for driving and controlling the rolling cylinder so that the detection result of the stroke sensor matches the stored reference value. At a certain point.

[For production]

When operating the traction load control means and traveling for work, the amount of expansion and contraction of the rolling cylinder at that time is memorized in a state in which the work travel posture is set in advance. If the oil in the rolling cylinder leaks as the work progresses and the amount of expansion and contraction changes, the posture stabilization means is activated to replenish hydraulic pressure to restore the above-mentioned memorized value and adjust the amount of expansion and contraction. It is maintained constant.

〔Effect of the invention〕

Therefore, according to the present invention, the relative tilted posture between the traveling vehicle body and the working device can always be maintained constant, and moreover, the rolling cylinder is directly Since the control drives the motor, there is no wasted movement, resulting in quick operation and excellent responsiveness.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIG. 4 shows the rear part of the agricultural tractor according to the present invention. This agricultural tractor has three
A plow (3) [an example of a working device] is connected via a point linkage mechanism (2) so that it can be raised and lowered as well as rolled left and right.

The three-point link mechanism (2), as shown in FIG.
It consists of a pair of left and right lower links (4), (4) and a central top link (5), and is driven by a lift cylinder (6) to move up and down around the horizontal axis. ), (7) and the middle part of each of the lower links (4), (4) with the lift rod (8).
, (8) is an interlocking connection.

Also, connect one lift rod (8) to a rolling cylinder (
9) so that the plow (3) can be freely raised and lowered by driving the lift cylinder (6), and can be driven to roll left and right by driving the rolling cylinder (9). be.

This agricultural tractor includes a rolling control means (A) that maintains the posture of the working device at a predetermined position on the ground regardless of changes in the tilted posture of the traveling vehicle body (1), and a traction load caused by the traveling of the working device. traction load control means (B) for automatically raising and lowering the working device so that the load remains constant at all times. To explain in detail, as shown in Fig. 1, the traveling vehicle body (1)
A tilt angle sensor (10) for detecting the tilt angle of the traveling vehicle body (1) with respect to the ground is provided on the side, and a rolling cylinder (9) is provided on the side.
), and the hydraulic control valve (Vυ) of the rolling cylinder (9) is configured to be electromagnetic. A control device that drives and controls this hydraulic control valve (V,). (12) each of the sensors (10);
The output of (11) is given. And the control device (12
) is a rolling cylinder (
A rolling control means (A) is provided which calculates the target expansion/contraction amount of step 9) and controls and drives the rolling cylinder (9) so that the detected value of the stroke sensor (11) coincides with the calculated value.

The above-mentioned rolling control operation is mainly used when a rotary tiller (not shown) is installed as a work device, and is used to ensure a smooth finish on the tilling work surface. Further, the inclination angle of the working device relative to the vehicle body in the predetermined attitude relative to the ground can be arbitrarily changed by an angle adjuster (13).

On the other hand, a differential transformer type load sensor (15) is provided to detect the amount of distortion of the vehicle body side support shaft (14) of each of the lower links (4), (4) as the traction load of the plow (3), and On the side of the driver's seat (16) of the vehicle body (1), there is a control box (1) installed on the rear wheel fender (17).
A potentiometer-type load setting device (19) is provided in the lift cylinder (8), and the control device (12) controls the lift cylinder ( 6) is equipped with a traction load control means (B) for driving and controlling the electromagnetic control valve (2).

The above-mentioned traction load control operation is mainly used during plowing operations, and is intended to prevent engine stoppage or damage to the working equipment due to excessive load during traction operations. In addition, such plowing work is generally performed while traveling at relatively high speeds, and at this time, if the rotary control operation described above is performed, the operation of the rotary cylinder (9) cannot follow the traveling speed. , control operation is stopped.

That is, the control device (12) controls the mode setting switch (SW
) to switch between rolling control mode and traction load [draft] control mode.

In the traction load control operation, the stroke sensor (11) detects when the traveling vehicle body (1) is set in a working posture with a predetermined angle of inclination above the ground, and the working device is set in a horizontal posture above the ground. storage means (20) for storing the value as a reference value; and attitude stabilization means (C) for driving and controlling the rolling cylinder (9) so that the detection result of the stroke sensor (11) matches the stored reference value. ). In other words, in soil inversion plowing work using the plow (3), as shown in Fig. 5, one wheel of the traveling vehicle body (1) is located on the plowed land side, so the vehicle body (1) remains constant. Ground inclination angle (
θ), the amount of expansion and contraction of the rolling cylinder (9) in this state is controlled so as to always be constant. To be more specific, prior to work traveling, with the mode setting switch (SW) set to the rolling control mode, the angle adjuster (13) is operated to move the plow (3) and vehicle body (1) as described above. and have a relative inclination angle (θ). When the mode setting switch (SW) is switched to the traction load control mode, the control valve (■1) is operated and held in neutral, and the detected value of the stroke sensor (11) in that state is set as the reference value (eo). The information is written and stored in the memory (20) as a storage means (see FIG. 2). Next, if the oil in the rolling cylinder (9) leaks during plowing work and the amount of expansion and contraction differs, check the stroke sensor (
The output value of 11) is compared with the stored reference value (eo), and the control valve (1) is driven to replenish the pressure oil so that they always match (see Fig. 3).

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the agricultural tractor according to the present invention.
The figure is a control block diagram, Figure 2 is a block diagram showing the reference value reading state, Figure 3 is a block diagram showing the posture stabilization operating state, Figure 4 is a side view of the rear part, and Figure 5 is during work travel. FIG. 6 is a rear perspective view. (1)...... Traveling vehicle body, (6)... Lift cylinder, (9)... Rolling cylinder, (]1)... Stroke sensor, ( A)...
... Rolling control means, (B) ... Traction load control means, (C) ... Attitude stabilization means.

Claims (1)

[Claims] A ground work device is connected to the rear of the traveling vehicle body (1) so that it can be driven up and down by a lift cylinder (6) and can be driven horizontally and rolled by a rolling cylinder (9), and the detection result of the inclination angle of the traveling vehicle body (1) to the ground is connected. from a stroke sensor (11) that calculates a target actuation amount of the rolling cylinder (9) for setting the work equipment in a horizontal attitude relative to the ground, and detects the actual actuation amount of the rolling cylinder (9). a rolling control means (A) for driving and controlling the rolling cylinder (9) so that the feedback signal and the target value match; and a rolling control means (A) for driving and controlling the rolling cylinder (9) so that the detection result of the work travel traction load of the work device matches the predetermined set value. An agricultural tractor comprising a traction load control means (B) for driving and controlling a cylinder (6), wherein in the traction load control operation, the traveling vehicle body (1) is set in a working posture with a predetermined angle of inclination to the ground. and storage means (20) for storing a detection value of the stroke sensor (11) in a state in which the working device is set in a horizontal position relative to the ground as a reference value; and attitude stabilizing means (C) for driving and controlling the rolling cylinder (9) so that the rolling cylinder (9) coincides with the reference value determined.