JPH04197104A - Mower with device for controlling reaping height - Google Patents

Abstract

PURPOSE:To obtain the title mower continuously workable in excellent accuracy by connecting a mower through a link mechanism to a traveling machine body, raising the link mechanism by a lift arm having an inclination angle detecting means in an interlocking way and controlling rocking drive of the mower by a hydraulic cylinder. CONSTITUTION:In a mower equipped with a reaping height control device, the mower 4 is connected through a link mechanism 3 to a traveling machine body 2, the link mechanism 3 is raised in an interlocking way by a lift arm 18 to be vertically rocked and driven by a hydraulic cylinder 13 to freely drive the mower 4 up and down, the lift arm 18 is provided with a detecting means PM2 of discovering an inclination angle of the lift arm and a controlling means A to regulate drive of the hydraulic cylinder 13 so that the detected result of the detecting means PM2 is coincident with a previously manually set value by a setting means PM1 is installed to contract and expand the hydraulic cylinder 13 and to change and regulate reaping height of the mower 4.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention connects a mowing device to a traveling machine via a link mechanism, and lifts the link mechanism by a lift arm that is driven to swing vertically by a hydraulic cylinder. The present invention relates to a mower in which the mowing device is configured to be driven up and down in conjunction with each other.

[Conventional technology]

Conventionally, in the lawn mower having the above configuration, the hydraulic control valve of the hydraulic cylinder is driven by manual operation using a control lever, and the hydraulic cylinder is expanded and contracted to change and adjust the cutting height of the mowing device. Ta.

[Problem to be solved by the invention]

However, in the conventional structure described above, immediately after the start of work, the mowing device, which is lifted and supported by the lift arm, is maintained at the height set by the operating lever, but as the work progresses, the temperature of the hydraulic oil increases. , Due to the weight of the mowing equipment, etc., the amount of hydraulic oil leaking from the hydraulic control valve held in the neutral position at the above set height increases,
There was a drawback that the lift arm gradually descended and the cutting height changed.

Therefore, as a method to eliminate the above-mentioned drawbacks, a structure as shown in FIG. 6, for example, was devised. In other words, the grass cutting device (4
), there are non-contact distance sensors (3
0), (30), and a set value detection means for detecting the set height of the operating lever, so that the detected set value and the mowing height detected by the distance sensors (30), (30) match. A control means for driving and controlling the hydraulic control valve is provided. This improved structure detects the height above the ground after mowing with the cutting blade and maintains the amount of expansion and contraction of the hydraulic cylinder constant regardless of whether the machine moves forward or backward.

However, in the improved structure described above, since the height detection location is a grassy area, light or ultrasonic waves are diffusely reflected, making it impossible to perform effective height detection.

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

[Means to solve the problem]

The characteristic configuration of the present invention is that in the lawn mower described at the beginning,
A detection means for detecting an inclination angle of the lift arm relative to the aircraft body, and a control means for driving and controlling the hydraulic cylinder so that the detection result of the detection means coincides with a set value manually set in advance by a setting means. At a certain point.

[Effect]

After work is started with the hydraulic cylinder hydraulically fixed so that the grass cutting device reaches the height set by the setting means, hydraulic oil leaks due to an increase in oil temperature or the weight of the grass cutting device.
Even if the amount of expansion and contraction of the hydraulic cylinder changes, this is detected by the detection means as a change in the angle of the lift arm, and the control means drives and controls the hydraulic cylinder to return to the set height.

〔Effect of the invention〕

Therefore, according to the present invention, the hydraulic cylinder is controlled and driven to the set mowing height position by detecting the height of the mowing device relative to the machine body, so the mowing height can always be controlled accurately regardless of the situation at the work place. It became possible to do it.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

2 and 3 show a remotely controlled mower according to the present invention. This mower has a pair of left and right crawler running devices (
1), a mowing device (4) is connected to the front part of a traveling body (2) equipped with (1) via a link mechanism (3) so as to be able to move up and down and roll left and right. The traveling body is provided with a driving unit (5) at the rear, a fuel tank (6) on the left side of the front, and a control device (7) and a battery (8) on the right side of the front. The driving part (5) is provided with an engine (9) in the center of the left and right sides, and a pair of left and right engine cooling radiators (10) are provided on both the left and right sides of the engine (9).

(10) is provided. Each radiator (10), (
10) are configured to be cooled by fans (12), (12) driven by electric motors (11), (I1), respectively.

Further, the left and right crawler traveling devices (1), (1) and the mowing device (4) are each configured to be hydraulically driven. In other words, the variable displacement cedar hydraulic pumps (P1) and (P2) for traveling drive and the working hydraulic pump (
P3) are connected in series so that they are driven on the same axis, and each crawler traveling device (1).

(1) and the mowing device (4) are connected by a hydraulic motor (Ml), (
M2).

(M3), and hydraulic cylinders (13) and (14) perform lifting and rolling operations of the mowing device (4), respectively.

As a result of being fully hydraulically installed as described above, this mower requires a large amount of hydraulic oil, or a large hydraulic oil tank (15) is installed on each track frame of the left and right crawler traveling devices (1), (1). (IA) and (IA) are also used as a frame member to connect them.

And the variable capacity cedar hydraulic pump for traveling drive (P1)
, (P2) are electric motors (16) and ' (16), respectively.
The drive control valves (V) of each of the hydraulic cylinders (13), (14) and working hydraulic motor (M3) are provided in an electromagnetically driven manner. The operation of the remote control unit (17) is controlled and driven by the control device (7) based on the remote control.

The mowing device (4) is configured in the form of a flail mower, and the link mechanism (3) is operated by a lift arm (18) that is driven to move up and down around the horizontal axis by a lifting hydraulic cylinder (13).
), and the hydraulic cylinder (13) is driven and controlled so that the detection result of the inclination angle of the lift arm (18) relative to the aircraft body matches a cutting height set value that is manually set in advance. A cutting height control means (A) is provided.

More specifically, as shown in FIGS. 1 and 4, the remote control unit (17) is equipped with a first potentiometer (PM1) as a setting means for manually setting the cutting height, and A second potentiometer (PM2) as a detection means for detecting the relative angle to the aircraft body is disposed at the swinging fulcrum of the lift arm (18), and each output value is given to the control device (7). . The remote control unit (17) is provided with a manual mode switch (SW1) for canceling the above-described automatic cutting height control and switching to manual mode, and a manually operated lift/lower operation switch (SW2).

The control device (7) includes a microcomputer, includes the cutting height control means in advance in the form of a control program, and executes control as follows.

As shown in FIG. 5, if the manual mode switch (SW1) is set to manual mode, the hydraulic cylinder (13) will maintain its current position in a stopped state until the manual mode is turned off (from step Sl to S3). Next, it is determined whether the lift operation switch (SW2) has been operated or not, and if it has been operated, the hydraulic pressure control valve (vl) for the hydraulic cylinder (13) is raised or raised until the switch (SW2) returns to the neutral position. Drive control is performed on the downward side (S4 to S9). If there is no manual operation, the outputs of the first and second potentiometers (PM1) and (PM2) are read (step 5IO), and the detected value by the second potentiometer (PM2), that is, the mowing device ( It is determined whether the measured cutting height in step 4) is within a predetermined range of the set cutting height set by the first potentiometer (PM1), and if it is not within the range, the hydraulic control valve (vl) is activated. The driving control is performed so that it falls within the area and the set area matches the actual measurement area (steps Sll to 513).

The steps SIO to S13 constitute the cutting height control means (A).

In this way, even if the lift arm (18) gradually descends due to hydraulic oil leakage due to an increase in oil temperature, etc., the cutting height is always maintained at the cutting height set by the setting potentiometer (PM1). That will happen.

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 the drawing]

1 to 5 show an embodiment of a grass mower with a cutting height control device according to the present invention, in which FIG. 1 is a control block diagram, FIG. 2 is an overall side view, FIG. 3 is an overall plan view, and FIG. FIG. 4 is a perspective view of the remote control unit, and FIG. 5 is a control flowchart. FIG. 6 is a side view showing a comparative example. (3)... Link mechanism, (4)... Group mowing device, (13)... Hydraulic cylinder, (18)...
Group/lift arm, (A)...control means, (PM1)
...Setting means, (PM2)...Detection means.

Claims (1)

[Claims] 1. The mowing device (4) is connected to the traveling machine body via the link mechanism (3).
), and the link mechanism (3) is lifted and interlocked by a lift arm (18) which is driven to swing up and down by a hydraulic cylinder (13), and the mowing device (4) is connected to the mowing device (4).
), which can be driven up and down, and includes a detection means (PM2) for detecting the inclination angle of the lift arm (18) with respect to the machine body, and the detection result of the detection means (PM2) and the setting A mower with a cutting height control device, comprising a control means (A) for driving and controlling the hydraulic cylinder (13) so that the set value that is manually set in advance by means (PM1) matches. 2. The mower with a cutting height control device according to claim 1, wherein the setting means (PM1) manually sets the setting by remote control.