JPH042442B2 - - Google Patents
Info
- Publication number
- JPH042442B2 JPH042442B2 JP59240272A JP24027284A JPH042442B2 JP H042442 B2 JPH042442 B2 JP H042442B2 JP 59240272 A JP59240272 A JP 59240272A JP 24027284 A JP24027284 A JP 24027284A JP H042442 B2 JPH042442 B2 JP H042442B2
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- main body
- sensor
- tiller
- slope
- 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 - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/033—Spring characteristics, e.g. mechanical springs and mechanical adjusting means characterised by regulating means acting on more than one spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/08—Agricultural vehicles
- B60G2300/082—Tractors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/019—Inclination due to load distribution or road gradient
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Harvester Elements (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Vehicle Body Suspensions (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、耕耘機、特に本体の左右傾斜に応じ
て本体を水平に姿勢変更することのできる耕耘機
に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a tiller, and particularly to a tiller whose main body can change its posture horizontally depending on the horizontal inclination of the main body.
上記耕耘機としては、例えば、実開昭56−
33707号に開示されている如く、本体が左右に傾
斜したときに、左右車輪を可逆的に上下動させる
ことによつて本体を水平姿勢に戻す技術が知られ
ている。
As the above-mentioned tiller, for example,
As disclosed in No. 33707, there is a known technique for returning the main body to a horizontal position by reversibly moving the left and right wheels up and down when the main body is tilted from side to side.
上記構成の耕耘機では、畝際幸耕耘作業等にお
いて、本体が傾斜地に至り、感知センサーがその
傾きを感知して、車輪を可逆的に上下動させて本
体を水平に戻そうとするので、本体は、その左右
方向（幅方向）中間部を中心としてローリングす
ることとなり、後部に取付けたロータリ耕耘装置
のロータリ軸の傾斜下手側は地面から遠ざかる
が、上手側は極端に地面に接近してしまい、耕耘
爪が大きく土中に突込んで負荷が急激に増大する
問題があつた。
In the tiller with the above configuration, when the main body reaches a slope during ridge tillage work etc., the sensor detects the inclination and attempts to return the main body to horizontal by reversibly moving the wheels up and down. The main body rolls centering on the middle part in the left-right direction (width direction), and the rotary shaft of the rotary tiller attached to the rear is moved away from the ground on the lower side, but the upper side is extremely close to the ground. However, there was a problem in that the tilling claws were large and penetrated into the soil, causing a sudden increase in the load.
上記問題点を解決するために、本発明は、耕耘
機本体の左右傾斜を感知するセンサーを設け、こ
のセンサーの検出結果に基づいて車輪を昇降させ
るように構成した耕耘機において、前記車輪を
夫々独立して昇降させる一対の油圧シリンダーを
設け、これら両シリンダーを、前記センサーが耕
耘機本体の左右方向での水平姿勢を検出している
作業状態で、最も短縮した基準作動位置となるよ
うに位置設定するとともに、傾斜上手側に位置す
る車輪の接地点を基点として傾斜下手側の車輪
を、その油圧シリンダーを伸長させることによつ
て下降させて前記本体を左右方向で水平に姿勢変
更すべく構成してある。
In order to solve the above-mentioned problems, the present invention provides a power tiller that is configured to include a sensor that detects the left and right inclination of the power tiller body, and to move the wheels up and down based on the detection results of this sensor. A pair of hydraulic cylinders that can be raised and lowered independently are provided, and both cylinders are positioned so as to reach the shortest reference operating position in a working state in which the sensor detects the horizontal posture of the cultivator body in the left and right direction. At the same time, the wheel on the lower side of the slope is lowered from the grounding point of the wheel located on the upper side of the slope by extending its hydraulic cylinder, thereby changing the attitude of the main body horizontally in the left and right direction. It has been done.
即ち、センサーが耕耘機本体の傾斜を感知する
と、第５図に示す如く、車輪は、その一方（傾斜
上手側のもの）を基点（静止）として他方を下降
させて本体を水平にするので、この時のロータリ
軸の傾斜上手側の土中への突込みがなくなり、そ
れに起因するエンストが生じなくなる。
That is, when the sensor detects the inclination of the power tiller body, as shown in Fig. 5, the wheels use one of the wheels (the one on the upper side of the inclination) as a reference point (stationary) and lower the other to make the power tiller horizontal. At this time, the upper side of the rotary shaft does not penetrate into the soil, and the engine stall due to this does not occur.
つまり、センサーの検出に基づく通常の水平な
作業姿勢において一対の車輪が最も上昇した、言
い換えると機体本体が最も対地高さの低い状態を
基準として設定してあるので、それによる低重心
位置によつて機体操縦し易いとともに、左右に傾
斜した場合でも前述したように、下位となつた側
の車輪を油圧シリンダで駆動下降することのみに
よつて水平姿勢にさせるものであるから、傾斜地
走行のときでも重心位置が不必要に高くならない
ように抑制することができる。 In other words, the setting is based on the state in which the pair of wheels are raised the most in a normal horizontal working posture based on sensor detection, or in other words, the aircraft body is at its lowest height above the ground. This makes it easier to maneuver the aircraft, and even if the aircraft is tilted left or right, the lower wheel can be brought down to a horizontal position simply by lowering the lower wheel using a hydraulic cylinder, so when traveling on a slope, However, it is possible to prevent the center of gravity from becoming unnecessarily high.
従つて、機体重心を常に低い目に設定できて軽
快な操縦性を維持しながら、耕耘機が傾斜地に至
つても自動的に本体を水平に修正できるととも
に、この修正に伴うロータリ軸の耕耘負荷が急激
に増大するのを防止できるので、従来技術に比べ
て、操縦性の向上を図りながらもエンストなく水
平地から傾斜地へ移動でき、かつ、その傾斜地を
水平に近づけて耕耘し易い利点がある。
Therefore, the center of gravity of the machine can always be set low, maintaining light maneuverability, and even when the tiller reaches a slope, the main body can be automatically adjusted to the horizontal position, and the tilling load on the rotary shaft due to this adjustment can be reduced. Since it is possible to prevent a sudden increase in the amount of water, it has the advantage that compared to conventional technology, it is possible to move from level ground to sloped land without stalling while improving maneuverability, and it is easier to cultivate the slope by bringing the slope closer to level. .
第２図に示す如く、耕耘機本体１は、その前部
にエンジン２を搭載し、このエンジン２からトラ
ンスミツシヨン３を介して車輪４ａ，４ｂを駆動
するとともに、後部に装備したロータリ耕耘装置
５を駆動できるように構成されている。前記車輪
４ａ，４ｂは、昇降機構Ａを構成する油圧シリン
ダー７ａ，７ｂによつて昇降自在に伝動ケース６
ａ，６ｂに取付けられている。前記油圧シリンダ
ー７ａ，７ｂは、前記伝動ケース６ａ，６ｂと本
体１との間に設けられ、通常は最短縮状態にあ
る。前記油圧シリンダー７ａ，７ｂは、前記エン
ジン２によつて駆動される油圧ポンプ９からの圧
油によつて作動される。この油圧ポンプ９の圧油
は、本体１に設けられた傾斜感知センサー１０の
検出結果に基づいて供給制御される。感知センサ
ー１０は、第３図に示す如く、重錘の振れによつ
て、電気回路のスイツチSW1，SW2が作動する構
造のもので、この電気回路は、第４図に示す油圧
回路中の電磁バルブV1，V2を制御する構成とさ
れている。
As shown in FIG. 2, the tiller main body 1 has an engine 2 mounted on its front part, which drives wheels 4a and 4b via a transmission 3, and also a rotary tiller equipped at the rear. It is configured to be able to drive 5. The wheels 4a, 4b are movable up and down by hydraulic cylinders 7a, 7b constituting a lifting mechanism A.
a, 6b. The hydraulic cylinders 7a, 7b are provided between the transmission cases 6a, 6b and the main body 1, and are normally in the shortest position. The hydraulic cylinders 7a and 7b are operated by pressure oil from a hydraulic pump 9 driven by the engine 2. The supply of pressure oil from the hydraulic pump 9 is controlled based on the detection result of a tilt sensing sensor 10 provided in the main body 1. As shown in FIG. 3, the sensing sensor 10 has a structure in which switches SW 1 and SW 2 of an electric circuit are activated by the vibration of a weight, and this electric circuit is connected to a hydraulic circuit shown in FIG. 4. The configuration is such that the solenoid valves V 1 and V 2 are controlled.
つまり、耕耘機本体１が、標準状態から例え
ば、左下り傾斜（機体後方から見て）すると、第
３図における重錘が相対的に傾いてスイツチSW1
を入り状態とし、これによつてバルブV1が切換
つて、傾斜上手側の車輪４ｂの油圧シリンダー７
ｂはそのままで、下手側の車輪４ａの油圧シリン
ダー７ａが伸長作動して、本体１を、その傾斜上
手側の車輪４ｂを接地点を基点として、上昇させ
るのである。これによつて、本体１の傾斜が水平
に修正される。このような左側車輪４ａの下降に
よる修正状態で水平地に移行すると、相対的に本
体１は右下り傾斜となり、これが感知センサー１
０で感知されてスイツチSW2が入る。これによつ
てバルブV2が切換わり、左側油圧シリンダ７ａ
の短縮作動側及び右側油圧シリンダ７ｂの伸長作
動側への並列圧油供給状態となる。この場合、先
の作動で伸長している左側油圧シリンダ７ａは機
体荷重で短縮側に作動されようとするために、圧
油は負荷の小さい左側油圧シリンダ７ａにのみ流
入し、左側車輪４ａの上昇によつて本体１が水平
に戻され元の基準状態となる。又、基準状態から
の右下り傾斜時には右側油圧シリンダ７ｂの伸長
に伴う右側車輪４ｂの下降によつて水平修正が行
われる。 In other words, if the power tiller main body 1 is tilted downward to the left from its standard state (as seen from the rear of the machine), the weight in Fig. 3 will be relatively tilted and the switch SW 1 will be tilted.
is in the on state, thereby switching the valve V 1 to open the hydraulic cylinder 7 of the wheel 4b on the upper side of the slope.
b remains as it is, the hydraulic cylinder 7a of the wheel 4a on the lower side is operated to extend, and the main body 1 is raised from the grounding point of the wheel 4b on the upper side of the slope. As a result, the inclination of the main body 1 is corrected to horizontal. When the left wheel 4a moves to a level ground in the corrected state by lowering, the main body 1 becomes relatively tilted downward to the right, which causes the detection sensor 1 to tilt downward.
0 is detected and switch SW 2 is turned on. This switches valve V2 , and the left hydraulic cylinder 7a
The parallel pressure oil is supplied to the contraction operation side of the right hydraulic cylinder 7b and the extension operation side of the right hydraulic cylinder 7b. In this case, the left hydraulic cylinder 7a, which has been extended due to the previous operation, tends to be shortened due to the weight of the aircraft, so the pressure oil flows only into the left hydraulic cylinder 7a, which has a small load, and the left wheel 4a rises. As a result, the main body 1 is returned to the horizontal position and returns to its original reference state. Further, when the vehicle tilts downward to the right from the standard state, horizontal correction is performed by lowering the right wheel 4b as the right hydraulic cylinder 7b extends.
尚、前記感知センサー１０の形態としては、重
錘以外の如何なる公知の傾斜検出手段でも応用で
きるものである。 Incidentally, as the form of the sensing sensor 10, any known inclination detection means other than a weight can be applied.
図面は本発明に係る耕耘機の実施例を示し、第
１図は要部の正面図、第２図は全体の側面図、第
３図はセンサーの概略説明図、第４図は油圧回路
図、第５図は作用説明図、第６図は従来技術の作
用説明図である。
１……本体、４ａ，４ｂ……車輪、１０……感
知センサー、７ａ，７ｂ……油圧シリンダ。
The drawings show an embodiment of the cultivator according to the present invention, in which Fig. 1 is a front view of the main parts, Fig. 2 is a side view of the whole, Fig. 3 is a schematic explanatory diagram of a sensor, and Fig. 4 is a hydraulic circuit diagram. , FIG. 5 is an explanatory diagram of the operation, and FIG. 6 is an explanatory diagram of the operation of the prior art. 1...Main body, 4a, 4b...Wheels, 10...Detection sensor, 7a, 7b...Hydraulic cylinder.
Claims (1)
１０設け、このセンサー１０の検出結果に基づい
て車輪４ａ，４ｂを昇降させるように構成した耕
耘機において、前記車輪４ａ，４ｂを夫々独立し
て昇降させる一対の油圧シリンダー７ａ，７ｂを
設け、これら両シリンダー７ａ，７ｂを、前記セ
ンサー１０が耕耘機本体１の左右方向での水平姿
勢を検出している作業状態で、最も短縮した基準
作動位置となるように位置設定するとともに、傾
斜上手側に位置する車輪４ａまたは４ｂの接地点
を基点として傾斜下手側の車輪４ｂまたは４ａ
を、その油圧シリンダー７ｂまたは７ａを伸長さ
せることによつて下降させて前記本体１を左右方
向で水平に姿勢変更すべく構成してあることを特
徴とする耕耘機。1 In a tiller configured to include a sensor 10 that detects the left and right inclination of the power tiller body 1 and to raise and lower wheels 4a and 4b based on the detection results of this sensor 10, the wheels 4a and 4b can be raised and lowered independently. A pair of hydraulic cylinders 7a, 7b are provided, and these cylinders 7a, 7b are set to the most shortened reference operating position in a working state where the sensor 10 detects the horizontal posture of the cultivator body 1 in the left and right direction. At the same time, the wheels 4b or 4a on the lower side of the slope are set with the grounding point of the wheel 4a or 4b located on the upper side of the slope as the reference point.
A power cultivator characterized in that it is configured to lower the body 1 by extending its hydraulic cylinder 7b or 7a, thereby changing the attitude of the main body 1 horizontally in the left-right direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24027284A JPS61119414A (en) | 1984-11-14 | 1984-11-14 | Cultivator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24027284A JPS61119414A (en) | 1984-11-14 | 1984-11-14 | Cultivator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61119414A JPS61119414A (en) | 1986-06-06 |
| JPH042442B2 true JPH042442B2 (en) | 1992-01-17 |
Family
ID=17057022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24027284A Granted JPS61119414A (en) | 1984-11-14 | 1984-11-14 | Cultivator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61119414A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH078179B2 (en) * | 1986-06-18 | 1995-02-01 | 株式会社クボタ | Work vehicle |
| JPS6322101A (en) * | 1986-07-11 | 1988-01-29 | 株式会社クボタ | Plowing machine |
| JPH0767353B2 (en) * | 1991-04-24 | 1995-07-26 | 株式会社クボタ | Work vehicle |
| CN104494716A (en) * | 2014-12-07 | 2015-04-08 | 山东双菱内燃机制造有限公司 | Intelligent lifting electronic automatic balancing system for walking tractors on sloping fields |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5795210A (en) * | 1980-12-01 | 1982-06-14 | Kubota Ltd | Apparatus for automatically controlling posture of tractor for agriculture |
-
1984
- 1984-11-14 JP JP24027284A patent/JPS61119414A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5795210A (en) * | 1980-12-01 | 1982-06-14 | Kubota Ltd | Apparatus for automatically controlling posture of tractor for agriculture |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61119414A (en) | 1986-06-06 |
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