JPH04356289A - Controlling device for center of gravity of agricultural ground work vehicle - Google Patents

Abstract

PURPOSE:To enable safe and ensured agricultural work as to various kinds of ground work using an agricultural ground work vehicle equipped with a device for controlling a ground working machine by making the center of gravity of the vehicle freely variable with the kind of the ground work. CONSTITUTION:A fuel tank 2, a battery 3 and front wheels 12, etc., are shifted according to the kind and condition of ground work so that the center of gravity of an agricultural ground work vehicle is shifted. In a rotary work mode, if the vehicle is judged to be in its non-working state according to the hydraulic pressure value of a lift 10, the center of gravity is shifted forward and when a water/dry rice field changeover switch 9 is turned to its water field side the center of gravity is further shifted forward. When a front-wheel speed increasing device is turned on in order to make a sharp turn, the center of gravity is located in the same position or shifted forward and when tracting work is performed the center of gravity is set near or behind its initial position and as loads are increased automatic four-wheel drive is turned on and the center of gravity is shifted forward. When power atomizing work is performed the center of gravity is set in a forward position and then shifted backward as agricultural chemical decreases.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a center-of-gravity position control device for an agricultural ground work vehicle that enables safe and reliable agricultural work for each type of ground work.

0002

[Prior art] As a prior art, for example,
61, Japanese Patent Publication No. 49-29643, etc. In the prior art, an engine, a clutch, a battery, a fuel tank,
The seat, control device, etc. are configured into one unit.
By sliding it back and forth and left and right, the center of gravity of the vehicle is moved, and the movement of this unit detects the inclination of the front and rear wheels.
This was done by an actuated hydraulic pump or a threaded shaft.

0003

[Problems to be Solved by the Invention] However, conventional center of gravity position control devices do not have the function of detecting the state of ground work equipment and moving the center of gravity position according to the state, and especially when ground work equipment is When the vehicle is in a working condition, it is not possible to deal with the situation by shifting the center of gravity of the vehicle. Furthermore, conventionally, there has been no center-of-gravity control device that is combined with an engine's electronic governor mechanism, and especially in towing work, when the load signal from the electronic governor, which is an engine control device, indicates a heavy load, the four-wheel drive system is However, they were unable to shift their center of gravity accordingly.

0004

[Means for Solving the Problems] The present invention uses the following means to solve the above problems. A center of gravity position control device for an agricultural ground work vehicle equipped with at least a device for controlling a ground work machine, which allows the center of gravity position of the vehicle to be changed according to the type of ground work. Further, the ground-based work machine has a means for determining whether the ground-based work machine is in a non-working state or a working state and transmits the signal to the center of gravity position control device. In addition, when the type of ground work is rotary work, if there is a means for switching or detecting wet field or dry field, and the ground work equipment is determined to be in a non-working state, when the command or determination of "wet field" is given. teeth,
By moving the center of gravity to the front of agricultural land-based work vehicles, “dry field”
When a command or judgment is made, the center of gravity is not moved, and when the front wheel speed increase is ON in a non-working state, the center of gravity is set to the same position or close to it compared to when the front wheel speed increase is OFF. Or, it is set in front of the vehicle.

Furthermore, when the type of ground work is towing work, if it is determined that the ground work machine is not working, the center of gravity is set in the same vicinity or behind the vehicle, and the load signal obtained from the engine control device is set. If the load is large, turn on the automatic 4-wheel drive, which can be turned on or off automatically or manually, and if it has been turned on in advance, leave it on and adjust the center of gravity of the vehicle. This is to move it forward in the direction of travel. In addition, when the type of ground work is power spraying work, if a power spraying device is mounted on the rear of the vehicle, the center of gravity is moved forward, and the center of gravity is moved to the side of the power spraying device depending on the amount of pesticide reduction. It is configured so that it can be moved to

[0006]

[Operation] Next, the operation of the present invention will be explained. In the present invention, a center of gravity position control device for an agricultural ground work vehicle includes:
By electrically receiving signals such as selecting the type of ground work, determining whether the ground work equipment is in the working or non-working state, and the load signal from the engine control device, the center of gravity can be positioned according to the type of signal. The movement is carried out. In addition, when changing the settings for wet fields and dry fields during rotary work, increasing the speed of the front wheels when not working in wet fields, when not working during towing work, and when the engine load factor is high and 4-wheel drive Depending on the detailed scene settings, such as when
The center of gravity can be moved according to the condition of the ground-based work equipment, which was impossible to do in the past, so the center of gravity can be set electrically during any work without relying on human hands. .

[0007]

Embodiments Next, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a circuit diagram of a center of gravity position control device in a side view of an agricultural ground work vehicle T equipped with a rotary work machine R and a power sprayer F as ground work machines. The configuration of an agricultural ground working vehicle will be explained with reference to FIG. An engine E is disposed inside the front hood of the vehicle, and an electronic governor mechanism G, which is an engine control device, is attached to the side of the engine E. Furthermore, a radiator 1, a fuel tank 2, and a battery 3 are arranged further in front of the engine E under the hood.

A rotatable accelerator lever 4 is connected to the electronic governor mechanism G on the bonnet dashboard. A work mode setting device M is provided at the rear of the seat, and in addition to an automatic/manual changeover switch 5 for switching between automatic control and manual control of the center of gravity position, a work mode switch 6 for setting the type of each ground work is installed. There is. When manually controlling the center of gravity position, the manual operation lever 7 is operated. Other features include lift oil pressure setting device 8 and wet field/dry field selection switch 9.
etc. are attached, and the oil pressure setting device 8 is attached with a lift oil pressure sensor 8a.

The lift 10 connects various types of ground working machines such as rotary working machines, traction working machines such as plows, and power sprayers, and the lift oil pressure sensor 8a detects whether the ground working machines are in working or non-working states. This determination is made by comparing the oil pressure setting value and the actual oil pressure, and if the oil pressure is higher than the setting value, it is determined that the system is in a non-working state and a detection signal is output. As a means for detecting whether the ground work machine is in a working state, it is also possible to issue the detection signal from a control unit S of a work machine control device such as a horizontal control device attached to the ground work machine.

A center of gravity control controller J, which is a control unit of a center of gravity position control device installed in the vehicle body or on another control device, controls the electronic governor mechanism G and work mode setting, as will be described later with reference to FIG. A detection signal or a command signal is received from the equipment M, the lift oil pressure setting device 8 and the lift oil pressure sensor 8a, or the control unit S attached to the ground work equipment, the wet field/dry field changeover switch 9, etc., and based on the content of the received signal. The center of gravity position is controlled by operating the hydraulic cylinder U etc. The vehicle body is provided with two limiters L at the front and rear, and when the object whose center of gravity is being moved reaches the set center of gravity position, a stop command is sent to the center of gravity controller J.

FIGS. 2 to 5 show means for moving the center of gravity. FIG. 2 shows a method of moving the center of gravity back and forth by sliding the fuel tank 2 and battery 3 back and forth. (a) is a side view, and (b) is a front view. The fuel tank 2 and the battery 3 are placed on a weight mounting table 11. The weight mounting table 11 has a U-shape on both sides, and can slide forward and backward by holding the left and right frames F of the vehicle, respectively, and the forward and backward sliding is achieved by driving a hydraulic cylinder U. Ru. The center of gravity control controller J
When the center of gravity is moved forward, the hydraulic cylinder U is pushed forward, and when the center of gravity is moved backward, the hydraulic cylinder U is pulled back, thereby causing the fuel tank 2 and battery 3 to move forward.
The center of gravity is moved by moving the position of.

FIG. 3 shows a method of moving the center of gravity by moving the front wheels 12 back and forth. Attach the front wheel differential 13 to the front wheel 12, fit the frame attachment part 13a of the front wheel differential 13 into the groove provided in the vehicle frame F, and
The frame mounting portion 13a is connected to a front wheel drive hydraulic cylinder 14.
The front wheel 12 is connected to the rod portion 14a of the vehicle frame F, and the front wheel 12 can be slid back and forth with respect to the vehicle frame F by driving the front wheel drive hydraulic cylinder U1. The front wheels 12 are driven by the transmission of the driving force of the engine E via the transmission 15, but in order to prevent the transmission of the driving force from being hindered by the front and rear movement of the front wheels 12, the front wheel drive hydraulic cylinder U1 is
The constant velocity joint 14 that expands and contracts at the same time as the front wheel differential 1
It is connected to 3. When the front wheel 12 is pushed forward, the center of gravity moves rearward, and when the front wheel 12 is pulled back, the center of gravity moves forward.

FIG. 4 shows a method of moving the center of gravity back and forth by moving the front wheels 12 up and down. A frame moving hydraulic cylinder U2 is connected to the lower end of the vehicle frame front part F1 through frame support shafts 16 arranged on the left and right under the vehicle frame F, and by vertically driving the frame moving hydraulic cylinder U2, the center of gravity is moved forward. When it is set to the front, the front part of the vehicle frame is lowered, and when it is set to the rear, it is raised.

FIG. 5 shows a method of moving the center of gravity by moving the front weight 17 back and forth. (a) is a side view, (
b) is a front view. A front weight 17 is hooked to the front part of a front bumper 18. At the rear of the front bumper 18, front bumper movable parts 18a are attached on the left and right sides in a U-shape to sandwich the vehicle frame F and to be able to slide back and forth. The front bumper 18 and front weight 17 are moved back and forth by front bumper moving hydraulic cylinders U3 mounted on the left and right vehicle frames F, and are moved forward when the center of gravity is set to the front, and rearward when set to the rear. do.

FIG. 6 shows a system diagram of detection signals and command signals in the above center of gravity position control device. A center of gravity control controller J, which is a control unit in the center of gravity position control device, receives detection signals and command signals from various control devices, sensors, and the like. First, the electronic governor controller G' in the electronic governor mechanism G, which is an engine control device, detects the rotation speed detection sensor G1, rack position sensor G2, and water temperature detection sensor G3 in the electronic governor, and the throttle position sensor 4a attached to the accelerator lever 4. By transmitting a load factor signal 19 and a rotation speed signal 20 to the center of gravity control controller J based on the signal,
The center of gravity controller J is made to know the state of the engine load.

[0016] Determination as to whether the ground work equipment is in the working state or in the non-working state is made when the setting value of the lift oil pressure by the lift oil pressure setting device 8, which has been input in advance to the center of gravity control controller J, is sent from the lift oil pressure sensor 8a. The center of gravity is determined by whether it is higher or lower than the actual lift hydraulic pressure, or by a "non-working state" or "working state signal" sent from a control unit S such as a horizontal control device attached to the ground work machine. There is a method for transmitting the information to the controller J.

In addition, the center of gravity control controller J receives input signals for switching between manual and automatic operation and the type of ground work from the work mode setting device M, and receives input signals from the limiter L to determine whether the center of gravity moving object has reached the set center of gravity position. The hydraulic cylinder U is activated by receiving signals such as the detection signal of the wet field and the input signal from the wet field/dry field changeover switch 9, and operating the center of gravity movement control solenoid valve V based on these detection signals or command signals.
By moving the center of gravity object, the center of gravity of the vehicle is moved.

FIG. 7 is a flowchart showing the order of reading from the work mode setter M of the center of gravity control controller J, FIG. 8 is a flowchart for controlling the center of gravity position in manual mode, FIG. 9 is the same drawing in towing work mode, and FIG.
11 is the same drawing in the rotary working mode, FIG. 11 is the same drawing in the front loader working mode, and FIG. 12 is the same drawing in the power spraying working mode. Center of gravity position control in each ground work will be explained using these drawings.

First, in setting the work mode, auto/
When the manual mode is selected by the manual changeover switch 5, the operator operates the manual operation lever 7 himself to move the center of gravity back and forth. When the center of gravity of the object to be moved reaches the desired position, the operator turns on the limiter to stop the movement of the center of gravity and fix the center of gravity at the desired position.

When the automatic mode is selected, each work mode is selected and set. First, when the towing work mode is selected, a detection signal indicating whether the oil pressure setting value inputted by the lift oil pressure setting device 8 is higher or lower than the actual oil pressure value issued from the lift oil pressure sensor 8a is sent to the lift oil pressure setting device. 8 to the center of gravity control controller J. If the hydraulic pressure for lift is higher than the set value from this signal, lift 10
It is thought that the traction force is so strong that the towing work machine, which is a ground work machine, is in a floating state, that is, it is determined to be in a non-working state.

[0021] When in the non-working state in the towing work mode, the front part of the towing work machine is lifted up, and the center of gravity on the rear wheel side of the agricultural ground work vehicle is reduced. Therefore, the center of gravity controller J issues an instruction signal to move the center of gravity rearward, and by distributing the center of gravity to the rear wheels, the vehicle is stabilized and the traction work machine is restored to its working state. If the towing machine is in working condition, then the vehicle is set to four-wheel drive to make the towing operation effective. This four-wheel drive setting can be done either automatically or manually.

Next, a load factor signal 19 and a rotation speed signal 2 issued from the electronic governor mechanism G, which is an engine control device, are
0 is used as the engine load signal by the center of gravity control controller J.
If it is detected that the engine load is high, it is necessary to increase the driving force of the front wheels of the vehicle, so the center of gravity is moved forward. When the object (weight) whose center of gravity is being moved reaches the set position, the limiter L is turned on, and the movement of the center of gravity is stopped and completed.

Next is the case of rotary work mode selection. As in the case of the towing work mode, first, the working state or non-working state of the rotary work machine is determined based on the hydraulic pressure value of the lift 10. When the rotary work machine is not working, the rear part of the work machine lifts up and the center of gravity rests on the rear wheels of the vehicle, so the center of gravity is moved forward and distributed to the front wheels. The rotary work machine is equipped with a control device such as a horizontal control device, and the control unit S of the device
By emitting signals of working status and non-working status,
There is also a method of determining the status of ground work equipment. After the rotary work machine is in the working state, the wet field/dry field changeover switch 9 is set.

[0024] When working in dry fields, there is no need to further move the center of gravity; however, when working in wet fields, the vehicle and work equipment sink, so it is necessary to increase the driving force on the front wheels, so the center of gravity is moved forward. It moves. Note that when the front wheel speed increasing device is turned on in a non-operating state in order to make a sharp turn of the vehicle, the center of gravity is moved to the same position or moved forward to prevent the front of the vehicle from lifting up. Next, in this case, which is the front loader work mode, the front loader work machine is attached to the front of the agricultural ground work vehicle, so the center of gravity of the vehicle must be moved to the rear. When the limiter L is turned on due to rearward movement of the center of gravity, the movement of the center of gravity is stopped as described above.

Finally, the case of the power spraying work mode will be explained. The power sprayer is equipped with a pesticide tank, etc.
When the tank is mounted on an agricultural ground work vehicle as shown by the chain line in FIG. 1, the tank is extremely heavy when fully loaded. Therefore, when a power sprayer and a pesticide tank are attached to the power sprayer lift 10, the center of gravity must be moved to the front. However, as the work progresses, the contents of the tank decrease and the power sprayer becomes lighter and there is a risk that it will float up. Therefore, the lift oil pressure sensor 8a reads the increase in oil pressure, and as the oil pressure increases, the center of gravity is moved rearward. This reduces the contents of the tank and moves the vehicle's center of gravity backwards, ensuring stable work.

[0026]

[Effects of the Invention] Since the present invention is constructed as described above, the following effects can be achieved. With the configuration as claimed in claim 1, there is no need to load and unload weights for each type of ground work, and the optimum center of gravity position for the ground work to be performed can be obtained, thereby increasing traction force and steering operation. It can be made easier.

[0027] Furthermore, with the configuration as set forth in claim 2, it is possible to stabilize the center of gravity of the agricultural ground work vehicle and to adjust the ground work machine to the working state in response to the case where the ground work machine is in a non-working state. Restoration was possible.

[0028] Furthermore, with the configuration as claimed in claim 3, during rotary work, by controlling the center of gravity position, it is possible to prevent sinking into wet fields, facilitate navigating around headlands, etc., and reduce the turning radius. This ensures safe and reliable work.

[0029] Furthermore, with the construction as set forth in claim 4, during towing work, it is possible to obtain a center of gravity position suitable for work using four-wheel drive, and it is possible to obtain safety of the vehicle and strong traction force.

[0030] Furthermore, since the structure is configured as claimed in claim 5, the center of gravity of the vehicle can be stabilized even when the tank is full of heavy agricultural chemicals, etc., during power spraying work using the power sprayer F, and the contents of the tank can be adjusted as the work progresses. As a result, the vehicle and ground-based work equipment can always maintain a stable center of gravity position without becoming unstable, and can perform reliable spraying operations.

[Brief explanation of drawings]

FIG. 1 is a circuit diagram of a center of gravity position control device in a side view of an agricultural ground-working vehicle T to which a rotary work machine R is connected.

[Fig. 2] A side view of the agricultural ground work vehicle T showing a method of moving the center of gravity by moving the fuel tank 2 and battery 3 back and forth.
a) and front view (b).

FIG. 3 is a front view of the agricultural ground work vehicle T showing a method of moving the center of gravity by moving the front wheels 12 back and forth.

FIG. 4 is a front view of the agricultural ground work vehicle T showing a method of moving the center of gravity by vertically moving the front part of the frame F.

FIG. 5 is a side view (a) and a front view (b) of an agricultural ground work vehicle T showing a method of moving the center of gravity by moving the front bumper 18 to which the front weight 17 is attached back and forth.

FIG. 6 is a system diagram of the center of gravity position control device.

[Figure 7] Work mode setting device M of center of gravity control controller J
FIG. 3 is a flowchart showing the order of reading from.

FIG. 8 is a flowchart for controlling the center of gravity position in manual mode.

FIG. 9 is the same diagram in the towing work mode.

FIG. 10 is the same diagram in rotary working mode.

FIG. 11 shows the same diagram in front loader working mode.

FIG. 12 shows the same view in power spraying working mode.

[Explanation of symbols]

T　Agricultural ground work vehicle J Center of gravity control controller G Electronic governor mechanism M Work mode setting device U Hydraulic cylinder F Power sprayer L limiter F Vehicle frame 2 Fuel tank 3 Battery 5 Automatic/manual changeover switch 6 Work mode switch 8 Hydraulic pressure setting device for lift 8a　Lift oil pressure sensor 9　Wet field/dry field selection switch

Claims (5)

[Claims] Claim 1: An agricultural ground working vehicle equipped with at least a device for controlling a ground working machine, characterized in that the position of the center of gravity of the vehicle can be changed according to the type of ground work. center of gravity position control device. 2. The center of gravity position control device according to claim 1, wherein the ground work machine determines whether it is in a non-working state or a working state;
A center of gravity position control device for an agricultural ground work vehicle, characterized in that the ground work machine has means for transmitting a signal for determining whether the work state is in the working state or the non-work state to a control unit in the center of gravity position control device. 3. The center of gravity position control device according to claim 1, when the type of ground work is rotary work, the device has means for switching or detecting whether the ground work is wet or dry, and the ground work machine is determined to be in a non-working state. In such cases, when the command or judgment is given for "wet fields", the center of gravity is moved to the front of the agricultural ground work vehicle, and when the command or judgment is given for "dry fields", the center of gravity is not moved, and the In this condition, front wheel speed increase is O.
A center of gravity position control device for an agricultural ground work vehicle, characterized in that when the vehicle is in the N position, the center of gravity is set at the same position or in the vicinity of the position when the front wheel speed increase is OFF, or at the front of the vehicle. . 4. In the center of gravity position control device according to claim 1, when the type of ground work is towing work, if it is determined that the vehicle is not working, the center of gravity position is set in the same vicinity or behind the vehicle; When the load signal obtained from the engine control device indicates a large load, the automatic 4-wheel drive, which can be turned on and off automatically or manually, is turned on, and if it is turned on in advance, it is turned on. 1. A center-of-gravity position control device for an agricultural ground-working vehicle, characterized in that the center-of-gravity position of the vehicle is moved forward in the traveling direction while the vehicle is in the same position. 5. In the center of gravity position control device according to claim 1, when the type of ground work is power spraying work, when the power spray device is mounted on the rear of the vehicle, the center of gravity position is moved forward, 1. A center-of-gravity position control device for an agricultural ground-working vehicle, characterized in that the center-of-gravity position is moved toward the power spray device in accordance with the amount of decrease in