JPH0928112A - Working traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To providing a working traveling vehicle comprising control parts arranged in the vicinity of a transformer, readily connecting the transformer to the control part, shortening a coupling cable as short as possible, reducing influence of noises of a hydraulic valve, etc., having improved workability. SOLUTION: This working traveling vehicle is equipped with control parts 22 and 32 for automatically controlling a hydraulic actuator. In supplying a buttery electric current through a transformer 62 to the control parts 22 and 32, the control parts 22 and 32 are arranged in the vicinity of the transformer 62. A hydraulic valve assy 41 is laid on a fender of the working traveling vehicle and a control part 44 is preferably positioned at an outside face part of the hydraulic valve assy 41.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of work vehicles such as agricultural machines and construction machines.

[0002]

2. Description of the Related Art Conventionally, some traveling vehicles for work of this type include
Some control units that automatically control hydraulic actuators supply battery current through a transformer.

[0003]

By the way, in such a structure, the control unit is arranged at an appropriate position of the traveling machine body, and the power input terminal of the arranged control unit is connected to the output terminal of the transformer through the cable. Although it will be connected, there is a possibility that the cable picks up noise from the electromagnetic hydraulic valve or the like and the operation of the control unit becomes unstable.

Further, it is proposed that the electromagnetic hydraulic valve or the like is constructed as an assembly and arranged outside the machine to reduce the influence of noise, but in this case, the appearance may be impaired. Therefore, the actual situation is that it is not adopted only for the purpose of reducing noise.

[0005]

SUMMARY OF THE INVENTION The present invention was made with the object of providing a working vehicle capable of solving these problems in view of the above-mentioned circumstances. In a work vehicle equipped with a control unit for automatic control, a control unit is arranged in the vicinity of a transformer when supplying a battery current to the control unit via a transformer. And in this one,
The connection between the transformer and the control unit is not easy, and the effect of noise can be reduced by making the connection cable as short as possible. As a result, the control unit based on noise such as electromagnetic hydraulic valves can be reduced. The unstable operation of can be prevented. Moreover, when the untransformed battery current is directly supplied to the control unit, this battery current can be easily taken out from the input side of the transformer, so that even a control unit that requires various input voltages There is an advantage that wiring can be simplified.

Further, there is provided a working vehicle in which a hydraulic valve assembly for switching the operating speed of the blade lift cylinder in multiple stages is provided with an adjusting portion for adjusting each of the multiple switching speeds. When the hydraulic valve assembly is disposed on the fender and the adjusting portion is located on the outer surface of the hydraulic valve assembly, the influence of noise generated by the hydraulic valve assembly can be reduced, and moreover, The speed of the blade lift cylinder can be adjusted while the worker stands on the outer side of the machine body while actually seeing the ascending / descending speed of the blade, which also has the advantage of improving the workability and accuracy of the speed adjustment.

[0007]

Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a tractor including a crawler traveling device 2, and a rear working machine 4 such as a rotary tiller is movably connected to a rear portion of the traveling machine body 1 via an elevating link mechanism 3. ing. Then, the rear working machine 4 includes the lift arm cylinder 5
While lifting and lowering is performed based on the vertical swing of the lift arm 6 associated with the expansion and contraction operation of the lift arm 6, the lift rod cylinder 7 that is interposed between the lift arm 6 and the elevating and lowering link mechanism 3 is tilted to the left and right. All of the basic configurations are the same as conventional ones.

A parallel link mechanism 8 is connected to the front part of the traveling machine body 1 so as to be able to move up and down, and a blade 9 for performing work such as leveling and leveling is provided at the front end part of the parallel link mechanism 8. Is provided. The blade 9 lifts (lifts and lowers) when the lift cylinder 10 expands and contracts, tilts (moves left and right of the blade 9 back and forth) when the angle cylinder 11 expands and contracts, and tilts the tilt cylinder 12. Although a tilting operation (an operation of displacing either the right or left of the blade 9 up and down) accompanying the expansion and contraction operation is possible, the blade 9 employed in this embodiment has a plurality of holes 9a formed in appropriate places. Blade 9
The earth pressure acting on the cylinders can be released to reduce the working load on each of the cylinders 10 to 12.

Reference numeral 13 denotes a tilt sensor for detecting the tilt angle (left and right inclination angle) of the blade 9. The tilt sensor 13 is located substantially at the center of the blade 9 and behind the upper end of the blade 9. It is arranged to do.
That is, since it is the position where the swaying width is the smallest and is not easily affected by the pressed soil, stable detection cannot be performed, and damage due to the effect of the pressed soil can be prevented. Since the hydraulic hoses of each of the cylinders 10 to 12 are piped from the right and left central portions of the blade 9 to the machine body side, the wiring of the tilt sensor 13 can be arranged along the hydraulic hoses.

Reference numeral 14 denotes a mast which is erected on the blade 9, and an optical receiver 15 having a predetermined light receiving width in the vertical direction is provided at the upper end portion of the mast 14. Since it is connected to the machine body through the parallel link mechanism 8 as described above, it is possible to prevent the mast 14 from tilting back and forth due to the up and down movement of the blade 9 and improve the accuracy and stability of laser light detection described later. It has become. On the other hand, a projector 16 for rotating and projecting a laser beam in a horizontal direction or an arbitrary inclination direction is installed at a predetermined location of a work site or a field, and the laser beam projected from the projector 16 is received by the light receiver 15 described above. In addition to receiving the light, the height of the blade 9 with respect to the laser light, that is, the absolute height is detected based on the detection height of the light received by the light receiver 15. The light receiver 15 is positioned above and below the mast 14. Adjustable,
Based on this vertical position adjustment, the control height (set height) of blade control, which will be described later, is changed.

Reference numeral 17 denotes a pendulum body which is provided in the middle portion of the mast 14 so as to be swingable left and right.
Is overlapped with the mast 14 when the tilt angle (absolute right and left inclination angle) of the blade 9 is horizontal, while it swings left and right with respect to the mast 14 when the tilt angle is inclined left or right. By visually observing this, the tilt angle of the blade 9 can be easily confirmed.
Moreover, since the pendulum body 17 is supported by the mast 14 via the ball joint 17a, swinging in the front-rear direction is also allowed within a predetermined range. That is, when the mast 14 is tilted in the front-rear direction, it is possible to prevent a large moment load from being applied to the base end portion of the pendulum body 17.

A mast bracket 18 is integrally provided on the upper end of the central portion of the blade 9,
The mast 14 is detachably attached to a pipe 18a welded to the mast bracket 18 in the left-right direction using a pair of U-shaped bolts 19. And U
Since the front and rear inclination of the mast 14 is allowed when the character bolt 19 is loosened, the front and rear mounting angle of the mast 14 can be freely set, and the mast 14 can be attached to the pipe portion 4a of the rear working machine 4 described above. Then, the absolute height of the rear working machine 4 can also be detected.

Reference numeral 20 is a display provided near the driver's seat 21, and the display 20 displays the height of the blade 9 based on the laser light based on the detection signal input from the light receiver 15. It is something to do. That is, in the case where a plurality of light emitting display units 20a to 20e are arranged in parallel on the display surface of the display device 20 and the deviation amount with respect to the laser light is within the fourth area (for example, −5 mm to +5 mm). Is
The green light emitting display unit 20a located in the center of the display surface is operated to blink, and the deviation amount is within the third or fifth area (for example, -5 mm to -30 mm, +5 mm to +30 mm).
In the case of, the one of the yellow light emitting display portions 20b and 20c adjacent to the upper and lower sides of the green light emitting display portion 20a, which corresponds to the shift direction, is operated to blink, and the shift amount is within the second or sixth area. (For example, -30 mm to -95 m
m, +30 mm to +95 mm), one of the yellow light emitting display portions 20b and 20c corresponding to the shift direction is turned on, and the shift amount is outside the laser light detection range. Seven areas (for example, -9
5 mm or less, +95 mm or more), the LED light emitting display units 20d, 2 located at the upper and lower ends of the display surface.
Of 0e, one corresponding to the shift direction is configured to be turned on, but the detection signal of the light receiver 15 input to the display device 20 is a first control unit described later via a predetermined interface circuit. 22 is also input.

Reference numeral 23 denotes a side panel arranged on the side of the driver's seat 21, and a position lever 24 for raising and lowering the rear working machine 4 is arranged at a front portion of the side panel 23. On the other hand, in the rear part, an automatic plowing depth switch 2 for ON-OFF operation of the automatic plowing depth control described later is provided.
5. An operation tool such as an automatic tilt switch 26 for ON-OFF operation of automatic tilt control, which will be described later, and a tilt setting volume 27 for setting a target tilt of the automatic tilt control is covered by a transparent cover 28 which can be opened and closed. In the middle of the side panel 23, an elevating and lowering operation switch 29 for elevating and lowering the rear working unit 4 by a one-touch operation, and a knob that is larger than other operating tools are further provided. The plowing depth setting volume 30 is provided. And
The operation signal of each operation tool is input to the second control unit 31 that controls the rear working machine 4, but regarding the configuration and function of the side panel 23 described above, the actual operation flat 4-4242.
No. 5 gazette is used.

Reference numeral 32 denotes a blade operation panel. On the blade operation panel 32, a blade lift lever 33 for raising and lowering the blade 9 and a laser control (a blade control and a rotary laser control described later) are turned ON-O.
Laser automatic switch 34 for FF operation, first monitor lamp 34 incorporated in the laser automatic switch 34
a, a tilt automatic switch 35 for ON / OFF operation of tilt automatic control described later, and the tilt automatic switch 3
5 is provided with a second monitor lamp 35a incorporated therein, and operation tools such as a working machine changeover switch 36 for switching a laser control target (the blade 9 or the rear working machine 4). The first and second monitor lamps 34a are provided. , 35a
Is arranged near the rear of the blade lift lever 33, so that it can be easily viewed from the driver's seat 21 located laterally rear of the blade operation panel 32.

Reference numerals 37 to 40 are switches for performing the above-mentioned angle operation and tilt operation.
Since 7 to 40 are provided at the grip portion of the blade lift lever 33, the lift operation, the angle operation and the tilt operation of the blade 9 can be performed by the single blade lift lever 33.

Reference numeral 41 denotes a hydraulic valve assembly for operating the lift cylinder 10. The ascending hydraulic path and the descending hydraulic path of the hydraulic valve assembly 41 have three parallel paths (U1 to U3 and D1 to D1). D3) is provided, and an electromagnetic switching valve 42 and a variable throttle valve 43 are provided in series in each parallel path. In other words, the operating speed of the lift cylinder 10 is switched in multiple stages by turning on the electromagnetic switching valve 42 according to the operating direction and operating angle of the blade lift lever 33. An adjustment panel 44 for adjusting the opening degree of the valve 43 (adjustment of each switching speed) is provided. When disposing the hydraulic valve assembly 41 on the traveling machine body 1, the hydraulic valve assembly 41 is disposed on the front end side upper surface of the fender 45 that covers the right crawler traveling device 2 and the outside of the hydraulic valve assembly 41. The adjustment panel 44 is positioned on the surface portion. That is, since the hydraulic valve assembly 41 is arranged outside the machine body, the possibility that noise generated by the hydraulic valve assembly 41 affects the control units 22 and 31 is reduced, and moreover, the worker stands on the outer side of the machine body. The speed can be adjusted while actually checking the ascending / descending speed of the blade 9.

The second control section 31 is an existing one configured by using a so-called microcomputer, but this one is based on the ground swing angle of the rear cover 4b and the working depth (ground level) of the rear working machine 4 is determined. Height sensor 54 for detecting the depth, an arm angle sensor 55 for detecting the vertical swing angle of the lift arm 6, a rod length sensor 56 for detecting the rod length of the lift rod cylinder 7, and a lateral tilt of the machine body. A signal is input from a tilt sensor 57 that detects the position of the lift lever, a position sensor 58 that detects the lever angle of the position lever 24, and further operation tools provided on the side panel 23, while the lift arm is judged based on these input signals. The operation signals of the cylinder 5, the lift rod cylinder 7, the automatic tilling depth monitor lamp 59 and the like are output. That is, in the second control unit 31, the position lever 24
Position control for controlling the rear working machine 4 up and down based on the detection signal of the arm angle sensor 42 (to control the height of the machine) so that the set working depth set by the working depth setting volume 30 is maintained. The plowing depth automatic control (ground height control) for automatically raising and lowering the rear working unit 4 based on the detection signal of the plowing depth sensor 41, and the inclination sensor for maintaining the set inclination set by the inclination setting volume 27. Based on the detection signal of 57, control such as automatic tilt control for automatically controlling the tilt of the rear working machine 4 is executed.

On the other hand, the first control section 22 is also constructed by using a microcomputer, but this one has a lift angle for detecting the lift angle of the tilt angle sensor 13 and the light receiver 15 and the blade 9 described above. Signals are input from the sensor 60, the lever angle sensor 61 that detects the lever angle of the blade lift lever 33, the operation tools provided on the blade operation panel 32, and the lift cylinder 10 and the angle are determined based on these input signals. The operation signals of the cylinder 11, the tilt cylinder 12, etc. are output. That is, the first control unit 22 automatically controls the blade 9 so as to keep the laser detection height of the light receiver 15 constant (automatic laser height control), and adjusts the tilt angle to maintain the horizontal posture. The tilt automatic control for automatically controlling the tilt of the blade 9 based on the detection signal of the sensor 13 is executed. As described above, the light receiver 15 is mounted on the rear working machine 4 and the first controller is also provided. 22
Is connected to the second control unit 31, the first control unit 22
And the second control unit 31 are used together to automatically raise and lower the rear working machine 4 (rotary laser control based on a detection signal of the light receiver 15, or combined plowing depth control by using both rotary laser control and the plowing depth automatic control). You can do it.

62 is a transformer, and the transformer 62 is
The current (24 V) supplied from the battery 63 is transformed (1
2V) and supplies it to the first controller 22 and the like.
In disposing the transformer 62 on the traveling machine body 1, the transformer 62 is disposed at the left rear position of the driver's seat 21 so as to be separated from the hydraulic valve assembly 41 as much as possible, and the transformer 62 is provided near the transformer 62. The first control unit 22 is provided. That is, the cable 64 connecting the transformer 62 and the first control unit 22 is shortened as much as possible, and the cable 64 is separated from the hydraulic valve assembly 41 as much as possible to reduce the influence of noise. ing. In addition, the first control unit 2
2, it is necessary to directly supply the battery current for the driver circuit, but since this battery current is taken out from the input side of the transformer 62, the cable 65 for directly supplying the battery current can be shortened. ing.

In the configuration as described above, in supplying the battery current to the first control unit 22 through the transformer 62, the left rear side of the driver's seat 21 is separated from the hydraulic valve assembly 41 as much as possible. Since the transformer 62 is disposed at the position and the first control unit 22 is disposed near the transformer 62, the cable 64 connecting the transformer 62 and the first control unit 22 is provided as much as possible. The cable 64 can be separated from the hydraulic valve assembly 41 as much as possible without being allowed to be shortened. As a result, the influence of noise is reduced as much as possible, and the unstable operation of the first control unit 22 based on noise is caused. Can be prevented.

Moreover, when the battery current is directly supplied to the first control unit 22 for the driver circuit, this battery current can be easily taken out from the input side of the transformer 62, so that the cable for directly supplying the battery current is supplied. 65
Has the advantage of being shorter.

When the hydraulic valve assembly 41 is arranged on the traveling machine body 1, the hydraulic valve assembly 41 is arranged on the upper surface of the fender 45 on the front end side, and the adjusting panel 44 is arranged on the outer side surface of the hydraulic valve assembly 41. Even if the temporary hydraulic valve assembly 41 generates noise due to the positioning, the control units 22 and 3 disposed inside the airframe are disposed.
1 is reduced, and moreover, the worker can stand on the outer side of the machine body and adjust the speed while actually seeing the ascending / descending speed of the blade 9. Can be improved.

Further, since the blade 9 to which the light receiver 15 is attached via the mast 14 is connected to the machine body via the parallel link mechanism 8, the mast 1 accompanying the elevation of the blade 9
It is possible to avoid tilting before and after 4 and thereby improve the accuracy and stability of laser light detection.

Further, since the mast 14 is attached to the pipe member by using the pair of U-shaped bolts 19, the front-rear mounting angle of the mast 14 can be freely adjusted when the U-shaped bolt 19 is loosened. There is.

[Brief description of drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a plan view of the same.

FIG. 3 is a perspective view of a main part of a blade.

FIG. 4 is a perspective view of a main part of a rear working machine.

FIG. 5 is a front view of the tractor showing the action of the pendulum body (tilt horizontal state).

FIG. 6 is a front view of the tractor showing the action of the pendulum body (tilt upper left position).

FIG. 7 is a front view of a pendulum body.

FIG. 8 is a partially cutaway side view of the same.

FIG. 9 is a perspective view of a display device.

FIG. 10 is a perspective view showing a side panel and a blade operation panel.

FIG. 11 is a plan view of a blade operation panel.

FIG. 12 is a side view of the same.

FIG. 13 is a perspective view of a hydraulic valve assembly.

FIG. 14 is a block diagram showing inputs and outputs of first and second control units.

FIG. 15 is a hydraulic circuit diagram of a hydraulic valve assembly.

FIG. 16 is a block circuit diagram showing a connection state of a transformer and the like.

FIG. 17 is a side view showing an operation (ascending state) of the parallel link mechanism.

FIG. 18 is a side view showing the operation (downward state) of the parallel link mechanism.

[Explanation of symbols]

 1 traveling machine body 4 rear working machine 9 blade 15 light receiver 16 light projector 22 first control unit 32 second control unit 41 hydraulic valve assembly 44 adjustment panel 62 transformer 63 battery

Claims (2)

[Claims] 1. A work vehicle comprising a control unit for automatically controlling a hydraulic actuator, wherein the control unit includes:
A work vehicle equipped with a control unit near the transformer when supplying battery current through the transformer. 2. A working vehicle comprising a hydraulic valve assembly for switching the operating speed of a blade lift cylinder in multiple stages, and an adjusting portion for adjusting each of the multiple switching speeds. A work traveling vehicle in which the hydraulic valve assembly is disposed on a fender, and the adjusting portion is located on an outer side surface portion of the hydraulic valve assembly.