JPS5849127B2 - Mobile ground work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mobile ground work machine that continuously performs ground work such as plowing while moving.

Conventionally, in the mobile ground work equipment mentioned above, in order to maintain the ground work equipment at a substantially constant height above the ground, a ground ring has been installed to keep the ground work equipment connected to the ground work equipment so as to be able to rise and fall freely, but due to the hardness and softness of the ground, There is a problem in that the amount of sinking of the ground contact ring into the ground changes, and this sinking causes a change in the height of the ground work device from the ground.

To solve this problem, it has been proposed to automatically control the ground working equipment to maintain it at a substantially constant height above the ground based on the load fluctuations on the ground working equipment and the positional deviation of the working equipment with respect to the target plowing depth. However, in fields with severe unevenness, automatic control that follows the vertical movement of the ground work equipment due to pitching of the aircraft is not possible, so there is a problem that the ground work equipment rises far above the ground, performs ground work, and then disappears. Ta.

In view of these circumstances, the present invention provides a mobile ground work machine that can perform good and stable ground work by effectively utilizing the trackability of ground holding by the ground contact wheels to overcome the drawbacks of the automatic lifting mechanism. The purpose is to

The mobile ground work machine of the present invention detects the difference between the rotation speed between a set rotation speed detector that sets the engine rotation speed and detects the set rotation speed, and an actual rotation speed detector that detects the actual engine rotation speed. The position deviation is detected by a set plowing depth position detector that detects the engine load and the set plowing depth position of the ground work device, and a lifting position detector that detects the lifting position of the ground work device. An automatic lifting mechanism is provided which automatically raises and lowers the ground working device to maintain a substantially constant plowing depth based on a balanced relationship between the engine load and the positional deviation of the ground working device, and furthermore, the ground working device is held on the ground. A grounding wheel is provided, and when the load of the engine becomes less than a certain set value, the lifting holding function of the automatic lifting mechanism is canceled in order to hold the ground working device on the ground with the grounding wheel. Features.

In other words, when the ground is not uneven, the ground work equipment performs ground work while being maintained at a substantially constant height above the ground by an automatic lifting mechanism or ground contact wheels, but if the ground work is locally soft or When the ground contact wheel sinks significantly, and the ground work equipment also sinks and the engine load increases, the automatic lifting mechanism immediately raises and lowers the ground work equipment while lifting it to reduce the load. It has the advantage of being able to approach the set plowing depth through control, allowing stable work at a constant depth while reducing the sinking of ground work equipment.

If the ground is hard and has many irregularities, the traveling part of the aircraft may run over the protrusions and pitch, causing the ground work equipment to be lifted significantly, making it impossible to perform ground work using the ground work equipment. When attempting to do so, the load is reduced, the automatic lifting mechanism's function to maintain the rise is canceled, and the ground contact wheel is used to hold the plow on the ground. The ground work device is held at a predetermined height from the ground while following the unevenness of the ground, and it has become possible to perform ground work at a substantially constant height above the ground.

In this way, even on extremely uneven ground, the ground work device can now perform ground work stably and continuously while maintaining a substantially constant height above the ground.

Furthermore, the lifting and lowering of the ground working equipment is controlled based on the correlation between the deviation between the engine's set rotation speed and the actual engine speed (engine load) and the deviation between the set plowing depth position and the lifting position of the ground working equipment, so it is roughly set. Compared to normal conditions when ground work is performed at the plowing depth position, when the engine load increases and the ground work device is controlled to ascend, a position deviation from the target plowing depth occurs, which causes a descending control command to be issued to the automatic elevation control mechanism. is issued, and ground work is performed at a position where ascending control based on engine load and descending control based on positional deviation are balanced. It has the advantage that ground work can be performed at a position close to the set plowing depth without raising the equipment.

1. If the engine load is low, the ground wheel can stably maintain the plowing depth at a constant level, while the automatic lifting device can be stopped to prevent damage and enable long-term use. I was able to do it.

Next, embodiments of the present invention will be described in detail based on the drawings.

FIG. 1 shows a mobile ground-working machine in which a rotary tiller, which is a ground-working machine, is connected to the rear of a tractor.

Power is transmitted from an engine 1 provided at the front to a traveling transmission case 2 at the rear, and rear wheels 4, 4 are pivotally supported at both ends of a drive shaft 30 extending laterally from this mission case 2 to drive the vehicle. It has tractor 5 at its disposal.

The loader cultivating device 7 is connected to the rear of each tracker via a connecting link 6 that can swing vertically.

Then, the lift arm 9 of the hydraulic lifting device 8 provided in the traveling mission case 2 is connected to the intermediate portion of the connecting link 6, and by operating the hydraulic lifting device 8, the rotary tilling device L is moved to the aircraft body. It is designed to move up and down.

10 is the PTO taken out from the traveling transmission case 2.
The shaft is operatively connected to the rotary transmission case 12 of the rotary tiller L through a universal joint 11.

Reference numerals 13 and 13 indicate grounding wheels provided on both sides of the rear part of the rotary tilling device L, and this grounding wheel 13 is connected to the rotary tilling device 7.
By adjusting the telescopic stay 14 connected to the
The tilling depth of the rotary tilling device 1 can be set and adjusted by pressing a button when the rotary tiller 13 is held on the ground.

Next, the circuit of the automatic lifting mechanism provided in the above-mentioned ground work machine will be explained based on FIG. 2.

a set rotation speed detector 15 that sets the engine rotation speed by setting the accelerator of the engine 1, detects the accelerator set position, and gives the set rotation speed A as a signal value;
An actual rotation speed detector 16 is provided to detect the actual rotation speed B of the engine 1 as a signal value, and the detection results of both detectors 15 and 16 are inputted to a first subtractor 17 to calculate A-B and detect the engine. A load detection device 1-8 is configured to detect the load of the engine based on the deviation of the rotation speed.

Then, a set plowing depth position detector 19 detects the amount of expansion and contraction of the telescopic stay 14 and, based on this, detects the set plowing depth position C for the aircraft as a signal value, and detects the swing angle of the lift arm 9. A lifting position detector 20 is provided which detects the lifting position D of the rotary tiller with respect to the machine body as a signal value.

Then, the detection result of the set plowing depth position detector 19 and the signal of the set maximum plowing depth (CmaX) are input to the second subtractor 21 to detect Cm-ax-C. There is.

Then, the outputs of the set plowing depth position detector 19, the lifting position detector 20, and the second subtractor 21 are inputted to the addition/subtraction calculator 22, and collected so as to detect C-D+ (Cmax C). There is.

The load detection device 18 and the second subtractor 21
The output of A − B − is inputted to the third subtractor 23.
It is configured to detect (Cmax - C).

Then, the outputs of the addition/subtraction calculator 22 and the second multiplier 23 are inputted to the adder 24, and the correlation deviation value (A-B+C-
We are planning to obtain D).

An Up comparator 25 is connected to the output side of the adder 24. Dow
n comparators 26 are connected in parallel, and when the output from the adder 24 is positive, the Up comparators 25 to U
A signal is issued to the P valve 27 to raise the hydraulic lifting device DOWN, and when the output from the adder 24 is negative, the DOW
A signal is issued from the n comparator 26 to the Down valve 28, in order to lower the hydraulic lifting device 8.

Then, between the third subtracter 23 and the adder 24, an ON
, an OFF switch 29 is provided, and a constant deviation (200 rpm) between the output of the load detection device 1-8 and the OFF switch 29 is provided.
A comparator 30 is provided to compare the signal with a deviation signal corresponding to
It is designed to be F.

With this structure, during rotary work, if the load is less than a value corresponding to a reduction in engine speed of 20 O rpm, the input to the adder 24 is C-. D+ (Cmax-C), C-D+(
Cmax C)=Cmax-D.

That is, the input value C D+(Cm-a
x-C) becomes Cmax D, which apparently changes to the deviation (C-D) of the signals from the set plowing depth position detector 19 and lifting position detector 20, and becomes the set maximum plowing depth ('Cmax). In order to compare the position with the vertical position D of the rotary tiller 7, a comparison calculation is made between the signal (Cmax) and D, and the deviation value (
Cmax D) is input to the adder 24, and the load is 2 0
If the amount of decrease is smaller than the amount of decrease in the engine speed, only the output of the addition/subtraction calculator 22 is input to the adder 24.

At this time, since Cmax is a signal of the set maximum plowing depth according to Cmax-D, the signal from the adder 24 is negative and the lifting device fl is operated downward, and the rotary tilling device 7
is held on the ground by a grounding ring 13.

When the grounding wheel 13 sinks on soft ground and the load on the engine 1 decreases by 20 O rpm or more, the switch 29 is turned on and the adder 24
The system is designed to automatically raise and lower the rotary tiller 7 so as to prevent the engine 1 from suddenly stopping and to maintain the rotary tiller 7 within a substantially constant area by raising and lowering the rotary tiller L. It has been done.

When such a high load condition is avoided, the switch 29 is turned off again, and the tilling device 7 is held on the ground by the grounding wheel 13.

A second manual switch 31 is provided between the second subtracter 21 and the addition/subtraction operator 22, and when the second switch 31 is turned off at the start of work, the point 1 of C=D is When the working tillage device L is lowered and enters the tilling state, the second switch 31 is turned ON and used to start the above control.

[Brief explanation of drawings]

The drawings show an embodiment of a mobile ground working machine according to the present invention, with FIG. 1 being a side view showing the whole, and FIG. 2 being a block diagram showing an automatic lifting mechanism. 1...Engine, L...Ground work device, 13...Grounding wheel, 15...Setting rotation speed detector, 16... Actual rotation speed detector, 19...
... Setting plowing depth position detector, 20 ... Elevating position detector, A ... Setting rotation speed, B ......
Actual rotation speed, C... Setting plowing depth position, D...
・Elevating position.

Claims (1)

[Claims] 1 A set rotation speed detector 15 that sets the rotation speed of the engine 1 and detects the set rotation speed A, and an actual rotation speed B of the engine 1.
The rotation speed deviation (
A-B) detects the engine load and detects the set plowing depth position C of the ground working device L.
9 and a lifting position detector 20 that detects the lifting position D of the ground working device 7 to detect the positional deviation (C-'D), and balance by the correlation between the engine load and the positional deviation of the ground working device E. According to the relationship, an automatic lifting mechanism configured to automatically raise and lower the ground working device 2 to keep the plowing depth approximately constant is provided, and a grounding ring 13 is further provided to hold the ground working device 7 on the ground, so that the load of the engine 1 as described in @ is A mobile ground working machine characterized in that, when the ground working machine falls below a certain set value, the lifting holding function of the automatic lifting mechanism is canceled so that the ground working machine 1 is held on the ground by a grounding wheel 13.