JPS5914708A - Earth working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a ground work vehicle capable of maintaining a constant left and right inclination angle of a ground work device with respect to a horizontal plane regardless of the leftward inclination of the vehicle body. In order to maintain the left and right end inclination angle with respect to the horizontal plane within the set range, the left and right inclination angle 'y- with respect to the horizontal ifi of the working device is determined by the information of the inclination detection sensor that detects the left and right inclination angle of the vehicle body with respect to the horizontal plane. The present invention also relates to a control mechanism that automatically operates a drive mechanism that performs a rolling operation of a ground work device against a vehicle body based on information from a setting device that sets a comparison value therefor.

For example, when performing slope construction work while reciprocating such ground work along the isometric line of the slope,
Change the direction of travel of the vehicle to 180. Every time I'i is changed, it is necessary to correct the comparison end of the setting device (detection pitcher 1-J) of the inclination detection sensor so that the direction of the left and right inclination force with respect to the horizontal surface of the ground work device is reversed. The operation becomes troublesome and troublesome.

For this reason, the control mechanism is configured to reverse the direction of the horizontal tilting force of the ground work device every time the tilting direction of the vehicle body with respect to the horizontal plane is reversed, based on information from a sensor that detects the direction of the tilting force of the vehicle body with respect to the horizontal plane. By providing a mechanism that automatically corrects the detected value of the tilt detection sensor or the comparison value of the setting device, it is easy to use! @1 A method for omitting the correction operation by IVC has also been proposed, but this method r
As a result, there is a risk that the vehicle body may unexpectedly become tilted in the opposite direction to the horizontal surface due to the unevenness of the slope. There is a problem in that the direction of inclination of the sashiba device with respect to the horizontal plane is unnecessarily reversed. This problem becomes more noticeable when working on gently sloping ground.

The present invention has been made in view of the above-mentioned circumstances, and its object is to automatically switch the direction of the tilting force of the ground working device with respect to the horizontal plane to the opposite direction after the completion of the operation of the -stroke. be.

Kinoe EiA, in the above-mentioned ground work east, IF 11
1j The control mechanism determines whether or not the steering device is in a turning state exceeding the set range based on information from a steering state detection device that detects whether or not the steering device is in a turning state exceeding the set range with respect to the straight-ahead state. A mechanism is provided for correcting the detected value of the inclination detection sensor or the comparison value of the setting device so as to reverse the direction of the left and right inclination force with respect to the plane of the ground-to-ground work device every time the VC is operated. It is characterized by

In other words, Nanano focuses on the fact that the direction of movement of the car body does not change significantly during the - process, and in order to make effective use of this, move on to the next process after the - process is completed.
Each time the steering device is operated to a turning state that exceeds a set range, the left/right tilt direction of the ground work device with respect to the horizontal plane is automatically switched to the opposite direction. Since the direction of inclination of the work equipment with respect to the horizontal plane is no longer reversed, the direction of inclination of the ground work equipment with respect to the horizontal plane can be appropriately switched in the opposite direction after the completion of the -stroke operation. As a result, we have achieved a ground work vehicle that can be used even better.

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

As shown in FIG. 1, a pair of left and right front steering wheels fil,
ill, and a pair of left and right rear wheels (21, (21), and a left 7
A rotary tiller (6), which is an example of a ground work device, is interlocked and connected to the rotary tiller (6), which is an example of a ground work device, through a three-point link device consisting of Goroa links +41, +41 and an upper top link (5), and which is capable of freely moving up and down and rolling. ) left and right lift arms f81 interlocked,
'81 and the left and right lower links +41, +41
One of the two is interlocked via the lift rod (9), and the third toe arm (8) and the lower link of the capacity (
4) and liftrond cylinder for rolling operation (1
The cultivating device (6) is interlocked and connected through the .

Inclination detection that detects the left TFI inclination angle of the tilling device (6) with respect to the horizontal plane by the left and right inclination of a float floating on the liquid surface, and outputs the detection result as a voltage end that increases as the tilling device (6) moves upward to the right. sensor tll]
is attached to the upper part of the tilling device (6), and a setting device (121) is provided to set the comparison value for the detection end of the sensor fllJ as the voltage end.

Then, a discrimination circuit t131 compares and discriminates the voltage signal (S) from the sensor ON and the voltage signal from the setting device +121 with CD, and the discrimination circuit [based on the discrimination result of 131, the lift rond cylinder 00)] An operating circuit (15) for operating the control valve (14) is provided,
Therefore, a control mechanism is provided in 1-16 to automatically extend and retract the lift rod cylinder 11, ++ [l], so as to maintain the horizontal inclination angle of the gr+g12 cultivating device (6) with respect to the horizontal plane within the set range. It is.

More specifically, the operation circuit (15) includes a circuit ('15A) that continuously shortens the cylinder (5) and rotates the tilling device (6) to the left at high speed; Activate it and rotate the tilling device +61 to the left at low speed [it! 5 (15a), a circuit for intermittently extending the cylinder (5) to rotate the tilling device (6) clockwise at low speed (
15b), and the cylinder t51 is 1 ambiguous (C)
Circuit (1) that rotates the tiller (6) to the right at high speed by
5B), and ``[1A separate circuit 1311
-1, two fixed signals (VI, −
s≧Vl) (7) When srr low m left rotation times Wx (1
5a) t made mJJ Sasse, [VI-)S-T≦vl
], the low speed clockwise rotation tU (15b) is activated, and when [5-T≧■L], the high speed rotation circuit (15B) is activated, and furthermore, [/) IS-Tj ]
The configuration is such that the operation of the operating circuit (151) is stopped at the time of .

As shown in FIG.
A pair of limit switches [171, +Iη] detect whether the stelling handle (1G), which is used to change the direction of the steering wheel, is in a turning state within a set range with respect to a straight-ahead state.
is installed so that it can be pressed and swept by the focus unarm, and as shown in Fig. A limit switch (j9) for detecting whether or not the folding rμ is provided is provided in a state where it is suppressed by the lift arm (8), and
Each time the handle (161) is operated to a turning state beyond the set range and the tiller (6) is raised above the set height, the tiller (6) is rotated with respect to the horizontal plane. The setting device (mechanism for automatically correcting the comparison value of 121!') JJl is provided so as to reverse the diagonal direction of the left and right ends.

Specifically, as shown in FIG. 2, when performing slope preparation work while reciprocating along the equistriped lines of a slope, if the direction of movement of the vehicle body is changed by 180 degrees, the horizontal surface of the tillage device 131 This allows the direction of the tilting force to be automatically reversed.

The automatic correction mechanism +1+ is configured as shown in FIGS. 8 and 4.
As shown in the figure, a normally open and normally closed switch (21a) is used to switch the direction of current flow to the volume (12A) IK that constitutes the setting device rI21.

(2N)), and those switches (21
a).

7 lips 70 for opening and closing (21b) in a contradictory manner
Connect the knob circuit to [, 9 Steering detection switch (
The switching operation is performed by the AND circuit Q31 which receives the signal of 19).

In the figure, goods) indicate a state in which the control mechanism is changed 1 while operating the automatic correction mechanism 1 (j), a state in which the control mechanism is operated without operating the automatic correction mechanism (20), and a state in which the control mechanism is operated without operating the automatic correction mechanism (20). This is a working state selection switch that switches the operation of '(' to the state of stopping and shaking.

In carrying out the present invention, various ground working devices such as graders can be used in place of the rotary tiller (6).

Also, around 1, a tilt detection sensor (11) is attached to the JF body to indirectly detect the left and right tilt angle of the ground work device 61 with respect to the horizontal plane as the left and right tilt angle of the vehicle body with respect to the horizontal plane. Ground work equipment (according to /ζ amount)
6) may be implemented by configuring a control mechanism that performs a rolling operation.

In addition, as for the artesian m1 municipal organization lη, the detection of the Junkai 1 detection sensor C11)! In order to correct for
In the case where the ground work device (6) is not raised even further, it may be configured to automatically correct based only on steering information, regardless of the height of the ground work device (6).

In addition, as a steering device, rear wheels +2], +2
Various types of devices can be applied, such as one in which the direction of the device is changed.

[Brief explanation of the drawing]

Figure 1 is a side view of the riding cultivator, Figure 2 is a rear view showing working conditions on sloped land, Figure 3 is a block diagram showing the configuration of the control mechanism, Figure 4 is an electrical circuit diagram, and Figure 5 is a diagram showing the configuration of the control mechanism. The figure is a side view showing the mounting portion of the steering handle. (6)...Ground work device, 0...Rolling operation drive mechanism, fil)...Inclination detection sensor, (121...Setting device, ( 1η...
...Steering condition detection device, (1gl...
・Height detection device, ■・・・Automatic correction mechanism.

Claims (1)

[Scope of Claims] ■ The ground work device (6) is configured such that the horizontal inclination angle of the ground work device (6) with respect to the horizontal plane is maintained within a set range.
) with respect to the horizontal plane, the ground work device (61 A ground work vehicle is equipped with a control mechanism that automatically operates a drive mechanism (1 (g)) that performs rolling operations against the vehicle body, and the control mechanism is equipped with a steering device that is installed in a turning state that exceeds a set range with respect to a straight-ahead state. Based on the information of the steering state detection device tl?l that detects whether or not the steering device is present, each time the steering device is operated to a turning state exceeding the set range, the horizontal tilt direction of the ground work device (6) with respect to the horizontal plane is determined. A mechanism (
A ground work vehicle characterized by being provided with η. ■ The steering condition detection device (
171 and information from a height detection device (9) that detects whether or not the ground work device (6) is raised above the set height relative to the vehicle body. is operated to a turning state exceeding the set range, and each time the ground work device (6) is raised above the set height, the horizontal direction of inclination of the ground work device (6) with respect to the horizontal plane is reversed. The ground work vehicle according to claim 0, further comprising a mechanism for automatically correcting the detected value of the inclination detection sensor (1υ) or the comparison value of the setter 112J.