JPS59213305A - Working machine controller of agricultural tractor - 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 work machine control device for a large agricultural tractor among agricultural tractors.

Large agricultural tractors pull plows and other equipment during work, so draft control is necessary.
Also, position control is required to perform normal work.

There are two levers for the operator to operate and set, a position setting lever and a draft setting lever, on the right side of the extension.

When the position setting lever was rotated and fixed, there was a feed pack from the riff arm to reach the set value, and the control valve returned to neutral at the set angle.

On the other hand, the draft setting lever only sets the sensitivity of the draft control, and the draft setting lever cannot raise or lower the working machine to the extent necessary when rotating at the end of the Ifll field.

To raise the working equipment at the edge of the field, the draft setting lever remained unchanged, and the position setting lever was operated to raise and lower the working equipment significantly. This is because the feedback during draft control is only the rotation due to the traction force of the top link, so even if the work equipment can be raised using the draft setting lever, the feedback will not return the control valve to neutral at the raised position. If this is not possible, and the relief valve is left without blowing, too much load will be placed on the hydraulic system, causing problems such as an increase in the temperature of the hydraulic oil.

However, it is difficult to operate the position setting lever and the draft setting lever separately during draft control, and it has been desired to be able to raise and lower the working machine at the edge of the field using only the draft control setting lever.

In order to satisfy these needs, the present invention is constructed so that the draft control bar does not move back and forth with the rotation angle of the lift arm above a certain angle. By doing this, when the work equipment is placed flat on the ground, position control and draft control will not be mixed at low locations such as during draft control, and the draft control and position control will be performed separately. However, when the angle is exceeded, the draft control feedback system changes to the position control feedback system, and both the position control bar and the draft control bar move in the same way.

As a result of the above configuration, it is possible to perform draft control during work by operating only the draft setting lever, and to raise and lower the working machine by position control when moving around the edge of the field. .

The purpose of the present invention is as described above, and the present invention will be described in detail based on the configuration of the embodiment shown in the attached drawings.

FIG. 1 is a right side view of the hydraulic system of the present invention. Figure 2 is also a left side view. FIG. 3 is a front sectional view of the hydraulic system. FIG. 4 is a front sectional view of a portion of the control bar. FIG. 5 is a side view of the position feedback shaft and ball portion, which are the main parts of the present invention. FIG. 6 is a rear sectional view of the lift arm shaft.

A hydraulic case (1) is placed and fixed on the rear axle case or transmission case of an agricultural tractor. A draft spring case (2) is placed with the upper surface of the hydraulic case (1) as a processing surface. A cylinder head (4) is pivotally supported at the front of the hydraulic case (1), and a top link hitch (3) is pivotally supported at the rear.

The center part of the top link hitch (3) is supported by a pivot shaft (10), and the hole (3a) on the lower side of the pivot shaft (lO) (
3a) Pivot the top link.

The tractive force of a bra, rotary tiller, etc. that is pivotally supported by the three-point link type work equipment mounting device is applied to the top link hitch (3) via the top link. In the case of a positive draft in the direction of pulling the working machine rearward, the lower side of the top link hitch (3) is pushed, the upper side is pulled, and the spring guide (7) is pulled.

Conversely, when plowing shallowly with a large working machine suspended, a negative draft that pulls the top link acts, pushing the spring guide (7) forward.

The draft spring case (2) contains a draft spring that buffers the draft force and converts it into a small movement, and buffers the movement of the spring guide (7). The spring guide (7) also serves as a draft feedback link, and includes the arm a3), arm tube (13a), pivot shaft circle, link 05), and pivot shaft 06 shown in the partial plan view of Fig. 2. ), the arm (
18) rotate back and forth.

Draft feedback is then provided to the triple axis portion around the pivot axis, which is the essential part of the present invention.

Also, position feedback is performed on the next yarn path.

First, the arm oD is fixed to the inside of the lift arm (5L), and the rotation of the arm (11) is linked. 4 to the arm (19). The arm t19) is fixed to the pivot shaft (2ω), and provides position feedback to the triple shaft structure, which is the essential part of the present invention.

Further, the position feedback system is fed into the hydraulic case (1) from the arm (22) via the link (closed), the arm +23) and the shaft (7I).

In addition to the feedback system, a position setting lever (6o) and a draft setting lever (61) are arranged on the right side of the hydraulic case (1), from which set values are given based on the operator's intention.

Control par +74) +75+ in Figure 4 calculates the addition and subtraction of the feedback value and set value and moves the control valve row from "up" to "neutral" and "down".

In Figures 1 and 2, (34) is the draft stopper (7) lever, +4"o is the auxiliary control valve (
6) Control pulp (V) in the hydraulic case (1)
The piping that connects the (Kasumi Eel) is the operating lever for the auxiliary control pulp (6).

The present invention will be explained in detail with reference to FIGS. 3, 4, and 5.

In the conventional draft control device, the draft setting lever (61) only sets the draft sensitivity, and it is not possible to raise the lift arm significantly when moving around the edge of the field.

This is because only the rotation of the top link hitch (3) is transmitted to the draft control bar (75).
i) Since the large upward rotation of the tow arm is not fed back to the draft control bar (75), even though the control valve (V) can be moved in the direction of raising the work equipment using the draft setting lever, the lift When the arm reaches its full height, close the control valve (V).
This is because the pressure cannot be returned to "neutral" and the relief pulp continues to be spouted.

In the present invention, the lift arm ( 5) exits the draft control area, the draft feedback arm (6'7) for draft control and the position feedback shaft (2)
0) are one weight, and the rise of the lift arm (5) is fed back to the draft control bar L75).

Then, the lift arm is lowered, and from the angle where the ball (65) and the insertion hole (20a) (64b) match, the bottom is again as before, integrating the draft feedback arm (@ and the ball locking body (64a)). It restores it.

By configuring this way, the draft setting lever (
By operating 61), the lift arm can be rotated upward in a wide range when moving around the edge of the field.

This is the only part where draft control becomes positional control.

Let me explain more specifically.

The draft force of the top link hitch (3) is transmitted via the feedback arm u8) and the outer cylinder (64) in Fig. 3.
It is transmitted to the ball locking body (64a).

A ball holder is fitted into the hole of the ball holding cylinder ((G)) which is loosely fitted around the outer periphery of the position feedback axis, and this ball 1 (T) is inserted into the fitting hole (64b) of the ball locking body (64a). Then, it moves to the insertion hole (20a) of the position feedback shaft surface). Ball (65)
The member on the side into which the ball is inserted and the ball holding cylinder move as one, and the ball (6■ is the outer ball locking body (64)
When it is integrated with the inner position feedback axis, it becomes a draft control system, and when it is integrated with the inner position feedback axis, it becomes a position feedback system.

That is, when the draft setting lever (611) is rotated in the upward direction, the lift arm (5) rises and the position feedback shaft +20 in Fig. 5 is inserted into the insertion hole (12o'a).
It rotates approximately 80 degrees from the position of the insertion hole (20a) to the position of the insertion hole (20a).

The position of the insertion hole (20a) in Fig. 5 is
) indicates that the vehicle is about to cross the road. When it rotates further and the low entry hole (20a) comes to the inside of the ball (65), the ball (6 is the insertion hole (6) of the ball locking body (64a)
41)) It doesn't matter which side of the insertion hole (20a) of the position feedback shaft +20+,
With this configuration, the "lower part" of the control valve (V)
The biasing spring in the direction pushes the draft control bar (75) from the contact pin (75), which pushes the ball joint (75)
3) The arm (69) constantly applies a biasing force to the draft feedback arm (67) in the direction of arrow (A), and the arm (67) starts to rotate, so the ball (65) is pushed by this and tries to move. It goes into the insertion hole (2Oa) of the moving position foot Basok arm (〇).

From the insertion hole (64b) of this ball (65) (20a)
By moving to , the draft control system's draft foot, hack arm, pupil position feedback system's position feedback axis (1.20) rotates, and as the lift arm rises, pin +68+, arm LIi9), ball join) (73) Via
Retract the draft control bar and raise the draft setting lever (61).
to return it to "neutral" status.

To lower the draft setting lever (61), move the draft setting lever (6I) back and lower the draft control bar (75) backward from the contact pin (58), then the control valve (V) is in the "lower" position, and the lift arm (5) is lowered.

Then, the ball holding cylinder t66) is integrated with the position feedback axis +20+ via the ball (65).
, rotate in the direction opposite to the arrow (A), and push the draft control bar +75) forward in the "up" direction. This causes the draft control bar (75) to return the control valve (V) to "neutral". Ball on the way (6
5) is the insertion hole (64b) of the ball locking body (64a)
If it matches, the arm (67) is biased in the direction (A) by the aforementioned biasing spring, so a force acts to force the ball (65) into the insertion hole (64b) and stop it. I end up doing it.

At this point, if the center part of the draft control bar (75) has not pushed the abutment pin (58) to the "neutral" position, the lift arm (5) continues to lower, and the position arm C70) is connected to the position feedback system. Rotate the link and adjust the position control.
74), it is returned to "neutral".

Draft foot arm (6) in Figure 5
7: The rotation width during draft control is (a + b) degrees, and within the range of angle (1)), the force in the compressive direction is applied within the range of positive draft control. be.

The range of angle (a) is the range of negative draft control in which a force in the pulling direction is applied to the top link.

Position feed pack axis T201 horizontal arm (@
bs The range of rotation is this angle (a+b).
a) ([Rotate outward of 11, draft control) < - +751 back to the "City" position.

Other draft controls and position controls are the same as before.

Feed 7 of the draft control (well, pin (68) from the draft feed arm (67)
is transmitted to the arm (69) through the firstborn, and the hole (69
The horizontally installed draft control bar (75) is rotated back and forth from the ball joint (73) in a). On the other hand, the draft setting lever (61) is used by the operator to set the draft amount and to raise and lower the draft for turning around the field edge.
8), from the f-me (81), the ball joint +77+ transmits the draft control signal to the right end of the +75+, and the draft control value becomes smaller than or equal to the line. In addition, position control feedback is provided by the lift arm (
5) to the inner arm (arm 19 via the beam link U of 11), and the position feedback axis t20
By rotating the +, it is possible to cross the draft control, and from the arm C22), the pure position control arm C70) is rotated via the link (21) and the arm t23). Move the position control par c back and forth from ball joint C17J of arm (70).

On the other hand, when the position setting lever +60) is rotated by the operator, one end of the cylinder shaft (79), arm (80), and joint (76) is moved back and forth.

Control bar (75) ('I4J is held by ball joints (73) +72) at both ends (77) (76+, and is configured so that it cannot fall through this part. (If the length changes,
Joint part on ball joint (73) (72) side (
75a) It is absorbed by the elastic part provided between (74, a). And two controls/'ha (74)
The small diameter part in the center of (75) is the control valve (V)
The contact pin (58) is in contact with the contact pin (58).

Figure 6 shows the lift arm shaft (28+) of the lift arm (5).
A cross-sectional view of the is shown.

The lift arm (28) is the lift arm (5LX5) at both ends.
The insertion part of R) is a spline 1 with the same diameter (d),
Cut section (n) and (
m).

Metal (87), Seal (85R), Metal (86R)
A lift arm with a spacer (JO) and arm reflex fitted into the hole fitted with the ! I! Insert 1II (28).

There is also a metal (86) and an oil seal (86) on the left bearing.
5L), the spacer (84) is fitted, and the lift arm (sL) (sR
) and tighten it. Arm 01) is fixed inside the lift arm (5L).

t811 (83) t88) is a spacer, (8 is an oil seal.

As described above (the present invention is a work machine control device that is equipped with a position control device and a draft control device and is capable of controlling both, IJ 7) 7-A position feedback system leading to a position control bar; A draft feedback system link from the top link hitch to the draft control bar is placed in parallel, and the draft control bar is moved by the rotation of the lift arm when the lift arm's rising angle is higher than the draft control area. This means that the control bar angle can be fed back, and the draft setting lever can be used to move the work machine up and down when it goes around the edge of the field.

In addition, the ball holding cylinder to which the position feedback shaft and the draft feedback arm are fixed, and the ball locking body that rotates from the top link hitch have a triple axis structure from the inside, so that the balls in the ball holding cylinder are attached to the position feedback shaft. It is alternatively fitted into the fitting hole and the fitting hole of the ball locking body, and in the fitted state, both parts are integrated, and the draft control system can be operated alternatively between the draft control system and the position control system. By simply providing a ball and a fitting hole in a conventional draft control device, it is possible to easily raise the working machine significantly when moving around the edge of the field using the draft foot arm without having to blow out the relief valve. It is now possible to do this.

[Brief explanation of the drawing]

FIG. 1 is a right side view of the hydraulic system of the present invention. Figure 2 is the same diagram on the left. FIG. 3 is a front sectional view of the hydraulic system. FIG. 4 is a front sectional view of a portion of the control bar. Figure 5 shows position feedback, which is the main part of the present invention.
! ll] and a side view of the ball part. FIG. 6 is a rear sectional view of the lift arm shaft. (3)...Top link hitch (5)...Lift arm (20)...Position feedback axis (
64a)...Ball locking body (64b)...Fitting
Entrance hole (65)...Ball (66)...
・Ball holding cylinder (67)...Draft feedback arm (74)...Hosition control bar +7
5)...Traft control bar applicant Yanmar Diesel Co., Ltd. agent Patent attorney Toshikazu Yano

Claims (2)

[Claims] (1) In a work equipment control device that is equipped with a position control device and a draft control device and can control both, there is a position feedback system from the lift arm rotation control bar to the top link hitch to the draft control bar. Agricultural equipment characterized by having a link for a draft feedback system juxtaposed, and configured to move the draft control bar by rotation of the lift arm when the lifting angle of the lift arm is higher than the draft control range. Tractor work equipment control device. (2) The position feedback shaft, the ball holding cylinder to which the draft feedback arm is fixed, and the ball engaging body rotated by the top link hitch have a triple axis structure, and the balls in the ball holding cylinder fit into the insertion holes of the position feedback shaft. and the insertion hole of the ball-related body, and in the fitted state, both members are integrated, and the draft control bar is configured to be alternatively operated by the draft control system and the position control system. A working machine control device for an agricultural tractor according to claim 1, characterized in that: