JPS6117441B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention allows the plowing depth of the ground working device attached to the tractor to be set to a constant depth based on the comparison result between the set value by the depth setting device and the actual depth detected by the detector. Regarding ground work vehicles equipped with a position control mechanism that controls the position of the ground work vehicle, work efficiency can be improved by correcting the rolling of the ground attitude of the work equipment in the left and right directions of the machine as the machine tilts left and right due to sinking etc. It is an object of the present invention to make it possible to solve the driving problems caused by this during cornering.

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

Wheels 1, 1 are mounted on the front and rear, and a control section 2 is mounted on the shaft.
A rotary tiller 4, which is an example of a ground work device, is connected to the rear of the tractor 3, which is equipped with an engine E at the front so as to be driven by the power from the engine E. The work vehicle is configured to perform soil plowing work as it travels.

The tilling device 4 is connected to the tractor 3 via a pair of left and right lower links 5, 5 and a top link 6, and the lower links 5, 5 and lift arms 7, 7 are connected via connecting rods 8, 8. They are connected to each other, and the lift arms 7, 7 can be vertically swung by the operation of the lift cylinder 9, raising and lowering the tilling device 4, making it possible to change the plowing depth, and changing the working posture on the ground and moving the tilling device 4 away from the ground. It is configured to switch to a non-working position.

The operating section 2 is provided with a position setting device 10 for setting the plowing depth, and the lift arm 7,
A detector 11 for reading the singing angle with respect to the fuselage by voltage change is installed at the pivot point of 7, and as shown in FIG.
The control valve V for the lift cylinder 9 is automatically operated based on the comparison result, and the tilling depth of the tilling device 4 is set to a position. A tillage depth control mechanism (position control mechanism) 13 to maintain the plowing depth within the range set by the machine 10.
has been configured. In the figure, 9a indicates an operating tool for manually operating the control valve V for the lift cylinder 9.

As shown in FIG. 3, one of the connecting rods 8, 8 is configured to be extendable and retractable via a hydraulic cylinder 14, so that even if the tractor 3 is tilted to the left or right with respect to the ground, The structure is such that the posture of the tillage device 4 relative to the ground can be corrected by expanding and contracting the cylinder 14, and can be maintained substantially constant.

A weight 16 is provided on the upper part of the rotary cover 15 of the tilling device 4 so as to be swingable around the axis P in the longitudinal direction of the machine, and limit switches L, L are provided on the left and right sides of the weight 16, and the limit switches L, L and the cylinder A control valve V for 14 is linked via a command circuit 17,
As the tractor 3 tilts in the left-right direction, the weight 16 acts on either of the limit switches L, L, thereby expanding and contracting the cylinder 14, and the tilling device 4 is removed due to the tilt of the tractor 3. A control mechanism (rolling control mechanism) 18 is configured to regulate the rolling of the vehicle and automatically correct the posture.

The signal values of the position setter 10 and the detector 11 are configured to increase as the tilling device 4 is lowered, and as shown in FIG. At the same time,
The signal from the adder 19 and the signal from the setting device 20 that sets a signal value that can be determined to indicate that the tilling device 4 is in a floating state above the ground are transmitted to the position control mechanism 13.
The control circuit is configured to be inputted to a comparator 21 as a rolling lock circuit 21 which cuts off the control circuit of the plowing device 4, and the command circuit 17 is configured to be opened and closed based on the comparison result, so that the tilling device 4 is in a floating position above the ground. A safety mechanism 22 is configured to detect a certain event and automatically switch the control mechanism 18 to a non-operating state during a turning operation to raise the tilling device 4.

The safety mechanism 22 only needs to be able to operate based on detection during a turning operation; for example, it is configured to detect the amount of rotational operation of the operating handle 23, and the safety mechanism 22 is configured to detect the amount of rotational operation of the steering wheel 23, and activate the command circuit based on the rotational operation exceeding a set value. Various structural modifications are possible, such as configuring 17 to open and close.

In summary, the ground work vehicle according to the present invention is provided with a rolling control mechanism that controls the ground work device to a horizontal position with respect to the ground as the body of the tractor tilts from side to side. A ground surfacing setting device is provided for outputting a signal for determining that the ground working device is levitated above the ground; Based on the comparison results with the height,
The present invention is characterized in that a rolling lock circuit is provided which disconnects the control circuit of the control mechanism of the rolling control mechanism when it is determined that the ground work device is in a floating state above the ground.

In other words, in the ground work state, the control mechanism 18 controls the rolling of the working device 4 regardless of the inclination of the tractor 3 in the left-right direction, and maintains the ground attitude of the machine in the left-right direction almost constant. As a result, the plowing work can be performed satisfactorily even at a substantially uniform plowing depth. Moreover, when turning, the control mechanism 18 Since the control mechanism 18 is switched to a non-operating state, for example, a member that detects the rolling state, such as a weight, is swung as the control mechanism 18 turns.
This causes the attitude of the working device 4 to be frequently corrected, and as a result, the working device 4 is
The robot was able to avoid swinging from side to side, which would make the center of gravity of the aircraft unstable, and was able to efficiently perform stable turns without causing the robot to fall, regardless of the vibrations of the detector components.

[Brief explanation of the drawing]

The drawings show an embodiment of the ground work vehicle according to the present invention, in which Fig. 1 is an overall side view, Fig. 2 is a block diagram showing a plowing depth control mechanism and a control mechanism for rolling, and Fig. 3 is a plowing depth control mechanism and a rolling control mechanism. FIG. 3 is a perspective view of main parts shown together with a rolling control mechanism. 3...tractor, 4...work equipment, 10...
Depth setter, 11...Detector, 13...Position control mechanism, 18...Rolling control mechanism, 20
...Ground levitation setting device, 21...Rolling lock circuit.

Claims (1)

[Claims] 1 Based on the comparison result between the set value by the depth setter 10 and the actual depth detector value by the detector 11,
In a ground work vehicle equipped with a position control mechanism 13 that controls the plowing depth of a ground work device 4 attached to a tractor 3 to a constant depth, the ground work device 4 is moved to a horizontal position relative to the ground as the body of the tractor 3 tilts from side to side. a ground levitation setting device 20 that outputs a signal for determining that the ground working device 4 is levitated above the ground, separately from the depth setting device 10 of the position control mechanism 13; Further, based on the result of comparison between the signal from the ground levitation setting device 20 and the height above the ground of the ground working device 4 by the depth setting device 10 and the detector 11, the ground working device 4 is set in the ground floating state. 1. A ground work vehicle characterized in that a rolling lock circuit 21 is provided which cuts off the control circuit of the rolling control mechanism 18 when it is determined that