JPS61274605A - 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 [Field of Industrial Application] The present invention relates to a working machine in which a ground working device such as a tilling rotary is configured to be able to roll freely and move up and down with respect to a traveling machine body such as a tractor.

[Conventional technology]

Conventionally, this type of work machine is equipped with a lifting cylinder at the rear of the tractor, a lift arm driven by the lifting cylinder, and a three-point link consisting of a top link and a pair of left and right lower links at the rear end of the tractor. Connect the ground work equipment via the mechanism, connect the lift arm and lower link with the left and right lift arms, and then
The ground working device can be driven up and down by the operation of the lifting cylinder, and one of the left and right lift arms is also configured to be a hydraulic cylinder, and the rolling operation of the working device is possible by adjusting the expansion and contraction of the hydraulic cylinder. there were.

[Problem that the invention seeks to solve]

As described above, in a configuration in which one side of the lift rod is also used as a hydraulic cylinder to perform rolling operation, the hydraulic cylinder is extended or contracted based on the detected inclination angle of the sensor that detects the inclination of the aircraft, so that the work equipment is level with the ground. (or set inclination) posture, as shown in Figures 6 (A) and (II).
As shown in +), when the machine body (1) tilts left and right around the longitudinal axis corresponding to the machine width center (P), the working device (4) is moved to a higher or lower position than in the horizontal position as the machine body tilts. It is set so that it moves in either direction (h) and rolls left and right by the expansion and contraction of the hydraulic cylinder (7) using the connecting point (Q) between the other lift rod (7) and the lower link as a fulcrum. , due to the discrepancy between the rolling fulcrums of the machine body and the work equipment, as shown in Figure 6 (rl),
The plowing depth of the working equipment changes from the dotted line position to the solid line position,
Along with rolling control, lifting control was also required.

Therefore, as the aircraft tilts, it becomes necessary to perform rolling control and then perform lift control, resulting in a two-stage motion of the working device, resulting in poor responsiveness.

An object of the present invention is to provide a working device with improved rolling action responsiveness by modifying the rolling action mechanism.

[Means for solving problems]

The configuration according to the present invention provides a ground work device for the traveling aircraft body,
A sensor is provided on the machine body or the working device, and is connected to enable rolling and lifting operations via a pair of left and right lifting cylinders that are equipped with stroke sensors and can operate independently. An inclination setting device is provided for setting the inclination posture of the device relative to the ground, and a plowing depth detector for detecting the plowing depth of the ground work device and a plowing depth setting device for setting the plowing depth amount are provided. Through a control device that sets a target amount of operation for each of the left and right lifting cylinders based on the detection result and the set position from the setting device, the ground work device is operated in rolling operation and simultaneously in lifting and lowering operation to achieve the tilted posture set by the setting device. It is structured as follows, and its functions and effects are as follows.

[For production]

■ As shown in Figure 3 (a) and (b), the work equipment is connected to the machine body via a pair of independently operable lifting cylinders, so the pair of cylinders can be connected to, for example, each lift rod. It can be installed in the position of The plowing depth of the working device does not change even when it is operated.

(2) During this rolling operation, both lifting and lowering cylinders need only be expanded and contracted in opposite directions at the same time, so the elasticity can be made shorter than in the conventional rolling operation using a single cylinder.

■ In addition, if rolling operation and lifting control related to changes in plowing depth overlap, set the target amount of operation for both lifting cylinders based on the detected values from both sensors and the deviation from both membrane regulators. It is operated until the detected value of the stroke sensor reaches the target amount, and rolling and elevation control can be performed at once.

〔Effect of the invention〕

As a result, the amount of cylinder expansion and contraction during rolling operation can be made shorter than that of conventional configurations, improving responsiveness, and control response that requires continuous lifting and lowering operations in conjunction with rolling operation, unlike conventional systems. It can suppress the disadvantages of poor performance and ensure ground work.

〔Example〕

As shown in Fig. 1, a tilling device, which is one of the working devices (4), is attached to the rear end of a tractor as a traveling machine (1), and is capable of swinging around an axis (P) in the longitudinal direction of the machine. bracket(
Extending portions (2) extending rearward from both lateral sides of (2)
A), (2A) is connected to be able to swing vertically around the horizontal axis (R), and a pair of left and right support brackets)
(5) , (5) and this support bracket) (5)
, (5) and the working device (4) are provided, and a lifting cylinder with a stroke sensor (6) is provided, and the tilling device (4) is connected to the machine body (1) so as to be capable of rolling operation and lifting operation.

In addition, the tillage device (4) has three automatic controls: position control that sets the level relative to the aircraft constant, automatic tillage depth control that maintains the level relative to the ground constant, automatic rolling control that maintains the left and right slope relative to the ground constant, and It is configured to be able to be controlled in a floating manner so that the vertical position is free, and this will be explained below.

Hand operated lever (9) linked to position setting device (8)
), and by swinging the operating lever (9), the setting range can be changed to position adjustment range (X), floating range (Y), and floating range (Y) with another mode changeover switch (not shown). The automatic plowing depth control range (2) is set to three operation ranges by the linked operation. In addition, the operation box is equipped with a tilling device 1 during automatic rolling control.
i! (4) A dial-type inclination setting device (10) for setting the ground posture, and a tilling device (4) during automatic tillage depth control.
Dial type plowing depth setting device (11) to set the ground depth of
This is provided. Further, the position setting device (8) is constituted by a potentiometer attached to the base end of the lever (9), and the tilling depth detector (12) of the tilling device (4) is configured by the tilling depth detector (12) of the tilling device (4) cover (16). It consists of a potentiometer that detects the amount of rocking. The level of the tillage device (4) relative to the aircraft is determined by the detection value 1 of the stroke sensors (6), (6) attached to the lifting cylinders (7), (7). Let it be the value obtained by calculating II.

Then, the setting signal voltage (
v8), stroke sensor (6), machine level detection signal (vl,) from (6), setting signal voltage (vll) from plowing depth setting device (11), detection from plowing depth detector (12) The signal voltages (V+Z) are each input to a voltage comparison type control device (13), and the output from this control device (13) is used to control the electromagnetic valves (14), (14) for the lifting cylinders (7), (7). The position control system and automatic plowing depth control system are electrically configured to operate the plowing depth control system. or,
A left/right inclination sensor (15) that detects the inclination of the tilling device (4) relative to the ground relative to the control device (13) is provided on the machine side, and this inclination sensor (work 5) and inclination setting device (10
), and a signal from a stroke sensor (6) is input.

From the above configuration, when the position setting device (8) is set to an arbitrary position within the operation range (X) by operating the operation lever (10), a setting signal from the position setting device (8) and the tilling device are output. The tilling device (4) is raised and lowered until the level detection signal for the aircraft (4) is balanced. In other words, a pair of lifting cylinders (7), (7)
A signal with the same direction and same amount of action is now given to the two. or,
When the position setting device (8) is set within the operating range (Y), the tilling device (4) is lowered until it can be lowered by its own weight, and it can freely operate up and down to follow the unevenness of the ground. There is. Furthermore, when the position setting device (8) is set within the operating range (Z), the setting signal from the tilling depth setting device (11) and the detection signal from the tilling depth detector (12) are balanced and the slope is adjusted. The elevating cylinder is operated until the setting signal from the setting device (10) and the detection signal from the inclination sensor (15) are balanced, and the tilling device (4) is simultaneously elevated and rolled. In other words, the lifting cylinders (7), (7) are given a calculated operation signal with the same amount of operation in the same direction, which corresponds to the lifting operation, and an operation signal with the same amount of operation in the opposite direction, which corresponds to rolling operation. , cylinders (7), (7) are operated only - times to set the tilling device (4) in the desired position.

As shown in FIG. 4, a guide rod (17) is provided upwardly at the tip of the tilling cover (16), and the upper end of the guide rod (17) is connected to the tiller (4) frame. This support frame (18) is attached to the extended support frame (18).
) is inserted through a through hole (18A) provided in the hole (18A). This through hole (18A) has a resin bushing (19
) is fitted and held to provide sliding resistance to the guide rod (17) which moves up and down as the cover (16) swings up and down, thereby suppressing the hunting phenomenon of the tilling cover (16).

[Another example]

■ As shown in Figure 5, the lifting cylinder (7), (
A lift rod (20) is provided at the position where the lift arm (7) is installed, and this lift rod (20) is connected to the lift arm (1) which can swing up and down around the horizontal axis, and the pair of left and right lift arms ( 21), (21) as the lifting cylinder (
7), (7), respectively, and the form of connection between the lifting cylinders (7), (7) and the tilling device (4) is not limited.

◎ Also, a microcomputer may be used as the control device (13). Calculate the detected value of the lifting cylinder (7),
Calculate the target operating amount of cylinder (7), (
7) may be operated simultaneously.

[Brief explanation of the drawing]

The drawings show an embodiment of the working machine according to the present invention, Fig. 1 is a perspective view showing the working device attached to the machine body, Fig. 2 is a control circuit diagram, and Fig. 3 C) and (U) are FIG. 4 is a rear view showing a rolling operation state, in which (a) shows a state in which the actuating device is tilted due to the aircraft body inclination, and (rl) shows a state in which the inclined working device is in a rolling operation along the ground; The figure is a longitudinal side view showing the support mechanism of the tillage cover.
Fig. 5 is a plan view showing another embodiment, and Fig. 6 ((), (
0) is a rear view showing a conventional rolling operation state;
FIG. 7 is a flowchart in which (a) shows a state in which the working device is tilted as the aircraft tilts, and (b) shows a state in which the tilted working device performs a rolling operation in a posture along the ground. (1)...... Traveling body, (4)... Ground work device, (6)... Stroke sensor, (7
)...Elevating cylinder, (10)...Incline setting device, (11)...Pilling depth setting device, (15)
...Inclination sensor, (12) ... Plowing depth detector, (13) ... Control device.

Claims (1)

[Claims] A ground work device (4) is provided to the traveling aircraft (1), and rolling and lifting operations are performed via a pair of left and right lifting cylinders (7), (7) that are equipped with a stroke sensor (6) and can be operated independently. A sensor (15) that can be connected to the machine body (1) or the working device (4) and detecting the tilted attitude of the working device (4) relative to the ground is provided on the machine body (1) or the working device (4).
an inclination setting device (10) for setting the inclination attitude relative to the ground;
Furthermore, a plowing depth detector (12) for detecting the plowing depth of the ground working device (4) and a plowing depth setting device (11) for setting the plowing depth amount are provided, thereby increasing the plowing depth of the sensor (15) and the detector (12). The ground work device (4) A working machine configured to perform a rolling operation and a lifting and lowering operation at the same time to achieve the tilted posture set by the setting devices (10) and (11).