JPS62198303A - Control structure of earth working apparatus - Google Patents
Control structure of earth working apparatusInfo
- Publication number
- JPS62198303A JPS62198303A JP3886486A JP3886486A JPS62198303A JP S62198303 A JPS62198303 A JP S62198303A JP 3886486 A JP3886486 A JP 3886486A JP 3886486 A JP3886486 A JP 3886486A JP S62198303 A JPS62198303 A JP S62198303A
- Authority
- JP
- Japan
- Prior art keywords
- ground
- ground work
- control structure
- control
- work device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005096 rolling process Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000000630 rising effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は走行車体に°対して躯動昇降自在、かつ、駆動
ローリング自在に対地作業装置を連結すると共に、対地
作業装置に備えた後カバーの揺動姿勢を所定姿勢に維持
するよう該対地作業装置を昇降する自動耕深制御機構と
、地面に対する対地作業装置のローリング姿勢を所定姿
勢に維持する自動ローリング制御機構とを備えた対地作
業装置の制御構造に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention connects a ground work device to a traveling vehicle body so that it can move up and down with respect to the vehicle body, and can drive and roll freely, and also connects a rear cover provided to the ground work device. A ground working device comprising: an automatic plowing depth control mechanism that raises and lowers the ground working device so as to maintain the rocking posture of the ground working device at a predetermined posture; and an automatic rolling control mechanism that maintains the rolling posture of the ground working device with respect to the ground at a predetermined posture. Regarding the control structure of.
従来、冒記構成の自動ローリング機構を備えた制御構造
としては、例えば実開昭５７−７４２０６号公報に示さ
れゐものがあり、該引例では一方のリフトロッド゛を油
圧で伸縮するよう駆動ローリング構造が構成されている
。Conventionally, as a control structure equipped with an automatic rolling mechanism having the above configuration, there is one shown, for example, in Japanese Utility Model Application Publication No. 57-74206, and in this reference, a drive rolling mechanism is used to extend and retract one lift rod by hydraulic pressure. structure is constructed.
一般に耕起作業では自動ローリング制御と同時に自動耕
深制御を行うことが多く、例えば走行車体の左右方向へ
の傾斜によって対地作業装置が所定のローリング姿勢か
ら外れてしまった場合には、前述のようにリフトロッド
を伸長めるｒは収縮させて対地作業装置か所定のローリ
ング姿勢に設定されるよう制御が行われると同時に、対
地作業装置の耕深が、後カバーからのフィードバック制
御によって設定深ざに維持される。Generally, in plowing work, automatic plowing depth control is often performed at the same time as automatic rolling control. Control is performed so that the lift rod is extended (r) is retracted and the ground working device is set to a predetermined rolling posture, and at the same time, the plowing depth of the ground working device is adjusted to the set depth by feedback control from the rear cover. will be maintained.
しかし、前記後カバーは、通常、対地作業装置の後部全
幅に亘って形成されるため、ｇｒＩ述のように走行車体
に左右傾斜を生じると、対地作業装置が所定のローリン
グ姿勢に復元される以！１１１に、傾斜した側の後カバ
ー〇側端部か対地によって押しＥけられ、耕深が浅くな
る場合がある。However, since the rear cover is usually formed over the entire width of the rear part of the ground work equipment, when the vehicle body tilts from side to side as described in GRI, the ground work equipment cannot be restored to its predetermined rolling attitude. ! At 111, the end of the rear cover on the sloping side may be pushed away by the ground, and the plowing depth may become shallow.
つまり、後カバーが一体的に揺動する構造であるため、
側端部が押しＥげられても全体が揺動する結果、耕深が
深い方向に変化していない場合でも、対地作業装置をＥ
昇制御することになっていたのである。In other words, since the rear cover is structured to swing integrally,
Even if the side edge is pushed E, the whole body swings, so even if the plowing depth has not changed to a deeper direction, the ground work equipment is
It was supposed to be controlled.
本発明の目的は合理的な改造によって、対地作業装置が
所定のローリング姿勢から大きく外れた場合でも、耕深
が浅くならない制御構造を得る点にある。An object of the present invention is to obtain, through rational modification, a control structure in which the plowing depth does not become shallow even when the ground working device deviates significantly from a predetermined rolling posture.
〔問題点を解決するための手段」
本発明の特徴は旨記楕成の制御構造において、対地作業
装置のローリング姿勢が所定姿勢から外れた場合に、対
地作業装置の駆動と昇を阻止する牽制手段を設けである
点にあり、その作用、及び効果は次の通シである。[Means for Solving the Problems] The feature of the present invention is that in the oval control structure, a check is provided to prevent the ground work device from driving and rising when the rolling posture of the ground work device deviates from a predetermined posture. There is a certain point in providing a means, and its operation and effect are as follows.
ｋ、記特徴を例えば！１図及び第２図に示すように構成
すると、自動ローリング制御と、自動耕深制御とが同時
に行われている状態でり７トロツド（７）を伸縮するた
めの第２ｔａｉ弁（１６１に対して制御装置（８）から
信号が発せられた場合には、２つの信号経路０η、θ力
からの信号が入力する零制手段翰によって第１電磁弁０
慟に対すると昇制御用の信号経路α樽が遮断されること
になる。k, for example! When configured as shown in Figures 1 and 2, automatic rolling control and automatic plowing depth control are being performed at the same time. When a signal is issued from the control device (8), the first electromagnetic valve 0 is controlled by the zero control means 翺 into which signals from the two signal paths 0η and θ forces are input.
When it comes to the water, the signal path α barrel for ascending control will be cut off.
従って、従来の制御構造に牽制手段を設けるという比較
釣部ＱＬ７）改造によって、対地作業装置の傾斜に伴う
後カバーのＥ方への揺動が生じても、耕深が浅くならな
い制御構造が得られた。Therefore, by modifying the comparative fishing section QL7) by providing a restraining means to the conventional control structure, a control structure that does not reduce the plowing depth even if the rear cover swings in the E direction due to the inclination of the ground work equipment can be obtained. It was done.
以下、本発明の実施例を図面に基づいてａｑする。 Hereinafter, embodiments of the present invention will be explained based on the drawings.
第２図に示すように、走行車体＋１１の後端に設けられ
た外部動力取出し軸（２）の軸芯（Ｐ）周りに回動自在
、かつ、左右向き軸芯（Ｑ）周りに揺動自在な２点リン
ク機Ｗｌｆ３＋を介して、走行車体＋１１にロークリ型
の対地作業装置（４）を連結すると共に、走行車体ｆｉ
＋の後部に設けられ九り７トシリンダ（５）で昇降する
左右一対のリフトアーム（６１、＋６１と前記対地作業
装置（４）とを左右一対のり７トロツド［７１、ｆ７＋
を介して連結して農用トラクタを構成する。As shown in Fig. 2, the external power take-off shaft (2) provided at the rear end of the traveling vehicle body +11 is rotatable around the axis (P) and swings around the left-right axis (Q). A rotary type ground work device (4) is connected to the traveling vehicle body +11 via a flexible two-point link machine Wlf3+, and the traveling vehicle body fi
A pair of left and right lift arms (61, +61 and the above-mentioned ground work device (4) are connected to a pair of left and right lift arms (61,
Agricultural tractors are constructed by connecting them via the
又、対地作業装＠（４７は、前記り７トシリンダ（６）
の作動によって前記軸芯（２）周りに揺動昇降し、又、
ＩＩｒＩ記一対のリフトアーム（７１、＋７１のうちの
一方のものの伸縮によって、ＩＩＪ記軸芯（Ｐ）周りに
ローリング可能に構成されている。Also, ground work equipment @ (47 is the above-mentioned 7 cylinder (6)
It swings up and down around the axis (2) by the operation of the
It is configured to be able to roll around the axis (P) marked IIJ by expanding and contracting one of the pair of lift arms (71, +71) marked IIrI.
更に、該対地作業装置（４）は、対地作業装置（４）の
後部に設けられた後カバー（４ａ）の揺動姿勢を所定姿
勢に維持する自動耕深制御機構を介して昇降制御され、
又、地面に対する対地作業装置（４）のローリング姿勢
を所定姿勢に維持する自動ローリング制御機構を介して
ローリング制御されるよう構成されている。Further, the ground working device (4) is controlled to rise and fall via an automatic plowing depth control mechanism that maintains the swinging posture of the rear cover (4a) provided at the rear of the ground working device (4) at a predetermined posture,
Further, the rolling control is performed via an automatic rolling control mechanism that maintains the rolling posture of the ground work device (4) with respect to the ground at a predetermined posture.
つまり、前記両制御機構は第１図に示すように、７つの
制御装置（８）が共用され、対地作業装置（４）の左右
傾斜量を設定する設定器（９１、ｌ１ｆｆ肥り７トロツ
ド（７）の伸縮量を検出するストロークセンサ（ｔｏＪ
、走行車体（１）の左右への傾斜量を検出する傾斜セン
サ（！１八へ地作業装置（４）の耕深を設定する設定器
α均、前記後カバー（４ａ）の揺動姿勢を検出するセン
サＯ：１、これらからの信号が入））する前記制御装置
（８）、該制御装置（８）からの信号で制御される第１
電磁弁（１４）及び第２電磁弁α６）、で成り、第１を
磁弁０４）は前記リフトシリンダ（５）への作動油の給
排を制御し、又、第２１！磁弁（１６１は、油圧によっ
て伸縮するよう構成されたＩＩＩＪ記リフトすンド（７
）への作動油の給排を制御する。In other words, as shown in FIG. 1, both of the control mechanisms share seven control devices (8), and a setting device (91, l1ff, 7, ) to detect the amount of expansion and contraction of the stroke sensor (toJ
, an inclination sensor (!18) that detects the amount of inclination of the traveling vehicle body (1) to the left and right; a setting device α that sets the plowing depth of the ground working device (4); Detecting sensor O: 1, the control device (8) into which signals are input), the first sensor controlled by the signal from the control device (8)
It consists of a solenoid valve (14) and a second solenoid valve α6). The magnetic valve (161 is a lift valve described in IIIJ (7) configured to expand and contract by hydraulic pressure.
) controls the supply and discharge of hydraulic oil.
尚、両膜定器（９）、θ′４＃−ｉ大々ダイヤル（９ａ
） 。In addition, both membrane gauge (9), θ'4#-i large dial (9a
).
（１２ａ）で操作され、又、傾斜センサ（１１）は重錘
（ｌｌａ）によって操作される。(12a), and the tilt sensor (11) is operated by a weight (lla).
又、第１図に示すように、と述の制御構造には対地作業
装＠（４）のローリング姿勢が所定姿勢から外れた場合
に、対地作業装置（４）のｍ動と昇を阻止する牽制手段
θＱが設けられている。In addition, as shown in Fig. 1, the control structure described above has a function that prevents the ground work device (4) from moving and rising when the rolling posture of the ground work device (4) deviates from a predetermined posture. A restraining means θQ is provided.
つまり、牽制手段（１（ｎは、ＮＯＲゲート（ｌｆｌａ
）とＡＮＤゲート（１６ｂ）とで成り、第２電磁弁（＋
６）を操作する信号が２つの信号経路Ｃｌ７） 、 ａ
ηのうちのいずれかを介して制御装置（８）から出力さ
れると、第１電磁弁θ４）をと外方向に操作する信号経
路０８）を遮断するよう構成されている。In other words, the checking means (1 (n is the NOR gate (lfla
) and an AND gate (16b), and the second solenoid valve (+
6) There are two signal paths Cl7), a
When outputted from the control device (8) via any one of η, the signal path 08) for operating the first solenoid valve θ4) in the outward direction is cut off.
そして、例えば走行車体（１）が大きく傾斜して対地作
業装置（４）が所定ローリング姿勢から外れた場合には
、対地作業装［＋４）の躯助上件が行われないようにな
っている。For example, if the traveling vehicle body (1) tilts significantly and the ground work device (4) deviates from the predetermined rolling posture, the ground work device [+4] will not be assisted. .
〔別実２１１１−例〕
本発明は上記実施例以外に、例えば制御装置をマイクロ
プロセッサで構成すると共に、該マイクロプロセッサに
セットするプログラムによって、前述の如きリフトアー
ムの上昇を阻止し、該制御装置と牽制手段とを兼用する
ように構成しても良い。[Separate Act 2111-Example] In addition to the embodiments described above, the present invention includes, for example, a control device configured with a microprocessor, and a program set in the microprocessor to prevent the lift arm from rising as described above. It may also be configured to serve as both a check means and a checking means.
図面は本発明に係る対地作業装置の１ｔｔｌＪ御溝造の
実施例を示し、第１図は該制御構造の構成を示すブロッ
ク回路図、第２図は農用トラクタ後部の斜視図である。
＋１）・・・・・・走行車体、（４）・・・・・・対地
作業装置、（４ａ）・・・・・・後カバー、Ｈ・・・・
・・牽制機構。
代理人 弁理士 北 村 修
第 １ 図
第２図The drawings show an embodiment of the ground working device according to the present invention, and FIG. 1 is a block circuit diagram showing the configuration of the control structure, and FIG. 2 is a perspective view of the rear part of the agricultural tractor. +1)...... Traveling vehicle body, (4)... Ground work device, (4a)... Rear cover, H...
・Check mechanism. Agent Patent Attorney Osamu Kitamura 1 Figure 2
Claims (1)
ーリング自在に対地作業装置（４）を連結すると共に、
対地作業装置（４）に備えた後カバー（４ａ）の駆動姿
勢を所定姿勢に維持するよう該対地作業装置（４）を昇
降する自動耕深制御機構と、地面に対する対地作業装置
（４）のローリング姿勢を所定姿勢に維持する自動ロー
リング制御機構とを備えた対地作業装置の制御構造であ
つて、対地作業装置（４）のローリング姿勢が所定姿勢
から外れた場合に、対地作業装置（４）の駆動上昇を阻
止する牽制手段（１６）を設けてある対地作業装置の制
御構造。A ground work device (4) is connected to the traveling vehicle body (1) so as to be able to move up and down freely and drive and roll.
An automatic plowing depth control mechanism that raises and lowers the ground working device (4) so as to maintain the driving posture of the rear cover (4a) provided in the ground working device (4) at a predetermined posture, and A control structure for a ground work device that is equipped with an automatic rolling control mechanism that maintains a rolling attitude at a predetermined attitude, wherein when the rolling attitude of the ground work device (4) deviates from the predetermined attitude, the control structure of the ground work device (4) A control structure for a ground work device, which is provided with a check means (16) for preventing the drive from rising.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3886486A JPS62198303A (en) | 1986-02-24 | 1986-02-24 | Control structure of earth working apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3886486A JPS62198303A (en) | 1986-02-24 | 1986-02-24 | Control structure of earth working apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62198303A true JPS62198303A (en) | 1987-09-02 |
Family
ID=12537068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3886486A Pending JPS62198303A (en) | 1986-02-24 | 1986-02-24 | Control structure of earth working apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62198303A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0433002A (en) * | 1990-05-24 | 1992-02-04 | Kobe Steel Ltd | Controller |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54146707A (en) * | 1978-05-08 | 1979-11-16 | Kubota Ltd | Soil treating machine with automatic controller |
| JPS6091904A (en) * | 1983-10-26 | 1985-05-23 | 三菱農機株式会社 | Automatic controller of posture of working machine to earth |
-
1986
- 1986-02-24 JP JP3886486A patent/JPS62198303A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54146707A (en) * | 1978-05-08 | 1979-11-16 | Kubota Ltd | Soil treating machine with automatic controller |
| JPS6091904A (en) * | 1983-10-26 | 1985-05-23 | 三菱農機株式会社 | Automatic controller of posture of working machine to earth |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0433002A (en) * | 1990-05-24 | 1992-02-04 | Kobe Steel Ltd | Controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3078993B2 (en) | Agriculture tractor ground work equipment lifting structure | |
| JPS62198303A (en) | Control structure of earth working apparatus | |
| DE102020212648A1 (en) | Electro-hydraulic implement control system and procedure | |
| JPS62198304A (en) | Control structure of earth working apparatus | |
| JPH0526897B2 (en) | ||
| JPS62272902A (en) | Plowing depth control method of agricultural working machine | |
| JPH0132492Y2 (en) | ||
| JP2824078B2 (en) | Backhoe | |
| JPS62248404A (en) | Automatic plowing depth controller | |
| JPS61135504A (en) | Lift arm operation structure of agricultural tractor | |
| JPH0513125Y2 (en) | ||
| JPS62239902A (en) | Operation structure for working apparatus of agricultural tractor | |
| JP2715520B2 (en) | Direction control method of combine | |
| JPS63296606A (en) | Automatic tilling depth control device of feed back type | |
| JPS62155015A (en) | Reaping controller of combine | |
| JPS63167704A (en) | Abnormal state treatment method of traction working machine | |
| JPS62257310A (en) | Remote operation type rice field working machine | |
| JP2726351B2 (en) | Travel control mechanism of reaper | |
| JPS63313501A (en) | Automatic device for controlling elevation | |
| JPH047643B2 (en) | ||
| JPS5849128B2 (en) | earthmoving vehicle | |
| JPH04112702A (en) | Tractor for agriculture | |
| JPH0746926B2 (en) | Working depth control device for work vehicle | |
| JPS63219789A (en) | Arm type working machine | |
| JPS61239803A (en) | Automatic controller of working machine slide apparatus |