JPS6232882B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a position control device for a work machine, which detects the boundary between treated land and untreated land and swings a three-point link mechanism left and right when performing various tasks with the work machine. This allows the work equipment to align with the boundary.

For example, when performing rotary tillage in a field using a rotary device, plowing along the boundary between cultivated and uncultivated land will prevent losses due to residual plowing and overlapping, and the work can be done most efficiently. be. However, in the past, there was no device that could control the lateral position of the rotary device along the boundary, so it had to rely solely on the driving skills of the driver.
The drawback was that it required a high level of skill to operate.

The present invention solves these conventional problems, and is characterized by the fact that the work implement 7 is attached to the tractor body 1 via the three-point linkage mechanism 8. Hydraulic cylinder 17 for swinging the three-point link mechanism 8 left and right
A detection rod 23 detects the boundary 26 between the treated land 24 and the untreated land 25, and in conjunction with the detection operation of this detection rod 23, the hydraulic cylinder 17 is extended and retracted so that the working machine 7 follows the boundary 26. A control valve 30 for controlling the cylinder body 18 of the hydraulic cylinder 17 is provided.
The piston rod 1 of the hydraulic cylinder 17 is connected to one lower link 9 of the three-point linkage mechanism 8 via the bracket 20 on the end opposite to the piston rod 19.
9 are pivotally connected to the tractor body 1 side, the control valve 30 is fixed to the end side of the cylinder body 18 opposite to the piston rod 19, and the detection rod 23
is disposed facing outward from the bracket 20 in the left-right direction to detect the boundary 26 at the outer end in the left-right direction, and is pivotably supported on the bracket 20 at the inner end, and is connected to the spool 32 of the control valve 30. A joint 33 for operating the detection rod 23 is provided at the inner end side of the detection rod 23.

Hereinafter, the present invention will be described in detail with reference to the illustrated embodiment. In FIG. 1, 1 is a tractor body, which is composed of a transmission case 2, rear axle cases 3 attached to both sides of the rear axle case 3, etc. as a structure. A rear wheel 4, a fender 5, etc. are supported at the outer end of each rear axle case 3. Note that the fender 5 is attached to the rear axle case 3 via a mounting base 6. Reference numeral 7 denotes a rotary device as an example of a working machine, which is towed and attached to the rear of the tractor body 1 via a three-point linkage mechanism 8. Three-point linkage mechanism 8
is equipped with a pair of left and right lower links 9 and one top link 10, and each of the lower links 9 is connected to each lift arm 12 of a hydraulic system for lifting and lowering the work machine via a lift rod 11 at approximately the center in the longitudinal direction. Therefore, the rotary device 7 can be raised and lowered via the three-point linkage mechanism 8 by the vertical movement of the lift arm 12. Each lower link 9 has ball joints 13 and 14 at both front and rear ends, and is attached to mounting pins 15 and 16 of the transmission case 2 and rotary device 7 via the ball joints 13 and 14. , 14 within the allowable range of lower link 9
is swingable left and right, and by swinging, the lateral position of the rotary device 7 can be changed arbitrarily. 17
2 is a hydraulic cylinder for swinging the lower link 9 from side to side, and as shown in FIG. A bracket 20 is provided on the end side via a control valve 30, and the bracket 20
is pivotally connected to a bracket 22 of one lower link 9 via a pivot pin 21. Further, the distal end side of the piston rod 19 is connected to the mounting base 6 at an outer position above the axis of the mounting pin 15. Reference numeral 23 denotes a detection rod for detecting a boundary 26 between cultivated land 24 and uncultivated land 25, and this detection rod 23 is disposed facing outward in the left-right direction from the bracket 20, as shown in FIGS. 2 and 3. It has a sled part 27 at its outer end, is swingably supported on the bracket 20 via a support shaft 28, and is moved by a spring 29 to the boundary 26 between the cultivated land 24 and the uncultivated land 25. It is biased so that it presses and follows the step that forms. The control valve 30 is for expanding and contracting the hydraulic cylinder 17 by the detection operation of the detection rod 23, and includes a valve body 31 fixed to the cylinder body 18, and a valve body 31 that is slidable in the axial direction within the valve body 31. The spool 32 is connected to the detection rod 23 via a ball joint 33.

Next, the action will be explained. When rotary tilling a field, the rotary device 7 is towed along the boundary 26 between the cultivated land 24 and the uncultivated land 25 while driving the claw shaft with the power from the tractor body 1. In this case, the detection rod 23 has a spring 29
Since it is always biased in the direction of the arrow a,
The sled portion 27 at the tip is pressed against the stepped portion formed between the cultivated land 24 and the uncultivated land 25, and the boundary 26 can be detected by the movement of the detection rod 23. Therefore, if the boundary 26 shifts laterally outward with respect to the plowing width W of the rotary device 7 as shown in FIG. Rotate in the direction shown. For this reason, the spool 32 of the control valve 30 is pressed in the direction of arrow b through the ball joint 33, the control valve 30 is switched to the contraction direction, and the hydraulic cylinder 17 performs a contraction operation, so that each of the left and right lower links 9 is It swings in the direction of arrow c using the mounting pin 15 position as a fulcrum, and moves the rotary device 7 laterally in the direction of arrow d. On the other hand, when the hydraulic cylinder 17 contracts, the valve body 31 side of the control valve 30 moves in the direction of arrow b, and when it moves to a position corresponding to the spool 32, the control valve 30 returns to neutral, and the hydraulic cylinder 1
7 is hydraulically locked and cannot be extended or contracted. At this time, the rotary device 7 has one end of its plowing width W as the boundary 2.
6, so that no residual tillage occurs and rotary tillage is performed with less loss.

In the example, the rotary device 7 is used to follow the boundary 26 between the cultivated land 24 and the uncultivated land 25, but in other various working machines, the rotary device 7 follows the boundary 26 between the cultivated land 24 and the untreated land 25. A similar implementation is also possible in the case of tracking.

As described in detail in the embodiments above, in the present invention, the detection rod detects the boundary between treated land and untreated land, and the detection operation of the detection rod causes the hydraulic cylinder to expand and contract, thereby moving the three-point link mechanism left and right. The work equipment is aligned with the boundary by swinging, so
It becomes possible to automatically follow the boundaries of the work equipment, and for example, it is easy to till the edge of the bank, and double tillage can be prevented, which significantly improves work efficiency.
In addition, a control valve is fixedly installed on the opposite end of the cylinder body of the hydraulic cylinder to the piston rod, and the spool of the control valve is operated by a joint installed on the detection rod, so it is structurally simple. It is also compact and can be implemented at low cost. Moreover, the inner end of the detection rod is swingably supported on a bracket provided on the opposite end of the cylinder body to the piston rod, so the hydraulic cylinder and control valve are integrated, so the entire device The bracket and piston rod can be easily attached and detached, and since it is only necessary to attach and detach the bracket and piston rod to one lower link of the three-point linkage mechanism and the tractor body side, it is easy to handle. Therefore, its practical value is extremely large.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a plan view, FIG. 2 is an enlarged plan view of the main part, and FIG. 3 is an enlarged rear view of the main part. 1... Tractor body, 7... Rotary device (work machine), 8... Three-point link mechanism, 9... Lower link, 1
7...Hydraulic cylinder, 23...Detection rod (detector), 2
6... Boundary, 30... Control valve.

Claims (1)

[Claims] 1 In a device in which the work implement 7 is attached to the tractor body 1 via the three-point linkage mechanism 8, a hydraulic cylinder 17 for swinging the three-point linkage mechanism 8 left and right, a treated land 24 and an untreated land A detection rod 23 that detects a boundary 26 with 25, and this detection rod 23
A control valve 30 is provided for controlling the expansion and contraction of the hydraulic cylinder 17 so that the working machine 7 follows the boundary 26 in conjunction with the detection operation of the piston rod 19. The tip side of the piston rod 19 of the hydraulic cylinder 17 is pivotally connected to one of the lower links 9 of the three-point linkage mechanism 8 via the bracket 20 and to the tractor body 1 side, and the control valve 30 is connected oppositely to the piston rod 19 of the cylinder body 18. The detection rod 23 is arranged facing outward in the left-right direction from the bracket 20 in order to detect the boundary 26 at the outer end side in the left-right direction, and swings toward the bracket 20 at the inner end side. A position control device for a working machine, characterized in that a joint 33 that is freely pivoted and that operates a spool 32 of a control valve 30 is provided on the inner end side of a detection rod 23.