JPS632561B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a power agricultural machine equipped with a working machine so as to be able to move up and down, and is provided with a position control device for controlling the height of the working machine and a depth control device. The present invention relates to a working machine elevating device for a power agricultural machine in which switching is automatically performed.

Agricultural machinery that operates while traveling in a field often undergoes various operations by an operator due to the nature of the field.

Therefore, it is desirable for the operation of agricultural machinery to be as simple as possible, but the height setting of work equipment, which is frequently operated among various operations, has been considered to be complicated in the past, but the operation is complicated. It was hot. For example, in the conventional position control and depth control of work equipment, the former is for determining the lifting height of the work equipment relative to the body, while the latter is for determining the lifting height of the work equipment relative to the field. When controlling the height and operating both of them because they have different properties, it is necessary to partially attach and detach the control device in advance so that only one signal can be selectively fed back when switching between them. Alternatively, special operations were required. As a result, these operations are extremely complicated, and the range of lifting height of the working machine relative to the machine body in the weight control state cannot be arbitrarily changed during operation of the agricultural machine.

As mentioned above, the operation for controlling the height of the working machine is performed frequently, so if this is simplified, the operational burden on the operator can be significantly reduced.

Therefore, the present invention makes it possible to control the height of the work equipment using both position control and depth control without requiring any special selection switching operation, so that the height of the work equipment can be controlled by both position control and depth control. This was achieved as a result of research to enable uniform work and to simplify operator operations by automatically switching the control operations that determine the position of the work equipment using both control devices. It is something that

An important point of the present invention is that when the work equipment position signal relative to the ground surface from the depth control sensor instructs the work equipment to go up or down, the feedback circuit for the work equipment height detection signal to the machine body by the position control is automatically activated. The point is that a feedback circuit for a working machine position signal relative to the ground surface for detachment and a working machine height detection signal relative to the machine body is connected and configured.

Next, one embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, a rotary tiller 2, which is a working machine, is pivotally mounted to the rear end of a tractor 1 so as to be movable up and down. In this embodiment, a case of an agricultural tractor will be explained with the rotary tiller 2 as the working machine. In addition to the rotary tiller 2, the working machine may be a traveling machine such as a plowing rotor, a reaping machine, a rice transplanter, etc. This includes all power-powered agricultural machinery that is attached to the vehicle and raised and lowered. The support frame 3 of the rotary tiller 2 is connected via a lift rod 7 to a lift arm 6 of a position control device 5 which is moved up and down by a hydraulic device such as a hydraulic cylinder and various control valves provided on the body 4 of the tractor 1. ing. On the other hand, a depth control device 8 is provided extending from the vicinity of the position control device 5 to the rear end of the rotary tilling section 2 to control the height of the working machine relative to the ground surface.

The position control device 5 and depth control device 8 arranged in this way will be explained individually below.

(a) Position control device As shown in Figure 3, the switching valve operating mechanism 5a includes a position lever 9, a lever support shaft 10 to which one end is fixed, and provides resistance to prevent them from inadvertently rotating. A disc spring 11, an arm 12 fixed to the lever support shaft 10, and an arm 14 fixed to this arm 12 and the lever interlocking shaft 13.
and a valve shifter link 16 fixed to the lever interlocking shaft 13.
and a valve link 20 rotatably connected to a spool 19 of a switching valve 18 fixed to a hydraulic case 17 interlocked therewith.

On the other hand, the feedback circuit 5b includes, as shown in FIG.
The spring 2 is slidably inserted into one end of the spring 2.
4, a feedback shifter arm 25 having a pin 25a at its upper end that is pressed against a stopper 23 by a feedback shifter arm 25 whose base end is pivotally supported on a hydraulic case 17;
Feedback shifter shaft 2 which is a fulcrum shaft that interlocks with this feedback shifter arm 25
6, and an arm pin 27 whose upper end is fixed to the feedback shifter shaft 26 and whose lower end engages with the lower part of the valve link 20.

The position control device 5 configured as described above moves the position lever 9 in the direction indicated by the arrow A in FIG.
When the valve link 20 rotates in the direction of the arrow E through each link, the valve link 20 rotates in the direction of arrow E about the arm pin 27, moves the spool 19 in the direction of C, and brings the switching valve 18 to the raised position. As the lift arm 6 rotates in the direction G in FIG. 2, the valve link 20 rotates in the direction of arrow J about the fulcrum with the valve shifter link 16 via each link of the feedback circuit. The spool 19 is moved in the direction D in FIG. 3 to return the switching valve 18 to the neutral position.

Furthermore, when the position lever 9 is rotated in the direction B in FIG. 3, the valve link 20 is rotated in the F direction due to the opposite effect to that described above, moving the spool 19 in the D direction and lowering the switching valve 18. position. When the lift arm 6 rotates in the direction I in FIG. 2, the valve link 20 rotates in the direction of arrow K via the feedback circuit, returning the spool 19 in the direction C in FIG. Return to neutral position.

The height of the rotary tiller 2 relative to the machine body 4 is determined by such an action.

(b) Depth control device As shown in FIGS. 2, 6, and 10, the base end of the depth lever 28 is rotatably mounted on the outer end of the lever support shaft 10 on the side of the position lever 9. It is worn. The upper part of this lever 28 is connected to a lever guide 29 together with the position lever 9.
operates within the groove 30 of. Further, a spring 32 is arranged between the depth lever 28 and the vertical piece 31 of the lever guide 29 to prevent the lever 28 from rotating inadvertently. At the base end of the depth lever 28, a first
The L-shaped pin 33 shown in FIGS. 0, 7, and 2 is fixed at one end so as to be positioned substantially horizontally, and the other end is arranged so as to protrude to the side of the body 4.

On the other hand, to explain the link mechanism 34 that interlocks with the sensor section 53, which will be described later, the hydraulic case 17
The middle part of the sensor response link 35 is pivotally attached to the rear side of the sensor via a pin 36 (Fig. 2), and the rear end of the push link 37 is pivotably attached to the tip of the sensor response link 35 via a pin 38 (Fig. 2). It is freely supported. And this push link 37
An elongated hole 39 is bored in the front end of the push link 37, and by slidably fitting the elongated hole 39 into the lever support shaft 10, the push link 37 can be attached to the fuselage 4.
It is supported slidably in the front and rear directions. (10th
(Figure) On the outer surface of the front side of the push link 37, the vicinity of the bent part of the square-shaped contact link 40 is pivotally supported by a pin 41, and the front end is attached to the end of the horizontal part 42. A long hole 42a with an opening
is formed. The other end of the L-shaped pin 33 of the depth lever 28 is engaged with this elongated hole 42a. Therefore, by swinging the depth lever 28 back and forth, the contact link 40 swings up and down using the pin 41 as a fulcrum.

On the other hand, to explain the link mechanism 43 interlocked with the feedback circuit 5b of the position control device 5 described above, as shown in FIG. The portion is pivotally supported by a pin 45 so as to be swingable in the front-rear direction. A pin 46 provided at the upper end of this switching link 44 is arranged at a position where it comes into contact with and separates from the hanging portion 47 of the contact link 40. Further, above the pin 45, which is the pivot point of the switching link 44, an intermediate portion of the depth control link 48 is connected to a pin 49.
It is rotatably supported by. The upper part of the depth control link 48 is formed into a long groove with an open upper end, and the position lever 9 is located therein.
A pin 51 of a protruding piece 50 extending downward is engaged. Further, the lower part of the depth control link 48 and the middle part of the feedback shifter arm 25 are connected by a depth transmission link 52 to form a link mechanism 43.

The switching link 4 of this link mechanism 43
4. The depth control link 48 and the depth transmission link 52 are interlocked and connected to the position control feedback circuit 5b, and when a signal from the depth control sensor is issued, priority is given to the depth control feedback circuit 8b, which will be described later. At the same time, the position control feedback circuit 5b is disconnected from the position control feedback circuit 5b.

That is, the depth control feedback circuit 8b is constructed using the feedback link 22, feedback shifter arm 25, and arm pin 27 of the position control feedback circuit 5b. To explain this in detail, the depth control feedback circuit 8b slidably fits the pin 25a described above into the feedback link 22, and also controls the feed by the transmission force transmitted from the depth transmission link 52. The feedback circuit 8b is configured to operate when the back shifter arm 25 rotates clockwise in FIGS. 2 and 11, and the pin 25a is separated from the stopper 23 against the spring 24. Therefore, from the stopper 23 to the pin 25
In the state where a is separated, the position control feedback circuit 5b is in a disconnected state.

On the other hand, one end of an inner wire 55 of a poden wire cable 54 connected to the sensor section 53 shown in FIGS. 4 and 5 is attached to the lower end of the sensor responsive link 35, and one end of an outer cable 56 thereof is attached. The hydraulic case 17
is fixed.

The sensor section 53 is supported by the rear end of the support frame 3 of the rotary tiller 2. To explain this sensor section 53 in detail, the upper end of a flat plate 57 which also serves as a rear cover is attached to a hinge 58 at the rear end of the support frame 3.
It is supported so that it can swing vertically,
Further, a fulcrum shaft 59 is rotatably suspended above the support frame 3 at a distance from the hinge 58 .
A Bowden wire support shaft 60 is rotatably suspended on the flat plate 57, which is spaced apart from the fulcrum shaft 59, and faces the fulcrum shaft 59. Upper end portions of guide pins 61 and 62 are screwed and fixed to both ends of the fulcrum shaft 59, and their lower end portions are connected to the Bowden wire support shaft 60.
It is slidably supported through the. At the lower ends of the guide pins 61 and 62 supported in this way,
Stoppers 63, 63 are provided to prevent the leveling plate 57 from hanging down more than necessary. Also, an L-shaped wire support rod 6 is connected from the lower end of one of the guide pins 61 and 62.
4 has been extended. The other end of the inner wire 55 of the Bowden wire cable 54 is attached to this wire support rod 64. The other end of the outer cable 56 is fixed to the Bowden wire support shaft 60. In addition, springs 65 and 65 are installed on the guide pins 61 and 62 between the fulcrum shaft 59 and the Bowden wire support shaft 60.
has been reduced. This spring 65, 65
The leveling plate 57 is always urged downward to provide a leveling effect and also to prevent the leveling plate 57 from swinging unnecessarily due to vibrations of the machine body while traveling.

The link ratios between the depth control device configured in this manner and the position control device 5 described above are such that, assuming that the switching link 44 is fixed, the valve remains in the neutral position even when the position lever 9 is operated. The link 20 is set in such a manner that its upper and lower sides simply rotate around pivot points, but do not move the spool 19.

Now, in order to determine the plowing depth H of the rotary plowing section 2 relative to the ground surface when working with the tractor 1, first tilt the depth lever 28 in the direction of arrow A in FIG. Switch link 4 by rotating this hanging part in the direction of arrow S in Figure 10.
4 at a position where it can engage with the pin 46 at the upper end of the pin 46.
Incidentally, by appropriately rotating the depth lever 28, the engagement distance between the hanging portion 47 of the contact link 40 and the upper end of the switching link 44 can be changed, and thereby the setting position of the depth control, that is, the plowing depth H can be adjusted. If it is rotated to a state where it is not engaged, the engagement is released and the depth control can be made inactive.

In this way, by rotating the depth lever 28,
After setting the hanging portion 47 of the contact link 40 to a position where it can engage with the pin 46 at the upper end of the switching link 44 (set engagement position of the link mechanisms 34 and 43), in order to lower the ascending rotary tiller 2. Then, when the position lever 9 is moved in the direction of arrow B in FIG. 2, the valve link 20 is moved in the direction of arrow F in FIG. from the neutral position to the lowered position. Therefore, the hydraulic piston retreats and lifts the lift arm 6 in the direction indicated by arrow I in FIG.
lower in the direction.

Note that when the position lever 9 is lowered in the direction of arrow B in FIG. 2, the switching link 44 temporarily moves in the direction of arrow L as shown in FIG. 2 due to the rotation of the depth control link 48; Since the rotary tiller 2 is still rising, the leveling plate 57 is at the lowest position (solid line position in Figure 4), and the sensor response link 35 is moving in the direction Q in Figure 2, so the switching link is 44 is not prevented from moving in the direction of arrow L by the contact link 40.

When the lift arm 6 descends in the direction of arrow I in FIG. If you want to, stop the position lever 9 at that position and the set height of the position control device 5 will be above the set plowing depth of the depth control device 8, so the position control feedback mechanism 5b ( Pin 25 on stopper 23
Since the a is in contact with the lift arm 6, the lift arm 6 stops midway due to the action of the a. When the position lever 9 is further lowered to the full extent, as the rotary tiller 2 descends, the leveling plate 57 touches the ground and then rises from the solid line position in FIG. 4 in the direction of the arrow X.

Then, as shown in FIG. 4, the Bowden wire support shaft 60, which has come into contact with the stopper 63, is separated, and the inner wire 55 of the Bowden wire cable 54 is pulled in the direction of the arrow Y, so that the sensor response link 35 rotates around a pin 36 in the Y direction in FIG. Accordingly, the push link 37 moves in the direction R in FIG. 2, so that the hanging portion 47 of the contact link 40 comes into contact with the pin 46 at the upper end of the switching link 44. This is the switching point between position control and depth control.
Now, since the position lever is set to the fully lowered side, the setting height for lifting the rotary tilling section 2 relative to the machine body 4 by the position control device 5 is set from the setting position corresponding to the tilling depth H set by the depth lever. Since the rotary tiller 2 is lowered, the height of the rotary tiller 2 relative to the ground is detected by the sensor unit 53 (work machine position signal relative to the ground) before the tiller 2 descends and the feedback circuit 5b of the position control device 5 is activated. Upon detection, the depth control device 8 comes into operation automatically.

That is, after the hanging part 47 of the contact link 40 contacts the pin 46 at the upper end of the switching link 44, when the lift arm 6 further descends, the leveling plate 57 rotates in the X direction in FIG. 35, contact link 4 via push link 37
0 rotates the switching link 44 in the direction of arrow M in FIG. Therefore, the joint pin 25a of the feedback shifter arm 25 is rotated in a direction away from the stopper 23 against the spring 24 via the depth control link 48 and the depth transmission link 52, and the arm pin 27 is rotated in the direction indicated by the arrow in FIG. It rotates in the K direction to return the spool 19 from the lowered position to the neutral position. As a result, the lift arm 6, that is, the rotary tilling section 2, stops descending at the tilling depth H due to the action of the depth control device 8, and thereafter, the depth is controlled to follow the unevenness of the ground surface and maintain a constant tilling depth H. That will happen.

Now, for example, if we consider a case where the aircraft sinks due to soft ground, etc., the rotary plowing section will also sink, so the leveling plate 57 will be pushed up by the soil surface and the fourth
Rotates in the X direction in the figure. Therefore, the inner wire 5
5 moves in the Y direction, the contact link 4 is moved through the sensor response link 35 and the push link 37.
0 presses the switching link 44. and switching link 4
4 rotates in the M direction, so the depth control link 4
8. The feedback shifter arm 25 rotates to the right in FIG. 2 via the depth transmission link 52 while the pin 25a pushes the feedback link 22 in a direction that further compresses the spring 24.

Therefore, the arm pin 27 is rotated in the K direction and the spool 19 is moved to the raised position (in the C direction).

As a result, the lift arm 6 rises, and the leveling plate 57 descends in the U direction. The lowering of the leveling plate 57 causes the contact link 40 to retreat in the Q direction, allowing the switching link 44 to rotate in the L direction, so that the depth control feedback circuit 8b is activated. That is, the action of the spring 24 pushes the pin 25a back to the left in FIG. become. Therefore, the spool 19 returns to the neutral position again, and the lift arm 6 stops.

In addition, contrary to the above, if the aircraft rides on a convex part in the field, the rotary tiller 2 also floats up, but due to the floating of the rotary tiller, the leveling plate 57 is moved by the tension force of the spring 65. Since the contact link 40 moves backward in the Q direction, the switching link 44 and the feedback shifter arm 25 are moved to the left by the pressing force of the spring 24. This movement causes the valve link 20 to rotate in the direction of arrow J via the arm pin 27, and the spool 19 moves to the lowered position. As a result, the lift arm 6 descends,
The leveling plate 57 is pushed up and, contrary to the above, the arm pin 27 is rotated in the K direction due to the movement of the contact link 40 in the R direction, the rotation of the switching link 44 in the M direction, and the right movement of the feedback shifter link 25. The spool 19 is pulled back to the neutral position and the lift arm 6 is stopped.

Even if the plowing depth changes due to sinking or ascent of the machine, the sensor on the leveling plate detects the position of the work equipment relative to the ground surface, and the signal activates the depth control feedback circuit to maintain a constant plowing depth. Modify to keep it.

When the depth control feedback circuit 8b is activated, the pin 25a is separated from the stopper 23 of the position control feedback link 22, so the position control feedback circuit 5b is automatically disconnected. It will not work if you are in a state where it is.

This is because the position lever 9 is fully lowered in the direction of arrow B, so that the set plowing depth H of the depth control is higher than the set height of the position control, and the rotary plowing part 2 relative to the ground surface is This is because the leveling plate 57 (position signal) of the (working machine) was activated to instruct the rotary tiller 2 to move up and down.

As described above, in the present invention, when the working machine reaches a predetermined plowing depth, the feedback circuit of the position control is automatically cut off, so it is necessary to lower the working machine while paying attention to the amount of operation of the position lever. Since the predetermined plowing depth is automatically obtained, no skill is required for operation.

Further, even when changing from the depth control state to the position control state, there is no change in position control performance from before entering the depth control state, so there is no malfunction.

In addition to position control work,
Since the height of the work equipment to the ground can be automatically controlled, rotary tillage eliminates the need for gauge foils and enables uniform work even on uneven fields. In addition, since there are no marks left by the gauge foil, not only will the finish of the field be better, but you can also work in every corner of the field.
Furthermore, it is possible to reduce the weight and size of the machine.

Further, since it is only necessary to add a simple mechanism to the position control device, there is no need for complicated electronic equipment, and the device can be provided at a low cost.Moreover, the structure is simple and there is no failure.

In addition, when working in the field, even if the field is very uneven, if the position lever is positioned sufficiently in the lower position, the depth control function will automatically control the work equipment even if the machine runs over a bumpy surface. It can be lowered, allowing the work equipment to follow the ground uniformly regardless of the vertical movement of the machine.

Furthermore, in fields where there are locally deep holes such as drainage ditches, the sensor can fall into this groove by setting the position lever so that the position setting position is slightly lower than the height set by the depth control. Even if the work equipment is instructed to descend, it will automatically stop at the position control setting position, so the work equipment will not descend suddenly.

Therefore, there are advantages such as being able to prevent the engine from stalling and preventing the work area from being disturbed.

Additionally, if there is a buried object such as a water pipe in the middle of the field, it is possible to take immediate action to locally raise the position lever to the required position and raise the height of the work machine to avoid the buried object.

Further, with the construction as in the embodiment, the working machine can be raised to the upper limit by lifting the leveling plate by hand, making maintenance and inspection of the lower part of the working machine extremely easy.

In addition, even if the work machine is lowered near an obstacle that is significantly higher than the field, such as a farm road ridge, the work machine will be stopped at a certain height according to the instructions until the leveling plate clears the obstacle, thereby preventing damage to the work machine. This also has the advantage that when the leveling plate comes off an obstacle, the work machine automatically lowers to the required height, allowing work to be done from between ridges and the like.

Further, since each link mechanism is arranged on the left and right side surfaces of the hydraulic case, it has many advantages such as easy maintenance, inspection, assembly, etc., and is extremely effective in practical use.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and Fig. 1 is an overall side view, Fig. 2 is a right side view of the main part, Fig. 3 is a left side view of the main part, and Fig. 4 is a position detection of the depth control device. Fig. 5 is a partially omitted plan view, Fig. 6 is a sectional view taken along the line of Fig. 2,
Fig. 7 is a sectional view taken along the line shown in Fig. 2, Fig. 8 is an expanded sectional view showing the relationship between the position lever and the feedback link, Fig. 9 is an enlarged right side view of the valve actuation link, and Fig. 9 is an enlarged right side view of the valve operating link. FIG. 10 is an enlarged perspective view of the contact link 40 portion, and FIG. 11 is an enlarged side view of the main part. 2... Rotary tilling section (work machine), 4... Machine body,
5...Position control device, 5b, 8b
. . . Feedback circuit, 8 . . . Depth control device, 9 . . . Position lever, 18 . Interlocking link mechanism, 53
...Sensor part, 57... Leveling plate (sensor).

Claims (1)

[Claims] 1. In a working machine lifting device for power agricultural machinery that is equipped with a position control device that controls the height of the working machine with respect to the machine body and a depth control device that controls the position of the working machine with respect to the ground surface, a single switching device that controls the lifting device If a control device such as a valve is provided with a circuit that can constantly feed back both the signal that detects the height of the work equipment relative to the machine body and the signal that detects the position of the work machine relative to the ground, it is necessary to Feedback is possible over the entire operating range of the work equipment position detection signal relative to the ground, and feedback of the work equipment height detection signal to the machine body is provided when the work equipment position detection signal relative to the ground instructs the work equipment to rise and stop. A work machine lifting device for a powered agricultural machine, which is constructed by connecting both feedback circuits so as to automatically disconnect the circuit and give priority to the feedback circuit for the work machine position signal relative to the ground surface.