KR100502047B1 - Rolling controls of working machine - Google Patents

Abstract

The present invention relates to a posture control device that can maintain the right and left inclined posture of a control boom even in any paddy field, and at the same time, can easily maintain and inspect equipment such as a posture control actuator and a horizontal switching valve.

The base of the elevating link mechanism 10 extending toward the front is hingedly supported by the mobile agricultural machine 1, and the boom support frame 12 is provided in the front part of the elevating link mechanism 10, and this boom supporting frame 12 While supporting the control booms 22 and 23 around the shaft 14 in the front and rear direction so as to be rotatable, and interposing the hydraulic cylinder 20 between the boom support frame 12 and the control boom 22. In the vicinity of the shaft 14, a boom rocking angle sensor 30 for detecting rocking angles of the control booms 22 and 23 and a switching valve 33 for stretching and controlling the hydraulic cylinder 20 are provided. Furthermore, the hydraulic cylinder 20 and the switching valve 33 are provided on the opposite side to the exhaust port 15 of the muffler with the rotation shaft 14 therebetween.

Description

Rolling controls of working machine

INDUSTRIAL APPLICABILITY The present invention can be used for a mobile farming machine such as a passenger manager which performs management work in a field or paddy field.

Background Art Conventionally, it is known to perform a control operation by attaching a control boom to a front portion of a ride manager. In such a conventional passenger manager, the swing boom freely supports the control boom on a rotational shaft along the front and rear directions provided at the front part of the body, and at the same time, there are two parts between the control boom and the main end side of the main body supporting the control boom. It is known to add a force through the balance spring so that the control boom is always in a horizontal position.

By the way, in the case of such a conventional apparatus, the above-mentioned balance spring acts on the vibration of the aircraft and the uneven change of the ground to absorb the sudden change of attitude of the control boom, thereby keeping the control boom in the desired horizontal position. The length of, for example, is about 15m long, especially when the outer ends of the side booms installed on the left and right sides of the center boom become slide adjustable, the left and right balance tends to collapse greatly, and when the length of the left and right side booms are changed, Since the whole boom is easy to be inclined to the side where the side boom extends, the opposite side boom falls off the ground, and the extending side approaches the ground, and the spreading density of the crop varies depending on the left and right, so that the chemical spray cannot be uniformly applied. There was a problem.

The present invention has been made in view of the above problems, and it is an object of the present invention to maintain a control boom in any field and at the same time uniform spraying is possible.

To this end, the following technical measures were taken.

That is, in the invention of claim 1, the base of the elevating link mechanism 10 extending toward the front is hinged to the mobile agricultural machinery 1, and the boom support frame (on the front of the elevating link mechanism 10 is supported). 12), the control booms 22 and 23 are rotatably supported around the front and rear shafts 14 formed on the boom support frame 12, and the boom support frame 12 and the control boom are supported. A boom oscillation angle sensor 30 and an actuator 20 for detecting the oscillation angles of the control booms 22 and 23 in the vicinity of the shaft 14 portion are interposed between the telescopic actuators 20. It was set as the structure of the attitude control apparatus of the working machine characterized by providing the switching valve 33 which expands and contracts.

In the invention of claim 2, the actuator 20 is constituted by a hydraulic cylinder, and the switching valve 33 is constituted by a hydraulic switching valve.

According to the invention of claim 3, the actuator 20 is provided on one side in the left and right direction with the shaft 14 interposed therebetween, and the exhaust port 15 of the muffler of the mobile farm machine 1 is provided on the opposite side. It was set as the structure of the attitude control apparatus of the work machine of Claim 1 characterized by the above-mentioned.

The action by the above configuration is as follows.

When the body is inclined in the left and right directions, the control booms 22 and 23 supported by the lifting link mechanism 10 are also inclined in the same direction, but in this case, the inclination sensor 41 and the boom swing angle sensor 30 are switched. The valve 33 is actuated and the actuator 20 is stretched so that the control booms 22 and 23 are controlled to the desired horizontal posture or the set oblique posture.

In particular, when the actuator 20 is configured as a hydraulic cylinder, and the switching valve 33 is a hydraulic switching valve, the hydraulic fluid is immediately supplied to or discharged from the hydraulic cylinder to expand and contract the hydraulic cylinder, thereby controlling the control booms 22 and 23. ) Can be kept in a proper posture. In this case, since not only the boom swing angle sensor 30 but also the hydraulic switching valve 33 and the hydraulic cylinder 20 are provided in the vicinity of the shaft 14, the pipes 40a and 40b can be shortened. Not only can the castle be upgraded, but all the hydraulic equipment is installed in one place, making it easy to check the daily routine.

In addition, since the exhaust port 15 of the muffler of the mobile farm 1 is provided on the side away from the actuator 20, the exhaust gas is not directly caught by the switching valve 33 or the actuator 20, thereby dirtying the equipment. It does not adversely affect the exhaust heat.

Embodiment

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described according to drawing. First of all, from the configuration, 1 is a passenger controller which mainly cultivates or controls in a field or paddy field. This passenger manager is provided with the front wheel 2 and the rear wheel 3 of the same diameter, and the engine 4 is mounted in the front part of a base body. The engine 4 and the muffler (not shown) are covered with a bonnet 5, and masts 7 and 7 are erected on the left and right sides of the bonnet 5, and the masts 7 and 7 Is attached to the lifting linkage mechanism 10 consisting of an upper link 8 and a lower link 9. As shown in FIG. 1, the upper link 8 and the lower link 9 have substantially the same length, and therefore the lifting link mechanism 10 constitutes a parallelogram when viewed from the side. The lifting link 10 is lifted by a pair of left and right lifting cylinders 11 and 11 installed outside the bonnet 5. The lifting cylinders 11 and 11 are constituted by electric motors, but may be hydraulic.

In addition, the support frame 12 for installing the control boom 22, 23 to be described later is connected to the front portion of the lifting link (10). The support frame 12 has a rectangular shape when viewed from the front, and a pivot shaft 14 along the front and rear directions is provided at the lower center of the support frame 12.

The center shaft boom 22 having a pair of front and rear booms 22F and 22R is hinged freely to the rotation shaft 14, and a plurality of nozzles 26 are provided on the front center boom 22F. have. The side booms 23 and 23 are pivotally supported freely by pins 24 and 24 at both left and right ends of the rear center boom 22R, and a plurality of side booms 23 and 23 are also spaced at an appropriate distance from the lower ends of the side booms 23 and 23. Spray nozzles 26 are provided. Therefore, the center boom 22 and the side booms 23 and 23 can be rocked around the rotational shaft 14 integrally in the state in which the side boom 23 is expanded.

Moreover, between the support frame 12 side and the rear center boom 22R side, the hydraulic cylinder 20 as an actuator is provided in a vertical position.

As the piston rod 20a of the hydraulic cylinder 20 expands and contracts, the center boom 22 rotates around the rotation shaft 14.

The plate 27 is provided in the left-right direction center of the support frame 12 along the up-down direction, and the pin 28 is fixed to this plate 27 toward the front.

The boom oscillation angle sensor 30 which consists of a rotational potentiometer via the stay 29 is installed in the center upper surface of the rear center boom 22R, and when viewed from the front, it is installed in this sensor 30. The pin 28 is inserted into the groove of the two-pronged arm 30a. When the hydraulic cylinder 20 is actuated and the center boom 22 is rotated, the arm 30a rotates in synchronization with it, and rotates the shaft of the boom swing angle sensor 30 to detect the left and right swing angles of the center boom 22. . The boom swing angle sensor 30 indirectly detects the amount of expansion and contraction of the hydraulic cylinder 20 as well as the left and right swing angles of the center boom 22.

In addition, when viewed from the front, the plate 32 is fixed to the front of the rear center boom 22R slightly near the center, and the horizontal switching valve 33 is provided on the plate 32. By appropriately switching this horizontal switching valve 33 by the instruction | command from the controller 35 mentioned later, the flow path to the hydraulic cylinder 20 will be changed, and the hydraulic cylinder 20 will be expanded and contracted. As is clear from Fig. 2, the hydraulic cylinder 20 and the horizontal switching valve 33 are provided on the right side with respect to the gas center, and the exhaust port 15 of the muffler is provided on the left side opposite thereto. For this reason, the hydraulic cylinder 20 and the horizontal switching valve 33 are not polluted by the exhaust gas discharged toward the front from the exhaust port 15. There is no influence by exhaust heat.

4 is a hydraulic circuit diagram for horizontal control. The hydraulic oil sent from the hydraulic pump 36 enters the flow dividing valve 37, where it is collected by an amount necessary for horizontal control and sent to the horizontal switching valve 33. The horizontal switching valve 33 is provided with an extended position and a shortened position with a neutral position therebetween, and the hydraulic cylinder 20 is stretched and controlled as the expansion SOL 38 or the reduction SOL 39 is excited.

40a and 40b are hydraulic piping for connecting the horizontal switching valve 33 and the hydraulic cylinder 20, 60a are piping for connecting the hydraulic pump 36 and the horizontal switching valve 33, and 60b are return piping.

The inclination sensor 41 for detecting the left and right inclination of the gas is provided on the pedestal 43 fixed to the rear axle housing 42 (see Figs. 5 and 6). The pedestal 43 is installed in the left front part (right side when viewed from the front) near the center of the rear axle housing 42, on which an inclination sensor 41 is mounted, and a cover 44 is installed around the rear axle housing 42. This prevents muddy water from entering while driving.

The inclination sensor 41 may be any place that detects the left and right inclination of the body. For example, the inclination sensor 41 may be placed on the support frame 12 of the elevating link mechanism 10 or in the vicinity of the seat 17 or the floor 18. ) May be used, but it is still more preferable to be affected by vibration during driving or centrifugal force during turning, and in this respect, the location near the center of the rear axle housing 42 described in the present embodiment is strong against vibration of the gas. Therefore, it can be called suitable installation place.

Reference numerals 47 and 47 denote opening and closing cylinders for rotating the side control booms 23 and 23, and reference numerals 46 and 46 denote shanghai copper cylinders that raise or lower the side control booms 23 and 23.

When the side control booms 23 and 23 are opened and closed, as shown in FIG. 7, the left and right opening and closing switches 48 and 48 provided on the operation panel 19 next to the seat 17 are operated. The opening / closing cylinder 47 is stretched so that the side control boom 23 is opened and closed in the inward and outward directions.

Then, when one of the left and right up and down switches 49 and 49 is operated, the operated cylinders 46 and 46 are stretched to raise or lower the control boom 23. These operation switches 48 and 49 are provided left and right independently.

In Fig. 7, reference numeral 53 denotes a lift switch for raising and lowering the entire booms 22 and 23, and 54 denotes a setter for setting the spraying amount and the like during the control operation. The pressure and the spraying flow rate are set while viewing the liquid crystal display screen.

Reference numeral 55 ... denotes an operation lever for ejecting the chemical liquid from the nozzles 26 provided on the respective booms 22,23. By operating the operation levers 55, 55, 55 in the front-rear direction, an open / close valve (not shown) is opened and closed, and the chemical liquid in the chemical liquid tank 50 is ejected from the nozzle 26. 56 is a switch for driving the chemical liquid pump.

Next, the block diagram shown in FIG. 8 will be described.

The boom oscillation angle sensor 30 consisting of a horizontal changeover switch 70, an inclination adjustment dial 71, a manual switch 72, an angular velocity sensor 73, an inclination sensor 41, and a rotary potentiometer is a controller 35. Is connected to the input side of the output side, and an extension SOL 38 and a reduction SOL 39 for expanding and contracting the hydraulic cylinder 20 are connected.

The angular velocity sensor 73 is provided to cope with a change in velocity when the gas is inclined momentarily more and more in the left and right direction, and is used for horizontal control in preference to the inclination sensor 41.

That is, when a large change rate in the left and right directions is detected, the horizontal output in the direction of absorbing the change in posture is output from the controller 35, and thereafter, horizontal control by the detected value of the inclination sensor 41 is performed.

The horizontal changeover switch 70 sets the mode of horizontal control, and it is possible to set three positions of "manual position", "parallel position" and "horizontal position". In the "manual position", the signal from the boom oscillation angle sensor 30 or the inclination sensor 41 is ignored, so that the inclination adjustment signal for the hydraulic cylinder 20 is issued only when the operator operates the manual switch 72. Consists of. When the manual switch 72 is operated in the lower right direction, the piston rod 20a of the hydraulic cylinder 20 is reduced, whereas when operated in the lower left direction, the piston rod 20a of the hydraulic cylinder 20 is extended to the boom. The whole 23 is tilted to the left.

When the horizontal changeover switch 70 is set to the "parallel position", the main body and the control boom serving as the work machine are always in the same parallel relationship (the relationship between the boom and the horizontal posture when the main body is in the horizontal posture). In this parallel mode, the control is operated so that the main body tilts to the right so that the boom also tilts to the right by the same angle.

On the other hand, if the horizontal changeover switch 70 is set to the "horizontal position", even if the main body enters the concave portion of the ground or sits on the convex portion and the main body tilts from side to side, the entire boom is always controlled in a horizontal position.

The inclination adjustment dial 71 sets the left and right inclination angles of the booms 22 and 23. When the booms 22 and 23 are to be maintained in a horizontal position, the inclination adjustment dial 51 is set to the "0" position. Place it. As you turn from the "0" position to the right, the inclination adjustment becomes lower right posture, and conversely, turning to the left sets the lower left posture.

Next, the operation of the present invention will be described.

When chemical liquid spraying work is carried out in paddy fields or the like using the ride manager 1 having the above configuration, the horizontal changeover switch 70 is set to "parallel position" or "horizontal position". When the passenger transporter 1 is advanced in the "parallel position" state, the main body and the control booms 22 and 23 always maintain parallel positional relations, and when the main body tilts in either direction, the booms 22 and 23 also move. It follows the movement of the main body while maintaining the same positional relationship. In this state, the chemical liquid is sprayed onto the rice or the like from the nozzle 26.

In places with many unevenness, the horizontal changeover switch 70 is set to the "horizontal position". At this time, the inclination sensor 41 detects the change in the left and right inclination posture of the main body, but the control booms 22 and 23 can be controlled in a horizontal position by stretching the hydraulic cylinder 20 by the corresponding inclination change. In this case, the swing angles of the booms 22 and 23 are detected by the boom swing angle sensor 30.

The same applies to the case of chemical spraying according to the contour line. When the booms 22 and 23 are controlled in a horizontal position, they are set to "horizontal position", and when used in parallel to the main body, it is set to "parallel position". In some cases, the booms 22 and 23 may be tilted slightly from the contour line. In this case, turn the tilt adjustment dial 71 to the right or left from the "0" position to turn the booms 22 and 23 to the lower right or lower left. Use in the state of.

In the above configuration, since the inclination sensor 41 is configured to be supported by the rear axle housing 42 with low vibration and rigidity, the inclination sensor 41 receives signals other than the left and right inclination of the boom 22, 23. ) Does not operate unnecessarily, and as a result, high precision rolling control can be achieved.

In addition, in this embodiment, since the horizontal switching valve 33 is installed in the vicinity of the hydraulic cylinder 20, and these apparatuses are concentrated in the front part of a base body, it is easy to perform maintenance and inspection, and piping 40a, 40b ) And electric harness, etc., can be shortened, so that the response of rolling control is excellent.

In addition, since these hydraulic cylinders 20 and the horizontal switching valve 33 are provided on the opposite side of the exhaust port of the muffler 15, they are not polluted by the exhaust gas or cause malfunction due to the influence of heat. Horizontal control can be achieved.

Next, a partially improved structure of the passenger manager 1 will be described.

9 is a description of the baggage prevention of the ring balls (80, 80) provided on the upper and lower ends of the hydraulic cylinder (20). The upper part of the hydraulic cylinder 20 is hinged to the plates 81 and 81 integral with the support frame 12 by the upper pin 83, and the lower part of the hydraulic cylinder 20 is centered by the lower pin 84. It is hinged to the plate 82 integral with the boom 22.

Here, if the baggage occurs at both ends of the hydraulic cylinder 20, the response of the rolling control is deteriorated. Therefore, in order to eliminate the baggage, the lower ring hole 80 is pushed up by the press-fit bolt 85 to remove the baggage. .

 The bolt 85 is fastened upward until the upper end portion of the press-fit bolt 85 abuts against the lower surface of the ring hole 80, and then the position is fixed with a locknut 86.

When comprised in this way, expansion and contraction of the hydraulic cylinder 20 will be converted into rotation of the center boom 22 as it is, and the response of horizontal control improves so that there is no baggage.

10 is a description of the loosening prevention structure of the upper pin 83 hinged to support the upper portion of the hydraulic cylinder (20).

The tip of the pin 83 into which the ring hole 80 is fitted is tapered. A screw hole 88 is provided in the tapered portion, and the end surface of the ring hole 80 is pressed with a collar 89 to tighten the bolt 90. The pushing force is adjusted by turning, so that the inner circumference of the ring hole 80 is fed into the tapered portion so as to prevent baggy.

Also in this case, since the amount of expansion and contraction is reflected in the rotation of the center boom, as in the case of the previous case, the looseness of the hydraulic cylinder 20 is eliminated, thereby enabling highly accurate horizontal control.

11 and 12 illustrate the relationship between the attachment position of the hydraulic cylinder 20 and the swinging center of the center boom 22.

FIG. 11 illustrates a case where each point position is formed such that a line segment connecting the upper pin 83 and the lower pin 84 and a line segment connecting the pivot shaft 14 and the lower pin 84 intersect 90 degrees. have.

When the piston rod 20a of the hydraulic cylinder 20 expands and contracts about the upper pin 83, the same angle can be corrected by the same amount of expansion and contraction, so that the accuracy of horizontal control is improved. .

12 is a modified example of FIG. 11, the hydraulic cylinder 20 is installed to be inclined when viewed from the front, in this case also the line segment connecting the upper pin 83 and the lower pin 84, and the rotating shaft 14 and Each point position is formed so that the line segment connecting the lower pin 84 intersects 90 degrees.

FIG. 13 shows the side boom 23 as the U-shaped boom receiver 92 having an upper opening when the side boom 23 is received. In this case, an operator accidentally turns the boom lift switch 53 off. It is operated downward and the check is fastened so that the side boom 23 may not be lowered too much.

For this purpose, when the limit switch 93 is provided in the lower surface of the boom support 92, and this limit switch 93 is ON, even if an operator operates the lifting switch 53 down, the boom will fall. Do not. Including such a check mechanism eliminates the inadequacy that the boom tip portion interferes with the front wheels 5 as a result of the boom accidentally lowering.

Since this invention is comprised as mentioned above, the following effects are exhibited.

That is, in the invention according to claim 1, the base portion of the elevating link mechanism extending forward is hingedly supported by the mobile farming machine, a boom support frame is provided on the front portion of the elevating link mechanism, and the front and rear directions formed on the boom support frame. A boom oscillation angle sensor for rotatably supporting the control boom around the axis of the control rod and interposed between the boom support frame and the control boom via a telescopic actuator, and detecting the swing angle of the control boom near the shaft portion. The gas of the mobile farm is provided with an inclination sensor for detecting the inclination of the gas in the left and right directions, and the control boom is moved in a horizontal position based on the inclination detection by the inclination sensor and the left and right oscillation angle by the boom oscillation angle sensor. Since the switching valve for expanding and controlling the actuator is installed in order to set the set inclined posture, the control boom can always be controlled in the set posture, Since all devices such as actuators and switching valves are concentrated in the front of the body, maintenance is easy in the future, and piping and harnesses can be easily arranged. Since the inclination sensor 41 is provided in a base | substrate, it can set in the place which is hard to receive the vibration while running.

According to the second aspect of the present invention, the actuator is constituted by a hydraulic cylinder, and the changeover valve is constituted by a hydraulic changeover valve. Also, it can be configured with high precision.

According to the invention of claim 3, the actuator is provided on one side in the left and right direction along the shaft portion, and the exhaust port of the muffler of the mobile farm is provided on the opposite side, so that the actuator is soiled by the exhaust gas. It does not lose and is not affected by heat.

1 is a side view of a ride manager.

2 is a front view of the main portion.

3 is a plan view of the main portion.

4 is a hydraulic circuit diagram.

5 is an attached top view of the inclination sensor.

6 is an attached side view of the inclination sensor.

7 is a plan view of the operation panel.

8 is a control block diagram.

9 is an enlarged front view of the main portion.

10 is an enlarged plan view of the main portion.

11 is a front view of the main portion.

12 is a front view of the main portion.

Fig. 13 is an enlarged side view of the boom receiving portion.

※ Explanation of Major Drawings

1 ... Passenger Manager

2 ... front wheel

3 ... rear wheel

4 ... engine

5 ... Bonnet

10 ... Lift Link

12 ... support frame

14 ... pivot

15 ... Muffler

18 ... Floor

19 ... Control panel

20 ... hydraulic cylinder

22. Center Control Boom

23 ... side control boom

30 ... Potentiometer

33 ... Horizontal selector valve

35 ... controller

41. Inclination sensor

Claims (3)

The base portion of the elevating link mechanism (10) extending forward is hinged to the mobile agricultural machine (1), and the boom support frame (12) is installed in front of the elevating link mechanism (10), and the boom supporting frame (12) At the same time, the control booms 22 and 23 are rotatably supported around the shaft 14 in the front and rear directions formed therein, and between the boom support frame 12 and the control boom 22, an elastic actuator ( A boom oscillation angle sensor 30 for detecting the oscillation angles of the control booms 22 and 23 is provided near the shaft 14 portion via 20, and the gas of the mobile farm 1 is applied to the gas. An inclination sensor 41 for detecting the inclination of the gas in the left and right directions is provided, and the control boom 22 is mounted on the basis of the inclination detection by the inclination sensor 41 and the left and right oscillation angle by the boom oscillation angle sensor 30. Work characterized in that the switching valve 33 for expanding and controlling the actuator 20 is installed in order to set the horizontal posture or the set posture posture. The posture control device. The method of claim 1, The actuator 20 is composed of a hydraulic cylinder, the switching valve 33 is a posture control device of the work machine, characterized in that composed of a hydraulic switching valve. The method of claim 1, The actuator 20 is provided on one side in the left and right direction with the shaft 14 interposed therebetween, and the exhaust port 15 of the muffler of the mobile farm machine 1 is provided on the opposite side. Device.