WO2015019942A1 - Dispositif de commande d'orientation d'appareil de travail - Google Patents

Dispositif de commande d'orientation d'appareil de travail Download PDF

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Publication number
WO2015019942A1
WO2015019942A1 PCT/JP2014/070243 JP2014070243W WO2015019942A1 WO 2015019942 A1 WO2015019942 A1 WO 2015019942A1 JP 2014070243 W JP2014070243 W JP 2014070243W WO 2015019942 A1 WO2015019942 A1 WO 2015019942A1
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WO
WIPO (PCT)
Prior art keywords
cylinder
sensor
hydraulic
rod
valve
Prior art date
Application number
PCT/JP2014/070243
Other languages
English (en)
Japanese (ja)
Inventor
知文 越智
山本　直樹
Original Assignee
ヤンマー株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP2013166347A external-priority patent/JP6325210B2/ja
Priority claimed from JP2013166348A external-priority patent/JP6096620B2/ja
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to CN201480044132.2A priority Critical patent/CN105472965B/zh
Publication of WO2015019942A1 publication Critical patent/WO2015019942A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • A01B63/1115—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements using a mechanical ground contact sensor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
    • A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
    • A01B33/024—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools with disk-like tools

Definitions

  • the rotary tiller as a ground working machine is connected to the traveling vehicle so as to be movable up and down in order to adjust the tilling depth. Moreover, the rotary tiller is connected to the traveling vehicle so as to be able to tilt left and right in order to adjust the tilt left and right.
  • the upper side of the rotation trajectory of the tillage claw in the rotary tiller is covered with a tillage cover.
  • a rear cover is connected to the rear end of the tillage cover. Then, the rear cover can be turned up and down, grounded at a predetermined pressure, and used as a tilling depth detecting means to detect the tilling depth of the rotary tiller, so that the detected value coincides with the target tilling depth.
  • the plowing automatic control for controlling the plowing depth was performed, and the plowing work was executed (for example, Patent Literature 1 and Patent Literature 2).
  • JP 59-88008 A Japanese Utility Model Publication No.59-73128 JP 2008-187982 A
  • the sensor input restricting body is divided and formed so that a restriction width of the sensor input restricting body can be adjusted.
  • the structure in the posture control apparatus for a work machine according to the first aspect, includes a sensor input rod for connecting a sensor wire to the lift valve, and the sensor is on the sensor wire pulling side.
  • the input rod is configured to repress.
  • a rotary tiller is provided as the ground working machine, and a tilling depth setting tool for setting the tilling depth is provided. It is a structure, and the sensor input restricting body is connected to the tillage depth setting tool.
  • Invention of Claim 5 is a structure provided with the tilling depth setting tool for setting tilling depth in the attitude
  • a tilling depth setting rod for connecting the sensor input restricting body is provided, the tilling depth setting rod is formed to be extendable and contractable, and the restricting width of the sensor input restricting body is adjustable.
  • the check valve and the hydraulic throttle valve are incorporated in a cylinder head of the rolling cylinder, and a piston rod of the rolling cylinder is provided.
  • a rod side port for allowing pressure oil to enter and exit from the rod side cylinder chamber is provided, and the rod side port is provided in the cylinder head of the rolling cylinder.
  • the rolling cylinder is connected to a lift arm of a work vehicle, and the piston rod of the rolling cylinder is directed downward toward the link mechanism.
  • One end side of the oil passage pipe communicates with the rod side cylinder chamber while being arranged in the cylinder head of the rolling cylinder, and the other end of the oil passage pipe is connected to the check valve and the hydraulic throttle valve provided in the cylinder head.
  • the side is configured to communicate.
  • the work implement supported by the front wheels and the rear wheels is supported so as to be able to move up and down via the link mechanism, and the work implement is moved up and down.
  • a posture control device for a work machine comprising a hydraulic lift cylinder and lift valve that perform and a sensor wire that detects a ground work sensor angle of the ground work machine
  • a sensor input restricting body is provided in the middle of the connection between the lift valve and the sensor wire.
  • the hydraulic lift valve is switched based on the detection result of the vertical rotation of the rear cover (ground work sensor) to keep the tiller depth of the rotary tiller constant.
  • the hydraulic oil flow rate of the hydraulic lifting cylinder by the hydraulic lifting valve does not change significantly, and the automatic tilling depth control range can be maintained appropriately.
  • the automatic tilling depth control structure can be easily simplified, and the manufacturing cost of the tilling depth automatic control structure can be easily reduced.
  • the sensor input regulating body is divided and formed so that the regulation width of the sensor input regulating body can be adjusted, and the lifting speed of the ground work machine can be easily changed, The responsiveness of the lift valve can be improved.
  • a structure including a sensor input rod for connecting a sensor wire to the elevating valve, wherein the sensor input rod is pressed against the sensor wire pulling side, and the ground work
  • the effect of large displacement of the machine (rear cover) can be reduced.
  • the sensor input rod is displaced against the elastic force and can absorb a sudden change of the sensor wire, while the sensor wire is greatly changed to the slack side. Since the sensor input restricting body can absorb a sudden change in the sensor wire, the structure of the sensor input restricting body can be simplified.
  • the tillage depth setting tool for setting tillage depth
  • the sensor input restricting body is connected, and the ascending / descending speed of the ground working machine can be controlled within the restriction width of the set depth of the tillage depth setting tool. Regardless of the depth setting operation of the tillage depth setting tool, the tillage depth can be controlled in a region where the lifting speed is always slow.
  • the tillage depth setting tool for setting tillage depth
  • the tillage depth setting rod which connects the said sensor input control body to the said tillage depth setting tool
  • the tillage depth setting rod is formed to be extendable and adjustable, and the regulation width of the sensor input regulating body can be adjusted.
  • the regulation area of the sensor input regulating body (rising side regulation area and descending side regulation) The balance of the area can be easily changed, and the responsiveness of the lift valve can be improved.
  • the lifting speed of the ground work machine can be set so that the lowering side is slightly raised and the rising side is greatly raised and lowered, and the drive load of the ground working machine is rapidly increased (overload operation). Can be suppressed.
  • a hydraulic rolling cylinder that horizontally controls the ground work machine and a rolling sensor that detects a left-right inclination of the ground work machine are provided, and a check valve and a hydraulic throttle are provided in a cylinder head of the rolling cylinder. Since the valve is provided, the performance of the check valve and the hydraulic throttle valve can be ensured for each rolling cylinder.
  • the oil passage structure can be configured at low cost. A natural descent of the ground work machine can be secured by a cylinder mechanism. For each model with different specifications, there is no need to specially configure a hydraulic rolling valve whose performance is optimized according to each specification, and it is easy to simplify the horizontal automatic control structure or reduce manufacturing costs. .
  • the check valve and the hydraulic throttle valve are built in the cylinder head of the rolling cylinder, and the pressure oil is made to enter and leave the rod side cylinder chamber in which the piston rod of the rolling cylinder is arranged. Since the rod-side port is provided and the rod-side port is provided in the cylinder head of the rolling cylinder, the check valve can be provided for each rolling cylinder while the external shape of the rolling cylinder can be simply formed. And the performance of the hydraulic throttle valve can be secured.
  • the rolling cylinder is connected to a lift arm of a work vehicle, the piston rod of the rolling cylinder protrudes downward toward the link mechanism, and the piston rod of the rolling cylinder is disposed.
  • a rod-side port for allowing pressure oil to enter and exit the rod-side cylinder chamber and a bottom-side port for allowing pressure oil to enter and exit the bottom-side cylinder chamber of the rolling cylinder are disposed in the cylinder head of the rolling cylinder, while the rod side Since one end side of the oil passage pipe is communicated with the cylinder chamber, and the other end side of the oil passage pipe is communicated with the check valve and the hydraulic throttle valve provided in the cylinder head.
  • the external shape of the rolling cylinder can be simply formed For each of the rolling cylinder, it can be secured performance of the check valve and the hydraulic throttle valve.
  • the hydraulic hose can be piped by concentrating on the cylinder head side on the upper end side of the rolling cylinder, and the hydraulic hose can be easily installed at a high position on the lift arm side of the work vehicle. I can support it.
  • FIG. 4 is an enlarged explanatory view of a main part of FIG. 3. It is a bottom view of the working machine lifting mechanism. It is left side explanatory drawing of a rotary tiller. It is principal part expansion explanatory drawing of FIG. It is a left view of the raising / lowering mechanism for working machines which shows 2nd Embodiment. It is principal part expansion explanatory drawing of FIG. It is a right view of the raising / lowering mechanism for working machines. It is the same top view. It is the bottom view.
  • FIG. It is the left side sectional view.
  • FIG. It is sectional drawing of a hydraulic rolling cylinder. It is an expanded sectional view of a hydraulic rolling cylinder. It is a fragmentary sectional view of a hydraulic rolling cylinder. It is a hydraulic circuit. It is a posture control circuit diagram. It is a flowchart of FIG.
  • FIG. 1 is a side view of a farm tractor and a rotary tiller
  • FIG. 2 is a plan view thereof.
  • the left side in the forward direction of the traveling machine body 1 is simply referred to as the left side
  • the right side in the forward direction is also simply referred to as the right side.
  • the traveling machine body 2 in the tractor 1 is supported by a pair of left and right front wheels 3 and a pair of left and right rear wheels 4.
  • the rear wheels 4 and the front wheels 3 are driven by a diesel engine 5 mounted on the front part of the traveling machine body 2 so that the tractor 1 travels forward or backward.
  • the upper side of the diesel engine 5 is covered with an openable / closable bonnet 6.
  • a driving unit 7 is installed behind the hood 6 on the upper surface of the traveling machine body 2.
  • a control seat 8 on which an operator sits and a control handle 9 for steering the front wheel 3 are installed in the driving unit 7.
  • the driving unit 7 is provided with a boarding step 10 on which an operator boards.
  • a boarding / alighting step 11 on which the operator gets on / off is provided on the left side of the boarding step 10.
  • the traveling machine body 2 includes an engine frame 14 having a front bumper 12 and a front axle case 13, a clutch housing 15 fixed to the rear part of the diesel engine 5, and a transmission case 16. Is done.
  • the rotation of the diesel engine 5 is changed by the transmission case 16 and transmitted to the rear wheel 4 or the front wheel 3.
  • the rear axle case 17 is projected outward from the left and right side surfaces of the transmission case 16, and the rear wheel 4 is attached to the rear axle case 17.
  • the rear axle case 17 is provided with a rops frame 18 standing, and a fuel tank 19 is mounted between the control seat 8 on the front upper surface of the transmission case 16 and the rops frame 18.
  • a hydraulic lifting mechanism 20 for lifting and lowering a rotary tiller 24 as a ground working machine is mounted on the upper surface of the rear portion of the mission case 16.
  • a three-point link mechanism 23 including a pair of left and right lower links 21 and a top link 22 is provided at the rear part of the mission case 16, and the rotary tiller 24 is mounted on the mission case 16 via the three-point link mechanism 23 so as to be movable up and down.
  • the front end sides of the left and right lower links 21 are rotatably connected to the left and right side surfaces of the rear portion of the mission case 16 via lower link pins 25.
  • the front end side of the top link 22 is connected to a top link hitch 26 at the rear of the hydraulic lifting mechanism 20 via a top link pin 27. Further, a PTO shaft 28 that transmits the PTO driving force to the rotary tiller 24 is provided, and the PTO shaft 28 is provided so as to protrude rearward from the rear side surface of the transmission case 16.
  • the hydraulic lifting mechanism 20 is provided with a pair of left and right lift arms 29.
  • the lower link 21 and the lift arm 29 on the left side in the traveling direction are connected via a left lift rod 30.
  • the left and right lift arms 29 are driven up and down by the hydraulic lifting mechanism 20 to move the rotary tiller 24 up and down.
  • the lower link 21 and the lift arm 29 on the right side in the traveling direction are connected via a double-acting hydraulic rolling cylinder 32 and a piston rod 33 that form a right lift rod.
  • the hydraulic rolling cylinder 32 is controlled and adjusted so that the horizontal tiller angle of the rotary tiller 24 is adjusted and supported horizontally.
  • the rotary cultivator 24 includes a horizontally long main beam 36, a chain case 37 and a bearing plate 38 each having an upper end connected to left and right ends of the main beam 36. Further, a tilling claw shaft 39 whose left and right ends are rotatably supported on the lower ends of the chain case 37 and the bearing plate 38, a plurality of tilling claws 40 that are detachably attached to the tilling claw shaft 39 in a radial manner,
  • the tilling upper surface cover 41 arranged so as to cover the upper side of the rotation trajectory of the claw 40
  • the left and right tillage side covers 42 arranged so as to cover the left and right sides of the rotation trajectory of the tilling claw 40
  • the rotation trajectory of the tilling claw 40 A tilling rear cover 43 disposed so as to cover the rear of the head, and a tilling depth adjusting frame 44 attached to the main beam 36 at the front end side and extending rearward.
  • the power from the PTO shaft 23 is transmitted to the tilling claw shaft 39, and the tilling claw 40 is rotated counterclockwise to cultivate the cultivated soil in the field, and the cultivated soil discharged from the tilling claw 40 to the rear of the tilling rear cover 43.
  • the amount is limited and the cultivated soil surface is leveled by the cultivating rear cover 43.
  • the tilling depth adjusting handle 45 by manually operating the tilling depth adjusting handle 45, the ground posture of the rotary tiller 24 is changed to the forward tilting posture or the backward tilting posture, so that the tilling depth by the tilling claws 40 can be changed.
  • a gear case 46 for inputting a driving force from the PTO shaft 23 is disposed at the left and right central portion of the main beam 36.
  • the power from the PTO shaft 23 is transmitted from the gear case 46 to the tilling claw shaft 39, and the tilling claw 40 is rotated counterclockwise in FIG.
  • an elevating restriction pin 55 is disposed on the lower side of the hanger rod 50 (above the support shaft 53), and the hanger rod 50 between the pressure receiving shaft body 48a and the elevating restriction pin 55 has a donut-shaped upper and lower seats.
  • a pressure reducing compression spring 58 for applying pressure to the tilling rear cover 43 is fitted through the plates 56 and 57.
  • the pressure-reducing compression spring 58 is compressed via the rise restricting pin 55 and the lower seat plate 57, and the rear end of the tilling rear cover 43.
  • the upward rotation of the side is restricted by the urging force of the compression spring 58 for pressure suppression. Therefore, the amount of cultivated soil discharged from the cultivating claws 40 to the rear of the cultivating rear cover 43 is limited, and the cultivated soil surface is leveled by the cultivating rear cover 43.
  • a steering column 60 on which the steering handle 9 is disposed is provided, and a left and right brake pedal 61 is disposed on the lower right side of the steering column 60.
  • a traveling clutch pedal 62 is disposed below the left side of the steering column 60.
  • a travel auxiliary transmission lever 65 is arranged on the left side of the control seat 8.
  • a differential lock pedal 66 that locks the differential drive of the left and right rear wheels 4 is disposed in front of the right side of the control seat 8.
  • a rolling sensor 67 having a pendulum structure that detects the left-right tilt of the traveling machine body 2 is disposed.
  • the hydraulic elevating mechanism 20 includes a hydraulic case 72 in which a hydraulic elevating cylinder 71 is provided.
  • a piston 73 is slidably disposed in the elevating cylinder 71 and is lifted to the hydraulic case 72.
  • the base ends of the left and right lift arms 29 are rotatably provided via the shaft 74.
  • the piston 73 and the lifting shaft 74 are connected by a connecting rod 75 and a pressure receiving arm 76, and the sliding of the piston 15 is transmitted to the lift arm 29 via the connecting rod 75, the pressure receiving arm 76, and the lifting shaft 74.
  • the tip end side of the lift arm is configured to rotate up and down.
  • a return spring 83 is interposed in the spool 82 of the elevating valve 81, and the spool 82 is biased in the protruding direction, that is, in the "down" direction.
  • One end side of the push rod 84 is in contact with the tip of the spool 82, and an intermediate portion of the connecting link body 86 is pivotally supported on the other end side of the push rod 84 via a fulcrum shaft body 85.
  • An intermediate portion of the push rod 84 is slidably supported on a receiving cylinder 87 provided in the hydraulic case 72. That is, the push rod 84 is slidably disposed on the hydraulic case 72 via the receiving cylinder 87.
  • a lifting operation shaft 88 that pivotally supports the work implement lifting lever 63 and a feedback shaft 90 that is connected to the lift arm 29 via a feedback link mechanism 89 are pivotally supported on the opposite side surface of the hydraulic case 72.
  • the lifting operation shaft 88 and the feedback shaft 90 are arranged on the same axis, and the shaft link 91 fixed to the lifting shaft 74 and the shaft link 92 fixed to the feedback shaft 90 are connected by a feedback rod 93.
  • the feedback link mechanism 89 is formed.
  • a sensor input restricting body 112 is provided in the middle of the connection between the feedback shaft 90 on which the lift valve 81 is operated and the sensor wire 111.
  • the sensor input regulating body 112 is divided and formed by a sensor link 115 coupled to a tillage depth setting lever 126 described later and an adjustment link 117 coupled to the sensor link 115 via an adjustment screw 116.
  • the tillage depth detection shaft 124 is fitted on the feedback shaft 90, the proximal end side of the linkage link 118 is provided on the tillage depth detection shaft 124, and the distal end portion of the linkage link 118 is connected to the other end side of the sensor input rod 114.
  • a linkage pin body 119 is fixed to an intermediate portion of the linkage link 118.
  • the sensor input restriction body 112 is divided and formed by the sensor link 115 and the adjustment link 117, and the distance between the sensor link 115 and the adjustment link 117, which is the restriction width of the sensor input restriction body 112 (movement width of the linkage pin body 119). Can be adjusted, the lifting speed of the rotary tiller 24 can be easily changed, and the responsiveness of the lifting valve 81 can be improved.
  • a tillage depth setting link mechanism 131 for connecting the sensor link 115 to the tillage depth setting lever 126 is provided.
  • a tilling depth setting link mechanism 131 is formed by the tilling depth setting rods 132 and 133, the tilling depth setting links 134 and 135, the relay shaft 136, and the like.
  • the hydraulic oil flow rate of the elevating cylinder 71 is limited, and the ascending or descending speed of the rotary tiller 24 can be controlled.
  • the hydraulic oil flow rate of 71 is limited, the raising / lowering cylinder 71 operates within a small range of the hydraulic oil flow rate, and the rotary tiller 24 can be prevented from rising or falling rapidly. It is possible to reduce hunting (unstable control operation) of tillage depth automatic control of the rotary tiller 24.
  • a sensor input restricting link 211 is provided as the sensor input restricting body 112, and a tilling depth detection shaft is provided.
  • a sensor input restriction link 211 is provided at 124.
  • An input restriction hole 211 a is formed in the sensor input restriction link 211, the linkage pin body 119 is loosely engaged, and the tillage depth setting rod 133 is connected to the sensor input restriction link 211.
  • a rotary cultivator 24 as a ground working machine is connected to a tractor 1 as a work vehicle supported by a front wheel 3 and a rear wheel 4 so as to be freely movable.
  • a tractor 1 as a work vehicle supported by a front wheel 3 and a rear wheel 4 so as to be freely movable.
  • a sensor input restricting body 112 is provided in the middle of connection between the lift valve 81 and the sensor wire 111.
  • the lifting valve 81 switching range can be restricted by restricting the angle detection amount of the tilling rear cover 43, the tilling depth can be controlled in the region where the lifting speed of the hydraulic lifting cylinder 71 is slow, and hunting can be prevented.
  • the hydraulic lift valve 81 is switched based on the detection result of the vertical rotation of the tilling rear cover 43 (ground working sensor), and the tilling depth of the rotary tiller 24 is kept constant.
  • the tilling depth automatic control is maintained, the working oil flow rate of the hydraulic lifting cylinder 71 by the hydraulic lifting valve 81 does not change greatly even if the tilling rear cover 43 is suddenly greatly displaced. Can be maintained properly.
  • a structure that electrically detects the vertical rotation of the tilling rear cover 43 and switches an electromagnetic hydraulic lifting valve based on the detection result, or a special hydraulic valve for automatic tilling control separately from the hydraulic lifting valve 81 Compared to the structure in which the tilling depth automatic control structure can be simplified, the manufacturing cost of the tilling depth automatic control structure can be easily reduced.
  • the sensor input rod 114 that connects the sensor wire 111 to the elevating valve 81 is provided, and the sensor input rod 114 is elastically pressed by the lower-side absorption spring 113 on the pulling side of the sensor wire 111. It is configured as follows. Therefore, the influence of a large displacement amount of the rotary tiller 24 (rear cover 43) can be reduced. For example, when the sensor wire 111 is greatly changed to the pulling side, the sensor input rod 114 is displaced against the elastic pressure and can absorb the sudden change of the sensor wire 111, while the sensor wire 111 is greatly changed to the slack side. Since the sensor input restricting body 112 can absorb the sudden change of the sensor wire 111, the structure of the sensor input restricting body 112 can be simplified.
  • a rotary cultivator 24 is provided as a ground working machine, and a cultivating depth setting lever 126 as a cultivating depth setting tool for setting the cultivating depth is provided.
  • the sensor input restricting body 112 is connected to the depth setting lever 126. Therefore, the raising / lowering speed of the rotary tiller 24 can be controlled within the regulation width of the set depth of the tillage depth setting lever 126. Regardless of the setting depth operation of the tilling depth setting lever 126, the tilling depth can be controlled in a region where the lifting speed is always slow.
  • the lifting speed of the rotary tiller 24 can be set so that the descending side is slightly raised and the ascending side is greatly lifted, and the drive load of the rotary tiller 24 is rapidly increased (overload operation). Can be suppressed.
  • the hydraulic elevating mechanism 20 includes an elevating cylinder 71 that elevates and lowers the left and right lift arms 29, and an elevating valve 81 that controls the elevating cylinder 71.
  • the lift valve 81 is switched by operating the work implement lift lever 63, the lift cylinder 71 is operated, and the rotary tiller 24 is moved up and down.
  • an electromagnetic hydraulic rolling valve 181 that controls the operation of the rolling cylinder 32 is provided.
  • the rolling valve 181 includes a left tilt solenoid 182 and a right tilt solenoid 183.
  • the left tilt solenoid 182 or the right tilt solenoid 183 is excited, the rolling valve 181 is switched, the rolling cylinder 32 is operated, and the rotary tiller 24 is supported horizontally to the ground. .
  • the lift valve 81 and the rolling valve 181 are hydraulically connected to the hydraulic pump 184 driven by the diesel engine 5 via the diversion valve 185.
  • the rolling valve 181 is hydraulically connected to the rod-side cylinder chamber 186 and the bottom-side cylinder chamber 187 of the rolling cylinder 32 via oil passages 188 and 189, and the oil passage 188 between the rolling valve 181 and the rod-side cylinder chamber 186.
  • a check valve 190 and a hydraulic throttle valve 191 provided in parallel are incorporated, the hydraulic flow rate of the oil passage 188 is adjusted by the check valve 190 and the hydraulic throttle valve 191, and the rolling cylinder 32 provided with the piston rod 33 downward is provided. It is configured to optimize forward and backward performance.
  • the suspension arm 193 of the rolling cylinder 32 is connected to the lift arm 29 via a lift pin 192, and the rolling cylinder 32 is moved toward the lower link 21 (link mechanism 23).
  • the piston rod 33 is protruded downward.
  • the piston main body 195 is slidably inserted into the cylinder tube 194 of the rolling cylinder 32, and one end side (upper end side) of the piston rod 33 is fastened and fixed to one side of the piston main body 195.
  • a rod side cylinder chamber 196 and a bottom side cylinder chamber 197 are formed inside the cylinder tube 194 via a piston body 195.
  • the hanging portion 193 is integrally fixed to the cylinder head 223 of the rolling cylinder 32, and the rod-side port 221 through which pressure oil enters and exits the rod-side cylinder chamber 196 and the pressure oil enters and exits the bottom-side cylinder chamber 197.
  • the bottom port 222 is disposed on the cylinder head 223.
  • the hydraulic hose joint bodies 224 and 225 are respectively provided in the rod side port 221 and the bottom side port 222, and the hydraulic hose joint bodies 224 and 225 are connected to the oil passages 188 and 189 of the hydraulic rolling valve 181, respectively.
  • one end side of the oil passage pipe 227 is connected to the cylinder port body 226 of the rod side cylinder chamber 196, and one end side of the oil passage pipe 227 is connected to the rod side cylinder chamber 196.
  • the other end side of the oil passage pipe 227 is connected to the cylinder head 223, and a pressure adjusting valve body 229 is provided in the cylinder head 223 via a plug 228.
  • the pressure regulating valve body 229 forms a check valve 190 and a hydraulic throttle valve 191 that opens in the check valve 190.
  • an attitude control controller 234 formed by a microcomputer is provided.
  • An inclination setting dial 235 for setting the ground inclination angle of the rotary cultivator 24, a vehicle speed sensor 236 for detecting the moving speed of the tractor, a PTO rotation sensor 237 for detecting the rotation speed of the PTO shaft 28, and the lifting angle of the lift arm are input-connected to the attitude controller 234.
  • the left tilt solenoid 182 and the right tilt solenoid 183 are output-connected to the attitude control controller 234.
  • the inclination angle detected by the rolling sensor 67 is read, and the inclination setting dial 235 value, the vehicle speed sensor 236 value, the PTO rotation sensor 237 value, and the lift angle sensor 238 value are read.
  • the ground inclination angle of the rotary tiller 24 is calculated, and the ground inclination angle of the rotary tiller 24 is inclined.
  • the left or right tilt of the rotary tiller 24 is judged, the left tilt solenoid 182 or the right tilt solenoid 183 is excited, the hydraulic rolling valve 181 is switched, and the ground tilt angle (left and right) of the rotary tiller 24 is changed. (Tilt angle) is corrected.
  • a rotary cultivator 24 as a ground work machine is connected to a tractor 1 as a work vehicle supported movably by the front wheels 3 and the rear wheels 4 via a link mechanism 23.
  • a posture control device for an agricultural working machine comprising a hydraulic rolling cylinder 32 that horizontally controls the rotary tiller 24 and a rolling sensor 67 that detects the horizontal inclination of the rotary tiller 24
  • a check valve 190 and a hydraulic throttle valve 191 are provided in the cylinder head 223. Therefore, the performance of the check valve 190 and the hydraulic throttle valve 191 can be ensured for each rolling cylinder 32.
  • the oil passage structure can be configured at low cost.
  • the natural descent of the rotary cultivator 24 can be secured by the cylinder mechanism. For each model with different specifications, it is not necessary to specially configure the hydraulic rolling valve 181 whose performance is optimized according to each specification, and it is easy to simplify the horizontal automatic control structure or reduce manufacturing costs. it can.
  • the check valve 190 and the hydraulic throttle valve 191 are built in the cylinder head 223 of the rolling cylinder 32, and the pressure oil is supplied to the rod side cylinder chamber 196 in which the piston rod 33 of the rolling cylinder 32 is disposed.
  • the rod-side port 221 is provided in the cylinder head 223 of the rolling cylinder 32. Therefore, the performance of the check valve 190 and the hydraulic throttle valve 191 can be ensured for each rolling cylinder 32 while the external shape of the rolling cylinder 32 can be simply formed.
  • the rolling cylinder 32 is connected to the lift arm 29 of the tractor 1, and the piston rod 33 of the rolling cylinder 32 protrudes downward toward the link mechanism 23.
  • the cylinder head 223 of the rolling cylinder 32 includes a rod-side port 221 through which pressure oil enters and exits the rod-side cylinder chamber 196 in which 33 is disposed, and a bottom-side port 222 through which pressure oil enters and exits the bottom cylinder chamber 197 of the rolling cylinder 32.
  • One end side of the oil passage pipe 227 is communicated with the rod side cylinder chamber 196, and the other end side of the oil passage pipe 227 is connected to the check valve 190 and the hydraulic throttle valve 191 provided in the cylinder head 223. It is configured to communicate.
  • the performance of the check valve 190 and the hydraulic throttle valve 191 can be ensured for each rolling cylinder 32 while the external shape of the rolling cylinder 32 can be simply formed.
  • the hydraulic hose can be piped by being concentrated on the cylinder head 223 side on the upper end side of the rolling cylinder 32, and the hydraulic hose is located at a high position on the lift arm 29 side of the tractor 1. Can be easily supported.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Soil Working Implements (AREA)

Abstract

La présente invention aborde le problème technique de proposer un dispositif de commande d'orientation d'appareil de travail qui est apte à empêcher une oscillation et à commander la profondeur de labourage dans la région de faible vitesse de levage d'un vérin de levage hydraulique (71). Un appareil de travail du sol (24) est monté, par l'intermédiaire d'un mécanisme de liaison (23) de façon à être apte à s'élever/s'abaisser, sur un véhicule de travail (1) porté de façon à être apte à entraîné par une roue de véhicule avant (3) et une roue de véhicule arrière (4). Le véhicule de travail (1) est de plus équipé d'un vérin de levage hydraulique (71) et d'une soupape à disque (81) qui élève et abaisse l'appareil de travail du sol (24), et d'un fil détecteur (111) qui détecte l'angle d'un détecteur de travail du sol (43) dans l'appareil de travail du sol (24). Un corps de restriction d'entrée de détecteur (112) est de plus disposé à un emplacement le long de la connexion entre la soupape à disque (81) et le fil détecteur (111).
PCT/JP2014/070243 2013-08-09 2014-07-31 Dispositif de commande d'orientation d'appareil de travail WO2015019942A1 (fr)

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JP2013166347A JP6325210B2 (ja) 2013-08-09 2013-08-09 作業機の姿勢制御装置
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EP3322276A4 (fr) * 2015-07-10 2019-04-17 Oy El-Ho Ab Solutions hydrauliques sur une machine de travail
CN110275550A (zh) * 2018-03-14 2019-09-24 武汉盛硕电子有限公司 基于北斗定位、耕深测量的自动控制系统和方法
KR102046819B1 (ko) * 2019-09-16 2019-11-20 충남대학교산학협력단 자율주행 트랙터의 경심 제어장치
US10561052B2 (en) 2017-04-25 2020-02-18 Cnh Industrial Canada, Ltd. Automatic fore/aft leveling trim function in a towable tillage implement
US11612093B2 (en) 2016-02-19 2023-03-28 Precision Planting, Llc Agricultural trench depth systems, methods, and apparatus
US11624377B1 (en) * 2022-03-08 2023-04-11 Turk Traktor Ve Ziraat Makineleri A.S. Single solenoid-controlled electro-hydraulic liftomatic system
US11882782B2 (en) 2018-03-01 2024-01-30 Precision Planting Llc Agricultural trench depth systems, methods, and apparatus

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WO2018116642A1 (fr) * 2016-12-22 2018-06-28 株式会社クボタ Vehicule de travail
CN106717157A (zh) * 2016-12-23 2017-05-31 益阳市德林机械有限公司 一种机械、液压、电气控制组合式农机自动平田旋耕设备
JP6956540B2 (ja) * 2017-06-28 2021-11-02 株式会社クボタ 作業車
CN109854554B (zh) * 2018-08-30 2020-06-09 北京农业智能装备技术研究中心 一种拖拉机后悬挂装置及其控制方法
CN113891650B (zh) * 2019-05-29 2023-07-07 株式会社久保田 拖拉机
CN110692287B (zh) * 2019-11-13 2022-11-22 长沙桑铼特农业机械设备有限公司 一种具有调平功能的旋耕机
CN114600580B (zh) * 2022-03-25 2023-04-07 南京农业大学 一种旋耕装置及旋耕深度控制方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3322276A4 (fr) * 2015-07-10 2019-04-17 Oy El-Ho Ab Solutions hydrauliques sur une machine de travail
US10674653B2 (en) 2015-07-10 2020-06-09 Oy El-Ho Ab Stone picker and related methods
US11612093B2 (en) 2016-02-19 2023-03-28 Precision Planting, Llc Agricultural trench depth systems, methods, and apparatus
US11707007B2 (en) 2016-02-19 2023-07-25 Precision Planting Llc Agricultural trench depth systems, methods, and apparatus
US10561052B2 (en) 2017-04-25 2020-02-18 Cnh Industrial Canada, Ltd. Automatic fore/aft leveling trim function in a towable tillage implement
US10973162B2 (en) 2017-04-25 2021-04-13 Cnh Industrial Canada, Ltd. Method for adjusting the fore/aft trim of a towed implement frame
US11882782B2 (en) 2018-03-01 2024-01-30 Precision Planting Llc Agricultural trench depth systems, methods, and apparatus
CN110275550A (zh) * 2018-03-14 2019-09-24 武汉盛硕电子有限公司 基于北斗定位、耕深测量的自动控制系统和方法
KR102046819B1 (ko) * 2019-09-16 2019-11-20 충남대학교산학협력단 자율주행 트랙터의 경심 제어장치
US11624377B1 (en) * 2022-03-08 2023-04-11 Turk Traktor Ve Ziraat Makineleri A.S. Single solenoid-controlled electro-hydraulic liftomatic system

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