JPH05268802A - Posture-controlling structure for working apparatus of working machine - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a work device posture control structure for a work machine capable of maintaining the work device in a predetermined good posture even when the machine makes a sharp turn during traveling. A work device is mounted on a movable machine body so that it can be freely rolled around a longitudinal axis, and the work machine is grounded to a predetermined left or right position based on a detection result of a tilt sensor 21 that detects a left and right tilt posture of the machine body. A control mechanism 22 for performing rolling control so as to maintain the tilted posture is provided, and when the control mechanism 22 detects a sudden turning state of the machine body, the lock means 23 that locks the work device in a posture without left and right inclination with respect to the machine body. Is equipped with.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work device attitude control structure for a work machine such as an agricultural tractor.

[0002]

2. Description of the Related Art Conventionally, as a work device attitude control structure for a work machine such as an agricultural tractor, for example, Japanese Patent Application Laid-Open No. 20770/1990.
As disclosed in Japanese Patent Publication No. 2 publication, a working device is mounted on the machine body so as to be able to roll around the longitudinal axis, and the machine body is tilted so as to maintain the work device in a predetermined left-right tilting posture with respect to the ground. It has been known that the working device is rockably operated around the front-rear axis based on the detection result of a tilted posture detection sensor that detects a posture. As the tilt posture detection sensor, for example, the weight is supported swingably with respect to the machine body while maintaining the vertical posture, and the swing angle of the weight with respect to the machine body as the machine body tilts is taken as the tilt angle of the machine body. A structure of electrically detecting was adopted.

[0003]

However, in the conventional structure described above, for example, when a sharp turn is made to change the direction of the machine body in the headland of the field in the scraping work, the centrifugal force accompanying the turn is generated. As a result, the weight of the tilt posture detection sensor also swings outward in the turning radius direction, which may detect that the machine body is tilted even though it is not actually tilted. Rolling control may be performed on the ground leveling member with respect to the body from a horizontal position. For this reason, the aircraft is turned in a state in which the substitute soil leveling member is tilted, and the mud surface of the field is scraped evenly. When the phenomenon occurs, the mud rises up on the edge of the ridge, and the drainage on the edge of the ridge deteriorates, and there is a high possibility that a defect that impairs the leveling condition of the field will occur. The present invention has been made in view of the above circumstances, and a work device posture control structure for a work machine capable of maintaining the work device in a predetermined good posture even when the machine body suddenly turns during traveling. For the purpose of providing.

[0004]

In order to achieve the above-mentioned object, a work device attitude control structure for a work machine according to the present invention is provided.
A working device is mounted on a movable machine body so as to be able to roll around the longitudinal axis, and based on the detection result of a tilt sensor that detects the lateral tilt attitude of the machine body, the working machine is grounded in a predetermined lateral tilt attitude. And a lock mechanism for locking the working device in a posture without left-right inclination with respect to the machine body when detecting a sudden turning state of the machine body. The feature is that it is provided. The actions and effects of this characteristic configuration are as follows.

[0005]

In other words, when the machine makes a sharp turn, the work device is locked in a posture that does not tilt to the left and right with respect to the machine, so rolling control is performed according to the detection result of the machine tilt sensor associated with the sharp turn, and the work device becomes unusable. It is possible to suppress a proper posture.

[0006]

Therefore, when the machine body makes a sharp turn, the work device is locked so as not to be in an unsuitable posture. As a result, the work device can be in a state with almost no inclination, and the work device does not have a bad influence on the ground or the like, and good work can be performed.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows a rear portion of an agricultural tractor as an example of a working machine according to the present invention. This agricultural tractor
A pair of left and right front wheels 1, 1 and rear wheels 2, 2 movably support a vehicle body 5 having a driving portion 3 and a driving portion 4, and a rear portion of the vehicle body 5 via a three-point link mechanism 6. A rotary cultivator 7 and a ground leveling member 8 for scraping, which are an example of a working device, are mounted and configured.

The ground leveling member 8 for scraping is a rotary tiller 7
The rear portion is connected to the crocodile, and is supported by the three-point link mechanism 6 so as to be able to move up and down together with the rotary tiller 7 and to be swingable with respect to the machine body 5 around the longitudinal axis. That is, the pair of left and right lower links 9, 9 of the three-point link mechanism 6 are supported by the lift rods 10, 10 in a suspended state, and both lift rods 10, 10 are supported.
The rotary tiller 7 and the scraping leveling member 8 are configured to be movable up and down by rocking the hydraulic cylinder 11, and the rolling cylinder 12 is interposed in one of the lift rods 10, 10. By adjusting the length of the lift rod 10 by expanding and contracting the rolling cylinder 12, the rotary tiller 7 and the ground leveling member 8 for scraping can be controlled to roll.

As shown in FIG. 2, the rear fender 5a of the machine body 5 is provided with a control box 13, and the control box 13 has a rotary tilling device 7 and a substitute soil leveling member 8 for the machine body 5. The rolling angle adjusting dial 14 is provided in association with the rolling angle setting potentiometer 15. The rolling cylinder 12 has a stroke sensor 16 for detecting the expansion / contraction amount of the rolling cylinder 12.
Angles for detecting the turning angle of the front wheels 1 and 1 forming the steering wheels
7 are arranged. Further, a shift position detecting potentiometer 19 for detecting the shift position of the shift lever 18 is provided in association with the shift lever 18. Further, a tilt sensor 21 for electrically detecting the swing angle of the weight for detecting the left-right tilted state of the machine body 5 is provided in the machine body 5. Further, the control box 13 is internally provided with a control device 22 as a control mechanism for operating the solenoid valve 20 for the rolling cylinder 12, the rolling angle setting potentiometer 15 and the stroke sensor 1.
6, output signals from the turning angle detecting potentiometer 17, the shift position detecting potentiometer 19 and the inclination sensor 21 are input to the control device 22.

The control device 22 always maintains the ground leveling member 8 for horizontal scratching in a horizontal posture when performing a horizontal scratching operation.
With respect to the left and right tilt detection results of the machine body 5, a control signal for operating the rolling cylinder 12 by feedback control is output so as to correct the left and right tilt amount of the machine body 5 in correspondence with the detection result of the stroke sensor 16. The relationship between the turning angle a detected by the turning angle detecting potentiometer 17 and the shift position detecting potentiometer 19 causes an excessive centrifugal force on the machine body 5, that is, the tilt sensor 21.
When there is a relationship in which a centrifugal force that oscillates and causes a false detection to act on the machine body 5, the rotary tiller 7 and the ground leveling member 8 for scraping are given to the machine body 5 in preference to the rolling control. Immediately, the rolling cylinder 12 is driven so that the rolling cylinder 12 is not tilted to the left and right, and the solenoid valve 20 is switched to the closed state in the tilted posture to lock and fix the rolling cylinder 12. Here, the control device 22, the solenoid valve 20, and the rolling cylinder 12 constitute a locking means 23. Therefore, when the front wheels 1, 1 are steered with a large turning angle so as to make a small turn when changing direction in a state where the vehicle is traveling at a speed higher than a predetermined vehicle speed on a headland, etc., the locking means 23 causes the rotary tiller 7 and the scraping device to scrape. The leveling member 8 is locked and fixed to the machine body 5 in a posture before the direction is changed, and is maintained in the locked state during the turning.

The present invention may be implemented as follows. (A) The locking means should be operated only when the steering wheel is steered by a predetermined angle or more. (B) A yawing sensor that exclusively detects the centrifugal force generated in the machine body when the machine body is turned is provided, and the lock means is activated when a predetermined or more centrifugal force is detected based on the detection result of the yawing sensor. thing.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view showing a work device attitude control structure of an agricultural tractor.

FIG. 2 is a side view showing a rear part of the agricultural tractor and a working device.

[Explanation of symbols]

 5 Aircraft 8 Working device 21 Tilt sensor 22 Control mechanism 23 Locking means

Claims (1)

[Claims] 1. A working device (8) is mounted on a movable body (5) so as to be able to roll around a longitudinal axis, and
Based on the detection result of the tilt sensor (21) that detects the left / right tilting attitude of the machine body (5), a control mechanism (rolling control is performed so that the working device (8) is grounded and maintained in a predetermined left / right tilting attitude. 22), and the control mechanism (22) locks the working device (8) in a posture without left-right inclination with respect to the machine body (5) when detecting a sudden turning state of the machine body (5). A work device attitude control structure for a work machine, which is provided with locking means (23) for locking.