JP2004089012A - Posture controller of implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a posture controller properly holding a left and a right tilted postures of a control boom even in any field and readily performing inspection and maintenance of equipment such as an actuator or a horizontal selector valve for controlling the postures. <P>SOLUTION: The posture controller is composed by pivoting a base part of a lifting and lowering link mechanism (10) extended to the front on a mobile agricultural machine (1), installing a boom supporting frame (12) in front of the lifting and lowering link mechanism (10), freely rotatably supporting control booms (22) and (23) around a shaft (14) in the front and rear directions formed in the boom supporting frame (12) and interposingly installing a hydraulic cylinder (20) between the boom supporting frame (12) and the control boom (22). A boom shaking angle sensor (30) for detecting the shaking angle of the control booms (22) and (23) and the selector valve (33) for controlling the extension and constriction of the hydraulic cylinder (20) are provided near the part of the shaft (14). Furthermore, the hydraulic cylinder (20) and the selector valve (33) are installed on the side opposite to an exhaust vent (15) of a muffler across the rotating shaft (14). <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
INDUSTRIAL APPLICABILITY The present invention can be used for a mobile agricultural machine such as a riding management machine that performs management work in a field or a paddy field.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been known an apparatus for performing a control operation by attaching a control boom to a front portion of a passenger management machine. In such a conventional passenger management machine, usually, the control boom is swingably supported on a rotating shaft provided in the front part of the fuselage along the front-rear direction, and the control boom and the front end portion of the machine side supporting the control boom are provided. It is known that two balance springs are interposed therebetween to urge the control boom to be always in a horizontal posture.
[0003]
[Problems to be solved by the invention]
By the way, in the case of such a conventional device, the balance spring described above acts on vibrations during running of the airframe and changes in unevenness on the ground, thereby absorbing a sudden change in the posture of the control boom and bringing the control boom to the expected position. The horizontal posture could be maintained, but the length of the boom became longer, for example, 15 m, and especially when the outer ends of the side booms attached to the left and right of the center boom became slide-adjustable, the balance between the left and right became large. When performing control work by changing the length of the left and right side booms, the entire boom is easily inclined to the side where the side boom is extended, so the opposite boom is separated from the ground and extended As the side approached the ground, there was a problem that the spraying density on the crop was different on the left and right and the chemical solution could not be sprayed uniformly.
[0004]
[Means for Solving the Problems]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a passenger management machine that can maintain a control boom in a set posture in any field, enables uniform spraying, and facilitates daily inspection. And
[0005]
For this reason, the following technical measures were taken.
That is, according to the first aspect of the present invention, the base of the elevating link mechanism (10) extending forward is pivotally supported by the mobile agricultural machine (1), and the boom support frame (12) is provided at the front of the elevating link mechanism (10). ) To rotatably support the control booms (22) and (23) around a longitudinal axis (14) formed on the boom support frame (12), and the boom support frame (12) and the control boom. (22), a telescopic actuator (20) is interposed, and a boom swing angle for detecting the swing angle of the control booms (22, 23) is provided near the shaft (14). A posture control device for a working machine is provided with a switching valve (33) for controlling expansion and contraction of a sensor (30) and an actuator (20).
[0006]
The invention according to claim 2 is characterized in that the actuator (20) is constituted by a hydraulic cylinder and the switching valve (33) is constituted by a hydraulic switching valve. did.
The invention according to claim 3 is that the actuator (20) is provided on one side in the left-right direction with the shaft (14) portion interposed therebetween, and the exhaust port (15) of the muffler of the mobile agricultural machine (1) faces the opposite side. A posture control device for a working machine according to claim 1 is characterized.
[0007]
The operation of the above configuration is as follows.
When the airframe tilts in the left-right direction, the control booms 22 and 23 supported by the lifting link mechanism 10 also try to tilt in the same direction. Is controlled to the horizontal posture or the set inclination posture.
[0008]
In particular, when the actuator 20 is constituted by a hydraulic cylinder and the switching valve 33 is a hydraulic switching valve, the hydraulic oil is immediately supplied to or discharged from the hydraulic cylinder to extend and contract the hydraulic cylinder, and the control booms 22 and 23 are set to an appropriate posture. Can be maintained. In this case, 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, so that the pipes 40a and 40b can be shortened and the response is improved. In addition to the above, all the hydraulic devices are provided in one place, so that daily inspection is easy.
[0009]
Further, since the exhaust port 15 of the muffler of the mobile agricultural machine 1 is provided on the side remote from the actuator 20, the exhaust gas does not directly fall on the switching valve 33 or the actuator 20, so that the device becomes dirty and adverse effects due to exhaust heat are generated. Has no effect.
[0010]
Embodiment
Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, from a configuration point of view, reference numeral 1 is a passenger management machine that mainly performs cultivation work and pest control work in a field or a paddy field. This passenger management machine includes a front wheel 2 and a rear wheel 3 having the same diameter, and an engine 4 mounted on a front portion of the body. The engine 4 and muffler (not shown) are covered with a bonnet 5, and masts 7, 7 are erected on both right and left sides of the bonnet 5, and the masts 7, 7 comprise an upper link 8 and a lower link 9. A link mechanism 10 is pivotally mounted. The upper link 8 and the lower link 9 have substantially the same length as shown in FIG. 1, so that the lifting link mechanism 10 forms a parallelogram when viewed from the side. The lifting link 10 is moved up and down by a pair of left and right lifting cylinders 11 provided on the outside of the hood 5. The elevating cylinders 11, 11 are constituted by electric motors, but may be constituted by hydraulic pressure.
[0011]
A supporting frame 12 for attaching control booms 22 and 23 to be described later is connected to a front portion of the lifting link 10. The support frame 12 has a rectangular shape when viewed from the front, and a pivot 14 extending in the front-rear direction is provided at the lower center of the support frame 12.
A center boom 22 having a pair of front and rear booms 22F and 22R is rotatably supported on the rotation shaft 14, and a plurality of nozzles 26 are attached to the front center boom 22F. The side booms 23, 23 are rotatably supported on the left and right ends of the rear center boom 22R by pins 24, 24, and a plurality of the side booms 23, 23 are also provided at appropriate intervals on the lower end surfaces thereof. The spray nozzles 26 are provided. Therefore, the center boom 22 and the side booms 23 can be swung about the rotation shaft 14 integrally with the side boom 23 expanded.
[0012]
A hydraulic cylinder 20 as an actuator is provided between the support frame 12 and the rear center boom 22R in a vertical posture.
When the piston rod 20a of the hydraulic cylinder 20 expands and contracts, the center boom 22 rotates around the rotation shaft 14.
[0013]
A plate 27 is provided at the center in the left-right direction of the support frame 12 along the up-down direction, and a pin 28 is fixed to the plate 27 toward the front.
A boom swing angle sensor 30 composed of a rotary potentiometer is attached to a central upper surface of the rear center boom 22R via a stay 29, and a U-shaped bifurcated arm 30a provided in the sensor 30 has a U-shaped front view. The pin 28 is fitted in the groove. When the hydraulic cylinder 20 is actuated and the center boom 22 rotates, the arm 30a rotates in synchronism with the rotation, and the axis of the boom swing angle sensor 30 is rotated to detect the left-right swing angle of the center boom 22. The boom swing angle sensor 30 indirectly detects not only the right and left swing angles of the center boom 22 but also the amount of expansion and contraction of the hydraulic cylinder 20.
[0014]
Further, a plate 32 is fixed forwardly at the center of the rear center boom 22 </ b> R slightly to the right as viewed from the front, and a horizontal switching valve 33 is installed on the plate 32. By appropriately switching the horizontal switching valve 33 in accordance with a command from a controller 35 described later, the oil path to the hydraulic cylinder 20 is switched, and the hydraulic cylinder 20 is 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 when viewed from the front with respect to the center of the machine body, and the exhaust port 15 of the muffler is provided on the opposite left side. For this reason, the hydraulic cylinder 20 and the horizontal switching valve 33 are not contaminated by the exhaust gas discharged forward from the exhaust port 15. There is no influence from exhaust heat.
[0015]
FIG. 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 taken in by an amount necessary for horizontal control and sent to the horizontal switching valve 33. The horizontal switching valve 33 is provided with an extension position and a contraction position with the neutral position interposed therebetween, and when the extension SOL 38 or the contraction SOL 39 is excited, the expansion and contraction of the hydraulic cylinder 20 is controlled.
[0016]
40a and 40b are hydraulic piping connecting the horizontal switching valve 33 and the hydraulic cylinder 20, 60a is piping connecting the hydraulic pump 36 and the horizontal switching valve 33, and 60b is a return piping.
An inclination sensor 41 for detecting the inclination of the body from side to side is installed on a base 43 fixed to a rear axle housing 42 (see FIGS. 5 and 6). The pedestal 43 is provided on the left front portion (right side when viewed from the front) near the center of the rear axle housing 42. An inclination sensor 41 is mounted thereon, and a cover 44 is provided therearound to allow muddy water to enter during traveling. I try not to.
[0017]
The tilt sensor 41 may be located at any location that detects the tilt of the body in the left-right direction. For example, the tilt sensor 41 may be located on the support frame 12 of the lifting link mechanism 10, near the seat 17, or on the floor 18. The location that is hardly affected by vibration or centrifugal force at the time of turning is the best, and in that respect, the portion near the center of the rear axle housing 42 described in this embodiment can be said to be the optimal installation location because it is strong against vibration of the body and the like.
[0018]
Reference numerals 47, 47 denote opening / closing cylinders for rotating the side control booms 23, 23, and reference numerals 46, 46 denote vertical movement cylinders for raising or lowering the side control booms 23, 23.
To open and close the side control booms 23, 23, as shown in FIG. 7, when one of the left and right open / close switches 48, 48 provided on the operation panel 19 next to the seat 17 is operated, the open / close cylinder 47 on the operated side expands and contracts. The side control boom 23 opens and closes inward and outward.
[0019]
Then, when one of the right and left up / down switches 49, 49 is operated, the vertically movable cylinders 46, 46 on the operated side expand and contract to move the control boom 23 up or down. These operation switches 48 and 49 are provided left and right independently.
In FIG. 7, reference numeral 53 denotes an elevating switch for elevating and lowering the entire booms 22 and 23, and reference numeral 54 denotes a setting device for setting a spraying amount or the like when performing a pest control operation. Set.
[0020]
Reference numeral 55 denotes an operation lever for ejecting a chemical solution from the nozzles 26 provided on each of the booms 22 and 23. By operating the operation levers 55, 55, 55 in the front-rear direction, an on-off valve (not shown) is opened and closed, and the chemical in the chemical tank 50 is ejected from the nozzles 26. Reference numeral 56 denotes a switch for driving the chemical pump.
[0021]
Next, the block diagram shown in FIG. 8 will be described.
A horizontal changeover switch 70, a tilt adjustment dial 71, a manual switch 72, an angular velocity sensor 73, a tilt sensor 41, and a boom swing angle sensor 30 including a rotary potentiometer are connected to an input side of a controller 35, and a hydraulic cylinder 20 is connected to an output side. The SOL 38 for extension and the SOL 39 for shortening, which expand and contract, are connected.
[0022]
The angular velocity sensor 73 is provided to cope with a change in velocity when the body is instantaneously and largely tilted in the left-right direction, and is used for horizontal control with priority over the inclination sensor 41.
That is, when a large change speed in the left-right direction is detected, a horizontal output in a direction absorbing the change in posture is output from the controller 35, and thereafter, horizontal control based on the detection value of the inclination sensor 41 is performed.
[0023]
The horizontal changeover switch 70 is for setting a horizontal control mode, and can be set at three positions of “manual position”, “parallel position”, and “horizontal position”. When set to the "manual position", the signals from the boom swing angle sensor 30 and the tilt sensor 41 are ignored, and the tilt adjustment signal for the hydraulic cylinder 20 is output only when the operator operates the manual switch 72. . When the manual switch 72 is operated in the lower right direction, the piston rod 20a of the hydraulic cylinder 20 is contracted. On the other hand, when the manual switch 72 is operated in the lower left direction, the piston rod 20a of the hydraulic cylinder 20 is extended and the entire boom 23 is tilted to the left.
[0024]
When the horizontal changeover switch 70 is set to the “parallel position”, the machine and the control boom, which is a working machine, always maintain the same parallel relationship (a relationship in which the boom also assumes a horizontal posture when the machine is in a horizontal posture). Become. In the case of the parallel mode, the control works so that when the machine is tilted to the right, the boom is also tilted to the right by the same angle.
[0025]
On the other hand, when the horizontal changeover switch 70 is set to the "horizontal position", the entire boom is always kept in a horizontal posture even if the machine enters a concave portion of the ground or rides on a convex portion and the machine tilts left and right.
The tilt adjustment dial 71 is for setting the left and right tilt angles of the booms 22 and 23. When the booms 22 and 23 are to be maintained in a horizontal posture, the tilt adjustment dial 51 is set to the “0” position. Turning to the right from the “0” position sets the tilt adjustment to the lower right posture, and turning to the left sets the lower left posture.
[0026]
Next, the operation will be described.
When performing a chemical spraying operation in a paddy field or the like using the riding management machine 1 having the above configuration, the horizontal switch 70 is set to the “parallel position” or the “horizontal position”. When the passenger management machine 1 is moved forward in the state of being set to the “parallel position”, the machine and the control booms 22 and 23 always maintain a parallel positional relationship, and when the machine is tilted in either the left or right direction, the booms 22 and 23 are provided. Also follows the movement of the unit while maintaining the same positional relationship. In this state, the chemicals are sprayed on the rice or the like from the nozzles 26.
[0027]
In a place with a lot of irregularities, the horizontal changeover switch 70 is set to the “horizontal position”. At this time, the inclination sensor 41 detects a change in the left-right inclination posture of the machine. However, by expanding and contracting the hydraulic cylinder 20 by an amount corresponding to the inclination change, the control booms 22 and 23 can be controlled to the horizontal posture. In this case, the boom swing angle sensor 30 detects the swing angles of the booms 22 and 23.
[0028]
The same applies to the case where the chemical solution spraying operation is performed along the contour line. When the booms 22 and 23 are controlled to a horizontal posture, the horizontal position is set, and when the booms 22 and 23 are used in parallel with the machine, the horizontal position is set. . In some cases, the booms 22 and 23 may be used with a slight inclination in the contour line. In such a case, the inclination adjustment dial 71 is turned right or left from the “0” position to lower the booms 22 and 23 to the right or left. Use in the state.
[0029]
In the above configuration, since the tilt sensor 41 is supported by the rigid rear axle housing 42 with little vibration, the tilt sensor 41 picks up a signal other than the left and right tilt of the body, and the booms 22 and 23 operate unnecessarily. As a result, highly accurate rolling control can be performed as a result.
[0030]
Further, in this embodiment, the horizontal switching valve 33 is provided near the hydraulic cylinder 20, and these devices are centrally disposed at the front of the body, so that inspection and maintenance can be easily performed, and the piping 40a, 40b and Since the electric harness can be shortened, the responsiveness of the rolling control is excellent.
[0031]
Further, since the hydraulic cylinder 20 and the horizontal switching valve 33 are provided on the side opposite to the exhaust port of the muffler 15, they are not contaminated by exhaust gas, and do not malfunction due to the influence of heat. Horizontal control can be performed.
Next, a partially improved structure of the passenger management machine 1 will be described.
[0032]
FIG. 9 illustrates the play of the link balls 80, 80 provided at the upper and lower ends of the hydraulic cylinder 20.
The upper portion of the hydraulic cylinder 20 is pivotally connected to plates 81 and 81 integral with the support frame 12 by an upper pin 83, and the lower portion of the hydraulic cylinder 20 is pivotally attached to a plate 82 integral with the center boom 22 by a lower pin 84.
[0033]
Here, if rattling occurs at both ends of the hydraulic cylinder 20, the responsiveness of the rolling control deteriorates. Therefore, in order to eliminate rattling, the lower link ball 80 is pushed up by the push bolt 85 so as to eliminate rattling. I have.
The bolt 85 is tightened up until the upper end of the pushing bolt 85 contacts the lower surface of the link ball 80, and then the position is fixed with a lock nut 86.
[0034]
With this configuration, the expansion and contraction of the hydraulic cylinder 20 is directly converted into the rotation of the center boom 22, and the responsiveness of the horizontal control is improved because there is no backlash.
FIG. 10 illustrates the play of the upper pin 83 that pivotally supports the upper portion of the hydraulic cylinder 20.
[0035]
The tip of the pin 83 into which the link ball 80 is inserted is tapered, a screw hole 88 is provided in this tapered portion, the end face of the link ball 80 is pressed with a collar 89, and the tightening bolt 90 is screwed in to adjust the pressing force. The inner periphery of the link ball 80 is configured to bite into the tapered portion to remove backlash.
[0036]
Also in this case, as in the previous case, the amount of expansion and contraction is reflected in the rotation of the center boom as much as there is no backlash in the hydraulic cylinder 20, so that highly accurate horizontal control is possible.
11 and 12 illustrate the relationship between the mounting position of the hydraulic cylinder 20 and the swing center of the center boom 22.
[0037]
FIG. 11 shows an example in which each fulcrum position is formed such that a line connecting the upper pin 83 and the lower pin 84 and a line connecting the rotating shaft 14 and the lower pin 84 intersect at 90 degrees.
When the piston rod 20a of the hydraulic cylinder 20 expands and contracts about the upper pin 83, the same angle can be corrected with the same amount of expansion and contraction on both the extension side and the contraction side, so that the accuracy of horizontal control is improved.
[0038]
FIG. 12 shows a modification of FIG. 11, in which the hydraulic cylinder 20 is disposed obliquely when viewed from the front. In this case, too, the line connecting the upper pin 83 and the lower pin 84, Each fulcrum position is formed such that lines connecting the lower pins 84 intersect at 90 degrees.
[0039]
FIG. 13 shows a case in which the side boom 23 is received by a U-shaped boom receiver 92 having an upper opening when the side boom 23 is stored. The side boom 23 is operated so as to be lowered so that the side boom 23 is not lowered too much.
[0040]
For this reason, a limit switch 93 is provided on the lower surface of the boom receiver 92, and when the limit switch 93 is ON, the boom is not lowered even if the operator operates the elevating switch 53 to the lower side. Things. By installing such a restraining mechanism, the problem that the boom continues to lower by mistake and the front end of the boom interferes with the front wheel 5 can be eliminated.
[0041]
【The invention's effect】
The present invention has the following advantages because it is configured as described above.
That is, according to the first aspect of the present invention, the base of the elevating link mechanism extending forward is pivotally supported by the mobile agricultural machine, and a boom support frame is provided at the front of the elevating link mechanism, and the boom support frame is formed. The control boom is rotatably supported around the axis in the front-rear direction, and a telescopic actuator is interposed between the boom support frame and the control boom. The boom swing angle sensor that detects the moving angle and the switching valve that controls the expansion and contraction of the actuator are provided, so that the control boom can always be controlled to the set posture, and all the devices such as the actuator and the switching valve are centrally located at the front of the fuselage. Since it is provided, maintenance can be easily performed later, and piping and harnesses can be easily arranged.
[0042]
According to a second aspect of the present invention, the actuator is configured by a hydraulic cylinder, and the switching valve is configured by a hydraulic switching valve. The horizontal control mechanism can be configured at low cost and with high accuracy.
[0043]
The invention according to claim 3 is an attitude control device for a working machine, characterized in that an actuator is provided on one side in the left-right direction with the shaft portion interposed therebetween, and the exhaust port of the muffler of the moving agricultural machine faces the opposite side. Therefore, the actuator is not polluted by the exhaust gas, and is not affected by heat.
[Brief description of the drawings]
FIG. 1 is a side view of a passenger management machine.
FIG. 2 is a front view of a main part.
FIG. 3 is a plan view of a main part.
FIG. 4 is a hydraulic circuit diagram.
FIG. 5 is a mounting plan view of the inclination sensor.
FIG. 6 is a mounting side view of the tilt sensor.
FIG. 7 is a plan view of the operation panel.
FIG. 8 is a control block diagram.
FIG. 9 is an enlarged front view of a main part.
FIG. 10 is an enlarged plan view of a main part.
FIG. 11 is a front view of a main part.
FIG. 12 is a front view of a main part.
FIG. 13 is an enlarged side view of a boom receiving portion.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Riding machine 2 Front wheel 3 Rear wheel 4 Engine 5 Bonnet 10 Lifting link 12 Support frame 14 Rotating axis 15 Muffler 18 Floor 19 Operation panel 20 Hydraulic cylinder 22 Center control boom 23 Side control boom 30 Potentiometer 33 Horizontal switching valve 35 Controller 41 Tilt sensor

Claims (3)

The base of the lifting link mechanism (10) extending forward is pivotally supported on the mobile agricultural machine (1), and a boom support frame (12) is provided at the front of the lifting link mechanism (10). The control booms (22) and (23) are rotatably supported around a longitudinal axis (14) formed in 12), and extend and contract between the boom support frame (12) and the control boom (22). A boom swing angle sensor (30) for detecting the swing angle of the control booms (22) and (23) and an actuator (20) are provided near the shaft (14) with an actuator (20) of a type. And a switching valve (33) for controlling expansion and contraction of the work machine. 2. The attitude control device for a working machine according to claim 1, wherein the actuator (20) is configured by a hydraulic cylinder, and the switching valve (33) is configured by a hydraulic switching valve. 3. The actuator (20) is provided on one side in the left-right direction with the shaft (14) interposed therebetween, and the exhaust port (15) of the muffler of the mobile agricultural machine (1) faces the opposite side. Work machine attitude control device.

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