JP2003334476A - Work machine attitude control device - Google Patents

Abstract

(57) [Problem] To provide a control device for a control boom that can surely maintain a predetermined position while preventing shaking of the control boom during operation. SOLUTION: An attachment frame 12 is provided at a front portion of a lifting link mechanism 10 extending forward, and an inclination sensor 38 for detecting the left-right inclination posture of the machine is provided on the attachment frame 12 or on the body. A sensor 32 for detecting an operation amount of the actuator 20 is provided in the vicinity of the lower rotation shaft 15, and based on detection results of the two sensors 38, 32, the control booms 22, 2.
A control means is provided for maintaining the left and right inclination postures at a predetermined inclination posture. Further, a control means is provided for prohibiting the operation of the actuator 20 when the control booms 22 and 23 exceed the allowable maximum swing angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riding management machine for carrying out management work in fields and paddy fields.

[0002]

2. Description of the Related Art Heretofore, there has been known one in which a pest control boom is attached to the front part of a passenger management machine to carry out pest control work. In such a conventional passenger management machine, usually, a pest control boom is swingably supported on a rotary shaft provided in the front portion of the machine body along the front-rear direction, and a pest control boom and a tip end portion of the main body side supporting the control boom are provided. A general method is to interpose two balance springs between them to urge the control boom so that it is always in a horizontal position.

[0003]

By the way, in the case of such a conventional device, the above-mentioned balance spring acts on the vibration of the body during traveling or the change of the unevenness of the ground to cause a sudden posture change of the control boom. I was able to absorb and maintain the control boom in the desired horizontal position, but the boom length became longer, for example, 15 m, and when the side booms attached to the left and right of the center boom became slide adjustable, The balance of the booms can easily be lost, and when performing work by changing the length of the left and right side booms, the entire boom leans toward the side where the side booms are extending, which causes the boom on the opposite side to move away from the ground and extend. Since the plant side approached the ground, the spraying density for the crops differed between the left and right sides, and there was a problem that uniform spraying was not possible. The present invention is proposed in view of the above problems, and an object of the present invention is to provide a riding management machine capable of uniform spraying even on a slope.

[0004]

In order to solve the above-mentioned problems of the present invention, the following technical means have been taken. That is, according to the first aspect of the invention, the mounting frame 12 is provided at the front part of the lifting link mechanism 10 extending forward, and the upper rotating shaft 14 for rotating the arm 18 is provided above and below the mounting frame 12. And control booms 22 and 2
Lower rotating shafts 15 for rotating 3 are provided respectively, and the arm 18 and the control booms 22 and 23 are connected to the balance spring 3
An actuator 20 for changing the rotation angle of the booms 22 and 23 is provided between the arm 18 and the mounting frame 12 and is connected to the actuators 0 and 30 to form a posture control device for a working machine. .

According to a second aspect of the present invention, an inclination sensor 38 for detecting the horizontal inclination posture of the machine is provided on the mounting frame 12 or on the machine body, and the operation amount of the actuator 20 is provided in the vicinity of the lower rotary shaft 15. A sensor 32 for detecting is provided, and the control booms 22, 2 are detected based on the detection results of both sensors 38, 32.
The posture control device for a working machine according to claim 1, further comprising a control means for maintaining the left and right tilt postures of 3 in a predetermined tilt posture.

According to a third aspect of the present invention, an inclination sensor 38 for detecting the horizontal inclination posture of the machine is provided on the mounting frame 12 or on the machine body, and the operation amount of the actuator 20 is provided in the vicinity of the lower rotary shaft 15. A sensor 32 for detecting is provided, and the control booms 22, 2 are detected based on the detection results of both sensors 38, 32.
While controlling the left and right tilt posture of 3 to a predetermined tilt posture,
The attitude control device for a working machine according to claim 1, further comprising a control means for prohibiting the operation of the actuator 20 when the control booms 22, 23 exceed a maximum swing angle allowed.

According to a fourth aspect of the present invention, a mounting frame 12 is provided at the front part of the elevating link mechanism 10 extending toward the front, and a tilt for detecting the left / right tilting posture of the machine on the mounting frame 12 or on the machine body. A sensor 38 is provided, and the mounting frame 12 is provided with a rotating shaft 15 for supporting the center control boom 22 so as to be swingable from side to side, while detecting the actuator 20 for swinging the center control boom 22 and the operation amount of the actuator 20. A sensor 32 for controlling the center control boom 22 is further provided.
Side control booms 23, 23 are pivotally mounted on the left and right sides of the vehicle so that they can be stored, and the side control booms 23, 23 are operated in a storage posture in which the side control booms 23, 23 extend horizontally from the center control boom 22 and approach the sides of the aircraft. A posture control device for a working machine is characterized in that a control means for stopping the posture control by the actuator 20 is provided.

The operation of the above configuration is as follows. When this machine tilts in the left-right direction, the control booms 22 and 23 supported by the lifting link 10 also try to tilt in the same direction. In such a case, the boom 22 and the booms 22 and 23 are expanded or contracted by the automatic or manual operation of the actuator 20. 23 is maintained in a desired horizontal posture or a set inclined posture. In this case, the actuator 20 directly causes the booms 22, 23 to
Balance springs 30, 3 rather than actuating
Since the tilt postures of the booms 22 and 23 are corrected through 0, the balance springs 30 and 30 absorb vibrations of the machine and small irregularities received from the ground, and the actuator 20 operates only for large irregularities on the ground. Then, the control booms 22 and 23 are controlled so that the postures of the control booms 22 and 23 are maintained in desired postures, so that the control can be stabilized.

Further, when automatically controlling the tilted postures of the pest control booms 22 and 23, if the pest control booms 22 and 23 sometimes exceed the allowable maximum swing angle, the posture control is interrupted, so that the boom tip ends. There is no risk of touching the ground or damaging the equipment. Further, when the side boom 23 that is horizontally extended after the work is returned to the original storage position, the posture control of the pest control booms 22 and 23 is interrupted, so that the booms 22 and 23 can be easily stored even while traveling.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. First, the configuration will be described with reference to FIG.
Reference numeral 1 is a riding management machine that mainly performs a cult work and a control work in a field or a paddy field. The passenger management machine 1 includes front wheels 2 and rear wheels 3 having the same diameter, and an engine 4 is mounted on the front part of the machine body. The engine 4 is covered with a bonnet 5, and masts 7, 7 are erected on both left and right sides of the bonnet 5, and a lifting link 10 including an upper link 8 and a lower link 9 is pivotally attached to the masts 7, 7. ing. The upper link 8 and the lower link 9 have substantially the same length, and therefore the lifting link 1
0 forms a parallelogram when viewed from the side. The lifting link 10 is lifted and lowered by a pair of left and right hydraulic cylinders 11, 11 provided outside the bonnet 5.

A mounting frame 12 for mounting the extermination booms 22 and 23, which will be described later, is connected to the front portions of the elevating links 10. The mounting frame 12 has a rectangular shape when viewed from the front, and rotary shafts 14 and 15 extending in the front-rear direction are provided at two positions of the upper center and the lower center of the mounting frame 12.

A substantially cross-shaped arm 18 is pivotally supported on the upper rotary shaft 14 when viewed from the front, and a hydraulic or electric type is provided between a protrusion 18a on the upper portion of the arm 18 and a front end on one side of the elevating link 10. The actuator 20 is attached. When the piston rod 20a of the actuator 20 expands and contracts, the arm 18 rotates about the upper rotation shaft 14.

A center control boom 22 is rotatably pivotally mounted on the lower rotary shaft 15, and side control booms 23, 23 are pivotally mounted on the left and right sides of the side control booms 23, 23 about vertical pins 24, 24. It is pivotally attached.

In this embodiment, the center extermination boom 22 is divided into two parts as shown in FIG. 3, and the front center extermination boom 22F is provided with the spray nozzles 26 ... And the rear center extermination boom 22R. No spray nozzles 26 are provided in the left and right side control booms 23, 23.
Is only supported. The side control booms 23, 23 are provided with a plurality of spray nozzles 26 ... along the longitudinal direction thereof.

Therefore, during the spraying work, the chemical solution in the spray tank 28 is sprayed from the spray nozzles 26 attached to the left and right side spray booms 23, 23 and the front center spray boom 22F.

Further, a balance spring 30, is provided between the pins 29, 29 provided on the left and right of the arm 18 and the outer side portion of the lower rotary shaft 15 of the rear center control boom 22R.
30 is interposed, and the balance springs 30 are arranged in a V shape when viewed from the front.

The rear center control boom 22R
A potentiometer 32 is mounted on the center control boom 22R on the rear side in the vicinity of the rotation axis 15 of the bifurcated arm 3 for rotating the axis of the potentiometer 32.
2a is projected upward. This forked arm 32
In a, a pin 34 provided on the vertical rod 18b of the arm 18 is provided.
Is loosely fitted to detect the lateral swing amount of the center control boom 22. Since the center control boom 22 is configured to be operated by the actuator 20, the potentiometer 32 detects the amount of expansion / contraction of the actuator 20 as an angle. The swing rolling angle will be detected.

Further, since the balance springs 30 are provided between the actuator 20 and the center control boom 22, small vibrations of the center control boom 22 are not directly transmitted to the potentiometer 32, and the vibration of the center control boom 22 is always generated. Since it is damped by the balance springs 30, 30, an unreasonable load will not be applied to the rotary shaft portion of the potentiometer 32.

As shown in FIG. 2, an inclination sensor 38 for detecting the left and right rolling angles on the machine side is provided, and in this embodiment, it is installed on one side of the upper surface of the mounting frame 12. The inclination sensor 38 may be provided near the seat 39 or on the floor 40 instead of on the mounting frame 12 of the elevating link 10. In short, it may be anywhere as long as it can detect the tilt of the machine.

The open / close cylinders 42, 42 for rotating the side control booms 23, 23, the side control boom 23,
Vertical movement cylinders 43, 4 for raising or lowering 23
3 is provided. Side control boom 2 that extends left and right
When storing 3, 23, when either the left or right closing switch 44, 44 provided on the side of the seat 39 is pressed, the open / close cylinder 42 on the operated side is contracted to rotate the side control boom 23 around the pin 24.

When either the left or right raising switch 45 is pushed, the vertically moving cylinder 43 on the pushed side is contracted to raise the side control boom 23. These operation switches 4
The left and right sides 4 and 45 are provided independently of each other, and the left and right side control booms 23 can be stored independently.

On the other hand, the side control boom 2 in the stored state
When projecting 3, 23 to the work posture, the operation opposite to the above operation is performed. That is, the opening / closing cylinders 42, 42 are arranged so that the side control booms 23, 23 are extended.
Press the open switches 46 and 46 of the
The lowering switches 47, 47 for rotating the 3, 43 downward are operated.

FIG. 4 shows an operation panel 4 provided on the right side of the seat 39.
This is a description of the structure of the nine parts. The operation panel 49 is provided with two dials 50 and 51 and one toggle switch 52. Top dial 50
Is for setting the mode of the tilt control, and it is possible to set three positions of "manual position", "parallel position" and "horizontal position". When set to the "manual position", the signals from the potentiometer 32 and the tilt sensor 38 are ignored, and the tilt adjustment signal is output to the actuator 20 only when the operator pushes the toggle switch 52. When the toggle switch 52 is tilted downward to the right, the actuator 2
No. 0 piston rod 20a is contracted, and conversely, when it is operated in the left downward direction, the piston rod 20 of actuator 20
a extends and pushes down the entire boom 23 so that the left side is downward.

When the mode setting dial 50 is set to the "parallel position", the machine and the control boom, which is the working machine, always maintain the same parallel relationship (the relationship where the boom is also in the horizontal attitude when the machine is in the horizontal attitude). It will be in the state of doing. In this parallel mode, when the machine leans to the right, the boom also leans to the right at the same angle. On the other hand, when the mode setting dial 50 is set to the "horizontal position", the entire boom is always controlled to be in a horizontal posture even when the machine enters a concave part of the ground or rides on a convex part and the machine tilts left and right.

The dial 52 at the center of the operation panel sets the left and right rolling amount of the boom.
When it is desired to maintain 23 in a horizontal posture, the tilt adjusting dial 51 is set to the "0" position. The tilt adjustment takes a right-lowering posture as it is turned to the right from the "0" position, and conversely, a left-lowering posture is set when turning to the left.

Next, the structure of the block diagram shown in FIG. 5 will be described. The raising and lowering and rolling control of the pest control booms 22 and 23 are performed by an instruction from a controller 58 including a microcomputer.

On the input side of the controller 58, there are a mode setting dial 50, a tilt adjusting dial 51, a manual toggle switch 52, a tilt sensor 38, and a potentiometer 32 for detecting the swinging angle of the control boom together with the amount of expansion and contraction of the actuator 20. In addition to these, a raising switch 59 and a lowering switch 60 for raising and lowering the entire booms 22, 23, open / close switches 44, 46 for opening and closing the side control booms 23, 23, and side control booms 23, 2
A raising switch 45 for raising and lowering 3 and a lowering switch 47 are connected. Maximum swing angle of booms 22 and 23 (5
Limit switch 53, 53 for detecting the
It is attached to the front part of the left and right columns 12a, and the left and right tilt control is interrupted when the boom 22 comes into contact with the limit switches 53, 53.

On the other hand, on the output side of the controller 58, the posture control actuators 20 for the control booms 22 and 23, the left and right open / close cylinders 42, 42, and the left and right vertical movement cylinders 4 are provided.
3, 43 are connected.

Next, the operation will be described. When the chemical spraying work is performed in the paddy field using the riding management machine 1 having the above configuration, the mode setting device 50 is set to the “parallel position”. When the passenger management machine 1 is moved forward with this setting, this machine and the control booms 22, 2
3 always maintains a parallel positional relationship, and when the machine tilts to the left or right, the booms 22 and 23 follow the movement of the machine while maintaining the same positional relationship. In this state, the nozzle 26 ...
The chemical solution is sprayed on the rice, which is a crop.

Even in the same paddy field, the setting mode is set to "horizontal position" in a place with many irregularities. In this mode, the tilt sensor 38 detects a change in the left / right tilt posture of the machine, but the control booms 22 and 23 can be controlled in the horizontal posture by extending / contracting the actuator 20 by an amount corresponding to the tilt change. In this case, use the potentiometer 32 to adjust the boom 22,
The swing amount of 23 is detected.

The same applies to the case where the chemical spraying work is performed along the contour lines. When the booms 22 and 23 are controlled in the horizontal posture, the "horizontal position" is set, and when the booms 22 and 23 are used in parallel with each other, the "parallel position" is set. Set to. Control boom 2 on sloping ground
2 and 23 may be used with a slight tilt. In such a case, use the tilt dial 51 by turning the tilt dial 51 from the “0” position to the right or left to lower the booms 22 and 23 to the right or left. To do.

In the above construction, the inclination sensor 38 is provided at a portion close to the swing center of the long boom and at a portion with little deflection, so that the detection accuracy is high and the control booms 22 and 23 can be controlled appropriately. Also, the left and right columns 12 of the mounting frame 12
Since the limit switches 53, 53 are attached to a, when the boom reaches the maximum swing angle of 5 degrees, the tilt control of the booms 22, 23 by the actuator 20 is cut, and the actuator 20 is unnecessarily moved. Since it is not operated, the responsiveness is improved and the balance springs 30, 30 can be prevented from being damaged.

Next, a partially improved structure of the passenger management machine will be described. FIG. 6 shows a structure in which a slide boom 61 is attached to the tip of the main control boom 59.

The left and right weight balance may be lost depending on the slide amount of the slide booms 61, 61, and the left and right tilt posture control amounts are corrected according to the difference between the slides. Therefore, the distance sensor 6 for measuring the distance between the tip of the main control boom 59 and the slide boom 61.
2 is provided, and when there is a difference between the left and right slide amounts, correction is performed so that the one with the larger difference is raised. By making such a correction, the tilt of the boom 59 due to the difference in the slide amount of the pest control boom 59 is suppressed, and uniform spraying is possible.

The distance sensor 62 may be of an optical sensor type having a light emitting device and a light receiving device, or may be a device that mechanically detects the moving amount (l) of the slide boom 61 with a potentiometer.

Also, in this embodiment, the side control boom 2 is
Although the tilt control is cut when the closing switch 44 which is pushed when storing 3 is operated, the control for returning the boom parallel to the vehicle body is incorporated, but the side control boom 23 is mounted on the boom receiver 64 shown in FIG. You may comprise so that control may be interrupted when it does. In either case, the tilt control is interrupted when it is detected that the side extermination booms 23, 23 have been stowed or actually stowed, so switching from the automatic mode to the manual mode as before and traveling is continued. This saves the trouble of starting and improves operability.

FIG. 7 shows another embodiment of the present invention and corresponds to FIG. In the case of FIG. 2, the arm 18 is rotated around the upper rotation shaft 14, but in the structure shown in FIG. 7, the arm 18 is allowed to slide left and right on the upper frame 12a of the mounting frame 12. .

The center control boom 22 is attached to the lower rotary shaft 15.
The point of rotating about is the same as the case of FIG. 2, but
The support structure of the arm 18 is strengthened by sliding on the upper frame 12a of the mounting frame 12 without rotating only the arm 18 supporting the balance springs 30,30. The actuator 20 is the one-sided column 12 of the mounting frame 12.
a and the protrusion 18a of the arm 18, and by expanding and contracting the piston rod 20a of the arm 18, the spring pressure of the balance springs 30, 30 is changed to rotate the center control boom 22 around the lower rotation shaft 15. I have to. Other configurations are the same as those in the case of FIG. A stopper 68 is provided in place of the switch for restricting the maximum swing angle of the boom, and the arm 18 is prevented from moving laterally by the stopper 68. Also in this case, the position of the stopper 68 is set within the range in which the maximum swing angle is 5 degrees.

[0039]

Since the present invention is configured as described above, it has the following effects. That is, according to the first aspect of the invention, the mounting frame 12 is provided in the front part of the lifting link mechanism 10 extending forward, and the upper rotary shaft for rotating the arm 18 above and below the mounting frame 12. 14 and lower rotation shafts 15 for rotating the pest control booms 22 and 23, respectively.
No. 0, and an actuator 20 for changing the rotation angle of the booms 22 and 23 is provided between the arm 18 and the mounting frame 12. It is possible to always maintain the boom in a proper posture while suppressing the swing of the booms 22 and 23.

According to the second aspect of the present invention, the tilt sensor 38 for detecting the left and right tilt posture of the machine on the mounting frame 12 or on the machine body.
A sensor 32 for detecting the operation amount of the actuator 20 is provided in the vicinity of the lower rotary shaft 15, and both sensors 3
The attitude control device for a working machine according to claim 1, further comprising a control means for maintaining the left and right tilted postures of the control booms 22 and 23 in a predetermined tilted posture based on the detection results of 8 and 32. The control booms 22 and 23 can always be maintained in the horizontal posture or the set inclined posture, and the workability can be improved.

According to the third aspect of the present invention, the tilt sensor 38 for detecting the left and right tilt posture of the machine on the mounting frame 12 or the machine body.
A sensor 32 for detecting the operation amount of the actuator 20 is provided in the vicinity of the lower rotary shaft 15, and both sensors 3
Based on the detection results of 8 and 32, the left and right tilt postures of the control booms 22 and 23 are controlled to a predetermined tilt posture, and when the control booms 22 and 23 exceed the allowable maximum swing angle, the actuator 20 is actuated. Since the attitude control device for a working machine according to claim 1 is provided with a prohibiting control means, the tips of the booms (22, 23) come into contact with the ground to damage it or damage the balance spring. There is no such thing.

According to a fourth aspect of the present invention, a mounting frame 12 is provided at the front part of the elevating link mechanism 10 extending toward the front, and a tilt for detecting the left / right tilting posture of the machine is mounted on the mounting frame 12 or on the machine body. A sensor 38 is provided, and the mounting frame 12 is provided with a rotating shaft 15 for supporting the center control boom 22 so as to be swingable from side to side, while detecting the actuator 20 for swinging the center control boom 22 and the operation amount of the actuator 20. A sensor 32 for controlling the center control boom 22 is further provided.
Side control booms 23, 23 are pivotally mounted on the left and right sides of the vehicle so that they can be stored, and the side control booms 23, 23 are operated in a storage posture in which the side control booms 23, 23 extend horizontally from the center control boom 22 and approach the sides of the aircraft. Since the posture control device for the working machine is characterized in that the control means for stopping the posture control by the actuator 20 is provided when it is operated, the side control booms 23, 23 can be housed even while the vehicle is running. , Operability is greatly improved.

[Brief description of drawings]

FIG. 1 is a side view of a riding management machine according to an embodiment of the present invention.

FIG. 2 is a front view of a main part of the passenger management machine of FIG.

3 is a plan view of a main part of the riding management machine in FIG. 1. FIG.

4 is a plan view of an operation panel of the passenger management machine of FIG. 1. FIG.

5 is a control block diagram of the passenger management machine of FIG. 1. FIG.

6 is a front view of a slide boom of the passenger management machine of FIG. 1. FIG.

FIG. 7 is a front view of a main part of a passenger management machine according to another embodiment of the present invention.

[Explanation of symbols]

1 riding management machine 2 front wheel 3 rear wheel 4 engine 5 bonnet 10 lifting link 12 mounting frame 14 upper turning shaft 15 lower turning shaft 18 arm 20 actuator 22 center control boom 23 side control boom 30 balance spring 38 tilt sensor

Claims (4)

[Claims] 1. A mounting frame 12 is provided at a front part of a lifting link mechanism 10 extending forward, and an upper rotating shaft 14 for rotating an arm 18 and a control boom 22 for rotating an arm 18 above and below the mounting frame 12. , 23 are respectively provided with lower rotating shafts 15,
The arm 18 and the pest control booms 22 and 23 are connected by balance springs 30 and 30, and the arm 18 and the mounting frame 1 are connected.
An attitude control device for a working machine, characterized in that an actuator 20 for changing a rotation angle of the booms 22 and 23 is provided between the position control device 2 and the boom 2. 2. A tilt sensor 38 for detecting the left / right tilting posture of the machine is provided on the mounting frame 12 or on the machine body, and a sensor 32 for detecting the operation amount of the actuator 20 is provided in the vicinity of the lower rotary shaft 15. The posture control of the working machine according to claim 1, further comprising: control means for maintaining the left and right tilt postures of the control booms 22 and 23 in a predetermined tilt posture based on the detection results of the both sensors 38 and 32. apparatus. 3. A tilt sensor 38 for detecting the left / right tilting posture of the machine is provided on the mounting frame 12 or on the machine body, and a sensor 32 for detecting the operation amount of the actuator 20 is provided in the vicinity of the lower rotary shaft 15. The control booms 22 and 23 are controlled so that the left and right tilt postures of the booms 22 and 23 are set to predetermined tilt postures based on the detection results of the sensors 38 and 32.
The attitude control device for a working machine according to claim 1, further comprising a control means for prohibiting the operation of the actuator 20 when 23 exceeds a maximum swing angle allowed. 4. A tilt sensor 38 for detecting a left / right tilting posture of the machine on the mount frame 12 or on the machine body by providing a mount frame 12 on the front part of a lifting link mechanism 10 extending forward.
The mounting frame 12 is provided with a rotary shaft 15 for supporting the center control boom 22 so as to be swingable from side to side, while the actuator 2 for swinging the center control boom 22 is provided.
0 and a sensor 32 for detecting the operation amount of the actuator 20
Further, side control booms 23, 23 are provided on the left and right sides of the center control boom 22 so as to be freely stored therein, and the side control booms 23, 23 are the center control boom 22.
On the other hand, a posture control device for a working machine, which is provided with control means for stopping the posture control by the actuator 20 when the posture is controlled from a horizontal overhanging posture to a storage posture approaching a side of the machine body.