JP2584160B2 - Mower front mower control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a front mower control device for a mowing vehicle in which a plurality of mower units are arranged in front and rear two rows in front of an airframe.

[0002]

2. Description of the Related Art Conventionally, in a riding type mowing machine,
Many mower units are mounted on the rear or side of the fuselage. In such a mowing vehicle, however, the mower unit is used to mow the grass immediately after being stepped on by the wheels. The state is different,
Wheel marks will remain.

[0003] Therefore, in places where the appearance is important such as golf courses, mowing work vehicles having a mower unit attached to the front part of the body are used. A plurality of mower units are attached to the front of the mowing vehicle to increase the working efficiency by widening the mowing width. These mower units are arranged in two front and rear rows and are adjacent to the rear row side. A front row mower unit is arranged between a pair of matching mower units. In addition, as a steering method of the mowing work vehicle, a rear wheel steering method is adopted in order to reduce an uncut amount in a turning direction in a turning direction.

[0004]

A plurality of mower units mounted on the front of the mowing vehicle are mounted movably in the vertical direction, but are mounted so as not to be movable in the horizontal direction. I have. For this reason, the locus of movement of each of the mower units 1, 2, 3 during turning is as shown in FIG. 7, and the uncut portion "A" is located between the mower unit 1 in the front row and the mower unit 2 in the rear row. Is generated.

In order to prevent the generation of the uncut portion "A", the rear row mower units 2 and 3 are moved to a position closer to the center to thereby reduce the front row mower units 1 and 3.
It is necessary to increase the amount of overlap “B” between the back row side mower units 2 and 3. However, when the amount of overlap between the mower unit 1 and the mower units 2 and 3 is increased, the mowing width is reduced, and the working efficiency is reduced.

In order to increase the amount of overlap and maintain a wide mowing width, the number of mower units mounted on the front of the body of the mowing vehicle is increased, or the width of each mower unit is increased to increase the size of the mower. Must be transformed. However, increasing the number of mounting mower units or increasing the size of the mower unit increases the cost. In addition, when the mower unit is enlarged, the mower unit follows the undulation of the ground and moves up and down, resulting in poor followability. Since the weight of the mowing work vehicle increases and the pedaling pressure increases due to the wheels, it is not preferable in growing the lawn.

On the other hand, if the turning radius at the time of turning is regulated to a large value, the amount of overlap can be reduced, but it is not possible to make a small turn, and there is a disadvantage that mowing work around trees becomes difficult.

[0008]

According to the present invention, a mowing work vehicle is provided.
Front a pair of adjacent the column rear side are arranged in two anteroposterior rows in the aircraft
A plurality of mower units one front row side was positioned between, and the mower units of at least the front row side during turning means for moving in proportion to the steering amount of the mowing vehicle to pivot inwardly Raising and lowering the mower unit
Lowering means, lifting and lowering for detecting the lifting state of the mower unit
Make sure that the detector and the mower unit
Based on the detection result from the lifting detector
Switching the moving means during turning to a non-operating state; and
Before detecting that the mower unit has descended to the specified position
Movement during turning based on the detection result from the elevation detector
Switching means for switching the means to the operating state;
The unit detects that the unit has been raised to a predetermined position.
The turning movement means based on the detection result from the descending detector
To return the mower unit moved by the
Return means, and the moving means by the turning movement means
Mower unit position detector that detects the position of the mower unit
And a steering amount detector for detecting a steering amount of the mowing work vehicle
And that the mower unit has been lowered to a predetermined position.
When the lift detector detects the position of the mower unit,
The position of the mower unit based on the detection result from the output unit
At a position proportional to the detection result from the steering amount detector.
Synchronizing means for adjusting so as to be arranged is provided.

[0009]

[0010]

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

According to the present invention may be a steering amount of the position and mowing vehicle mower units mow by <br/> maintained overlap state even during turning in proportion, and to raise the mower unit
When turning, the moving means becomes inactive and
The unit returns to the center position to stabilize traveling when the work vehicle moves.
Lower the mower unit to a predetermined position
Mower unit when the lifting detector detects that it has been lowered
The position of the mower unit based on the detection result from the position detector
Position at a position proportional to the detection result from the steering amount detector.
By providing synchronization means to make adjustments
When turning the mower unit to the predetermined position
Activate the moving means and raise the mower unit
When the mower unit returns to the center position
Mower unit position and mowing vehicle in unexpected state
And the amount of steering can be automatically synchronized .

[0017]

[0018]

[0019]

[0020]

[0021]

[0022]

[0023]

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. First, a riding-type mowing vehicle 6 having a pair of left and right front wheels 4 and a rear wheel 5 is provided. In the mowing vehicle 6, the rear wheel 5 is a steering wheel. At the front of the mowing vehicle 6, there is provided a lift arm 8, which is a lifting means for raising and lowering a mower unit, which will be described later, as the hydraulic cylinder 7 expands and contracts. A main frame 9 is detachably mounted on the lift arm 8. A pair of left and right mower units 10 and 11 are attached to the main frame 9 so as to be vertically movable. A rear end portion of a swing arm 12 extending in the front-rear direction is attached to the main frame 9 so as to be rotatable left and right by a support shaft 13. 14 is mounted to be vertically movable. Between the main frame 9 and the swing arm 12, there is a left-right moving means for turning the mower unit 14 inward in a turning direction in proportion to a steering amount of the mowing work vehicle 6. A rotating cylinder 15 is provided. The mower units 10, 11, 1
4 are arranged in two rows: a front row-side mower unit 14 and a rear row-side mower unit 10, 11. Further, the front row-side mower unit 14 is arranged in a rear row-side mower unit 10, 1.
1 and the amount of overlap “b” in the left-right direction between the mower unit 14 and the mower units 10, 11.
Is set small as shown in FIGS. Also, the mowing vehicle 6 has a limit switch 16 which is an elevation detector for detecting an elevation state of the mower units 10, 11, and 14 driven by the lift arm 8.
Is provided.

Next, the mowing work vehicle 6 is provided with a steering cylinder 18 which is a steering driving means for extending and contracting with the turning operation of the steering wheel 17 and for steering the rear wheel 5. Further, the steering cylinder 18
There is provided a master cylinder 19 which expands and contracts with the expansion and contraction of the cylinder. The master cylinder 19 and the left-right rotating cylinder 15 are connected via an oil passage through which hydraulic oil flows, and the left-right rotating cylinder 15
An electromagnetic valve 20 which is a switching means for switching between the operating state and the non-operating state, and a manual operation valve 21 which is a synchronizing means for synchronizing the turning amount of the mower unit 14 in the left-right direction with the steering amount of the rear wheel 5 Is provided. Further, the oil passage is connected to a return oil passage 23 of a charge pump (not shown) for supplying hydraulic oil to the master cylinder 19 via a check valve 22. The solenoid valve 20 is connected to the limit switch 16.

In such a configuration, when the mowing machine 6 is in the straight traveling state, the swing arm 12 is maintained in a state of extending straight forward in the traveling direction as shown in FIGS. And the mower unit 14 is located at the center position.

Next, when the mowing machine 6 is turned, the steering cylinder 18 is extended and contracted with the turning operation of the steering wheel 17, and the rear wheel 5 is steered. Further, as the steering cylinder 18 expands and contracts, the master cylinder 1
9 expands and contracts, and hydraulic oil is discharged from the master cylinder 19. The discharged hydraulic oil is supplied to the left / right rotating cylinder 15 through the solenoid valve 20 which is in an open state as shown in FIG. 1, and the left / right rotating cylinder 15 expands and contracts. And
As the left-right rotation cylinder 15 expands and contracts, the swing arm 12 rotates around the support shaft 13, and the mower unit 14 rotates inward in the turning direction as shown in FIG. Note that the discharge amount of the hydraulic oil from the master cylinder 19 changes in proportion to the steering amount of the rear wheel 5,
The amount of expansion and contraction of the left and right rotation cylinder 15 also changes in proportion to the supply amount of the hydraulic oil to the mower unit 14, so that the mower unit 14 rotates in proportion to the steering amount of the rear wheel 5.

Then, as shown in FIG.
4 rotates inward in the turning direction in proportion to the steering amount of the rear wheel 5, so that the trajectories of the mower units 10, 11 and the mower unit 14 at the time of turning are maintained in a state of overlapping each other. Even when the overlap amount “b” between the mower units 10 and 11 and the mower unit 14 in the straight traveling state is set to a small value, the uncut portion does not occur.

Next, when the mower units 10, 11, and 14 are raised by driving the lift arm 8,
When the mower units 10, 11, and 14 move up to predetermined positions, the limit switch 16 is turned on by the lift arm 8, and the solenoid switch 20 is switched to the closed state by turning the limit switch 16 on. The hydraulic oil discharged from the master cylinder 19 is not supplied to the left-right rotating cylinder 15 but flows into the return oil passage 23. Therefore, after the mower units 10, 11, and 14 have been raised to the predetermined positions, the left and right rotating cylinders 15 are in an inactive state, so that even if the rear wheels 5 are steered, the mower units 1
4 is not rotated in the left-right direction, and is maintained at the rotation position immediately before the limit switch 16 is turned on.
When the mower units 10, 11, and 14 are raised during steering, the mower unit 14 is shifted to the left or right, so that the manually operated valve 21 is opened to operate the pump (not shown). Left and right rotating cylinder 15
By supplying the operating oil to the mower unit 14, the mower unit 14 can be returned to the center position.

Next, the mower unit 1 which has been raised
When 0, 11 and 14 are lowered, the mower unit 1
With the lowering of 0, 11, and 14, the limit switch 16 is turned "OFF", the solenoid valve 20 is switched to the open state, and the hydraulic oil is supplied from the master cylinder 19 to the left-right rotating cylinder 15. . Here, when the mower units 10, 11, and 14 are lowered during turning, the turning position of the mower unit 14 and the steering amount of the rear wheel 5 may not be synchronized. In such a case, the supply of hydraulic oil from the master cylinder 19 to the left-right rotating cylinder 15 is shut off by switching the solenoid valve 20 to the closed state by manual operation, and then the manual operation valve 21 is opened. , The hydraulic oil is supplied from the pump to the left-right rotating cylinder 15 to synchronize the turning position of the mower unit 14 and the steering amount of the rear wheel 5. After performing the synchronous operation, the manual operation valve 21 is closed and the solenoid valve 20 is opened to start mowing.

Next, a second embodiment of the present invention will be described with reference to FIGS. 1 to 4 are denoted by the same reference numerals, and description thereof will be omitted. A stroke sensor 24, which is a steering amount detector for detecting the amount of steering of the rear wheel 5 by detecting the amount of expansion and contraction of the steering cylinder 18, is attached to the steering cylinder 18. By detecting the amount of expansion and contraction of the left-right rotating cylinder 15, the more unit 1
A stroke sensor 25 which is a mower unit position detector for detecting the position of No. 4 is attached. Further, between the left-right rotating cylinder 15 and a pump (not shown) for supplying hydraulic oil for expanding / contracting the left-right rotating cylinder 15,
An electromagnetic valve 26 is also provided that controls the supply state of the hydraulic oil and also serves as switching means for switching the left and right rotating cylinder 15 between an operating state and a non-operating state.

Next, the mowing vehicle 6 is provided with a control box 27 to which the stroke sensors 24 and 25, the solenoid valve 26 and the limit switch 16 are connected. In the control box 27, when the mower units 10, 11, and 14 are raised to predetermined positions and the limit switch 16 is turned "on", the mower unit 14 is returned to the center position and then moved left and right. A control circuit (not shown) which is a return means for controlling the electromagnetic valve 26 so as to shut off the supply of the hydraulic oil to the cylinder 15;
When the limit switch 16 is turned "off" with the lowering of 0, 11, and 14, the stroke sensor 25
The synchronization means (not shown) for controlling the electromagnetic valve 26 so as to synchronize the steering amount of the rear wheel 5 with the rotation position of the mower unit 14 by synchronizing the detection result of the stroke sensor 24 with the detection result of the stroke sensor 24. Is provided.

In such a configuration, when the mowing machine 6 is turning, the steering cylinder 18 is extended and contracted so that the rear wheel 5
Is steered, the detection result from the stroke sensor 24 that detects the amount of expansion and contraction of the steering cylinder 18 and the detection result from the stroke sensor 25 are compared by the comparator 28 in the control box 27 and the comparison result is The solenoid valve 26 is controlled so that the signal is amplified by the amplifier 29 and the difference is constant. When the hydraulic oil from the pump is supplied to the left-right rotating cylinder 15, the swing arm 12 rotates around the support shaft 13, and the mower unit 14 operates the rear wheel 5 inward in the turning direction. It rotates in proportion to the direction amount. Then, by turning the mower unit 14 inward in the turning direction in proportion to the steering amount of the rear wheel 5, the mower units 10 and 11 during turning are turned, as in the case shown in FIG.
The trajectory of the mower unit 14 and the trajectory of the mower unit 14 are maintained to overlap each other, and the overlap amount “b” between the mower units 10 and 11 and the mower unit 14 in the straight traveling state is set to a small value. However, no uncut portion occurs.

When the mower units 10, 11, and 14 are raised by driving the lift arm 8, the limit switch 16 is turned on when the mower units 10, 11, and 14 are raised to predetermined positions. The control circuit controls the electromagnetic valve 26 . First, the solenoid valve 26 is switched so that hydraulic oil necessary to return the mower unit 14 to the center position is switched, and then the solenoid valve 26 is closed after the mower unit 14 is returned to the center position. The state is switched to the left and right rotation cylinder 15 and the mower unit 14 is maintained at the center position.

Next, the raised mower unit 1
When the limit switch 16 is turned “off” by lowering 0, 11, 14, the detection result from the stroke sensor 25 is synchronized with the detection result from the stroke sensor 24 so that the rear wheel 5 The electromagnetic valve 26 is controlled so that the steering amount and the rotation position of the mower unit 14 are synchronized.
Is controlled by the synchronization means. After the synchronous control is performed, the stroke sensor 2 that detects the amount of expansion and contraction of the steering cylinder 18 as described above is used.
The solenoid valve 26 is controlled so that the difference between the detection result from the stroke sensor 4 and the detection result from the stroke sensor 25 is constant, and the mower unit 14 moves inward in the turning direction in proportion to the steering amount of the rear wheel 5. It is turned.

[0036]

According to the present invention, in front of the body of a mowing vehicle , as in the present invention.
In the front and rear rows between adjacent pairs on the rear row side
A plurality of mower units , one of which is located ,
And turning during the movement means for moving at least the mower unit front row side in proportion to the steering amount of the mowing vehicle to pivot inwardly, and lifting means for lifting the mower unit,
A lifting detector for detecting the lifting state of the mower unit,
Detects that the mower unit has been raised to a predetermined position.
At the time of the turn based on the detection result from the lift detector
Switching the moving means to a non-operating state and the mower unit;
The lifting / lowering detection which has detected that the
Activates the turning movement means based on the detection result from the device
Switching means for switching to a state, and the mower unit
From the elevation detector that detects that it has risen to the predetermined position
Moved by the turning movement means based on the detection results
Return means for returning the mower unit to a center position.
The more unit moved by the turning movement means.
A mower unit position detector for detecting the position of the bets, steering amount detector and the elevation detector that is lowered the mower unit to a predetermined position for detecting a steering amount of the grass <br/> cutting work vehicle said steering amount the position of the mower unit on the basis of the detection result from the mower unit position detector when but detected
Position the sensor at a position proportional to the detection result from the detector.
Synchronization means for adjusting the mower unit
The return means is mower to balance the aircraft when ascending
Unsynchronized state by returning the unit to the center position
Position and mowing vehicle mower unit became a steering amount
Can be automatically synchronized and therefore the mowing vehicle
Ru can be performed in sync with the position of the steering amount and mower unit easily and reliably.

[Brief description of the drawings]

FIG. 1 is a hydraulic circuit diagram showing a first embodiment of the present invention.

FIG. 2 is a plan view showing the entire mowing vehicle.

FIG. 3 is a side view showing the entire mowing vehicle.

FIG. 4 is an explanatory diagram showing a movement locus of each mower unit during turning.

FIG. 5 is a hydraulic circuit diagram showing a second embodiment of the present invention.

FIG. 6 is a block diagram showing a control system.

FIG. 7 is an explanatory diagram showing a movement locus of each mower unit in a conventional mowing vehicle.

[Explanation of symbols]

 6 Mowing work vehicle 8 Elevating means 10, 11, 14 Mower unit 15 Moving means during turning 16 Elevating detector 18 Steering drive means 19 Master cylinder 20 Switching means 21 Synchronizing means 24 Steering amount detector 25 Mower unit position detector 26 Switching means

Claims (1)

(57) [Claims] One front row side is positioned in claim 1] between a pair of adjacent points after arranged in two anteroposterior rows in front of the mowing vehicle body column-side
A plurality of mower units as at least the front row side of the pivot during movement means for moving the mower unit in proportion to the steering amount of the mowing vehicle to pivot inwardly, the motor
Lifting means for raising and lowering the unit, and the mower unit
Elevating detector for detecting the elevating state of the mower unit
The elevation detector which detects that the ascent has been raised to a predetermined position
The moving means during turning is not operated based on the detection result from
Switch to the state and the mower unit reaches the predetermined position
Detection result from the elevation detector that detected that it was lowered
Switching of the turning movement means to the operating state based on
Switching means to perform and the mower unit is raised to a predetermined position
Based on the detection result from the elevation detector
The moiré moved by the turning movement means
Return means for returning the knit to the center position;
Detecting the position of the mower unit moved by a step;
Mower unit position detector and the amount of steering of the mowing work vehicle
And a steering amount detector for detecting the
When the elevation detector detects that the instrument has been lowered
Based on the detection result from the mower unit position detector
Detecting the position of the mower unit from the steering amount detector
Synchronization that adjusts to a position proportional to the result
And a front mower control device for a mowing vehicle.