JPH01137902A - Tractor rolling control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a rolling control device for a tractor.

Prior Art and Problems to be Solved by the Invention When a working device such as a tiller is connected to the rear side of a tractor and the work is carried out while the tractor is running, the working device is horizontally horizontal regardless of the horizontal inclination of the tractor body. As a technique for maintaining the vehicle body or the working device at a constant tilt angle, a rolling cylinder that is controlled to expand and contract is provided between the pair of left and right lower links and the lift arm that connect the working device. BACKGROUND ART A technique is known in which rolling control is performed, such as by controlling the expansion and contraction of a rolling cylinder while detecting the left and right inclination of a working device using a horizontal sensor provided therein to maintain the working device in a horizontal state at all times.

In such a rolling control device, the present invention provides:
As a means for detecting the horizontal inclination angle of the working device with respect to the tractor body, a stroke sensor is provided to detect the difference in vertical movement between a pair of left and right lower links, and the detected value by this stroke sensor is input to the rolling control device. This is intended to control rolling.

Moreover, in such a rolling control mode, depending on the installation position and installation form of the stroke sensor with respect to the left and right lower links or the rolling cylinder, etc., the input value to the rolling control device by the stroke sensor may be a positive value. Sometimes it is input as a negative value, and sometimes it is input as a negative value.If the input value from these stroke sensors is fixed as either positive or negative depending on the form of rolling control, etc., the stroke sensor can be shared. Sexuality is restricted, which is inconvenient and uneconomical.

Means for Solving the Problems This invention provides a mechanism for connecting one side of a pair of left and right lower links (2) and (3) whose tips are connected to the left and right positions of a working device and which is rotated up and down by a lift arm (1). The lower link (2) and the lift arm (1) are connected by an extendable rolling cylinder (4), and the left and right lower links (2)
) (3) In a rolling control device (6) that controls the rolling of the working device while receiving input from a stroke sensor (5) that detects a vertical movement difference therebetween, the stroke sensor (5) is connected to the rolling cylinder (4). A low link control device for a tractor has a configuration in which detection input terminals (L) and (R) are provided in a freely redirectable manner.

Functions and Effects of the Invention In rolling control, for example, if we take a control form that maintains a working device in a horizontal state regardless of the horizontal inclination of the tractor body, the horizontal sensor installed on the vehicle body, etc. The tilt angle and the tilt direction are detected, and the rolling cylinder (4) is expanded and contracted. The expansion and contraction of this rolling cylinder (4) causes the lower link (
2) is moved up and down with respect to the lower link (3) on the opposite side, so that the working device is rolled left and right. The vertical movement difference between the left and right lower links (2) and (3) is constantly detected by the stroke sensor (5), and the rolling control device (
6), the detected length by the stroke sensor (5) corresponding to the inclination angle by the horizontal sensor is compared, and when the two become the same, the rolling cylinder (4)
The extension and contraction of the work equipment is stopped to maintain the left and right horizontal posture of the work equipment. Further, if the inclination angle of the tractor body changes, the above operation is repeated.

Stroke sensor (
If the input terminal from 5) is (R), when the installation position of the stroke sensor (5) changes due to a change in rolling control mode, etc., and the input amount is reversed from r+j r-j, this A normal input form can be achieved by attaching the stroke sensor (5) to the input terminal (L) on the opposite side of the input terminal (R). Therefore, it is easy to operate, and the same type of stroke sensor (5) can be used in different rolling control types or models.

Embodiment When rotating, lower links (2) and (3), which are raised and lowered by a pair of left and right lift arms (11), are attached to the rear end of the tractor body (7) using brackets (8) and pins (9).
Connect by. The lower link (21f3) connects the left and right sides of a working device such as a tiller with a top link, etc., and moves up and down. A rolling cylinder (4) that expands and contracts under hydraulic control by the output of a rolling control device (6) is connected between the lower link (2) on one side and the lift arm (1), and the lower link (3) on the other side and the lift arm (1) are connected by a lift arm (10) of a certain length, and by expanding and contracting the rolling cylinder (4), one lower link (3) is connected to the other lower link (2).
The configuration is such that the left and right inclination angle of the working device with respect to the vehicle body (7) is controlled by moving the position up and down.

The stroke sensor (5) is connected to these left and right lower links (
It is provided in an interlocking mechanism that interlocks between (2) and (3), and is configured to detect the vertical movement difference between both lower links (2) and (3).

The left and right brackets (8) are located at the bottom of the rear end of the vehicle body (7).
) An arm (IiD (13)) is rotatably provided around a pin (11) coaxially protruding with the pin (9), and one end of these arms (1δ (13) The rods (1?Ill) are connected and rotate as one,
− side arm (1 tip and this side lower link (2)
A leaf spring is connected between the two and rotates together in the vertical direction.

On the lift arm shaft (161 center) on the lower link (3) side of the upper lift arm (1), attach the sensor arm shaft (161) using a bracket (1), and attach the sensor arm shaft (161 Install the sensor arm (19).

This sensor arm t19) and the arm (13) are connected by a rod 12G of a certain length, and a telescopic stroke sensor (5) is connected between this sensor arm (19) and the lower link (3). ) are connected. This stroke sensor (5) is configured to input and process the amount of expansion/contraction by expansion/contraction to a rolling control device (6) consisting of a microcomputer. 121) is this input harness.

The rolling control device (6) uses horizontal sensors (2 sensors) on the vehicle body (7) to detect the left and right inclination of the vehicle body, and a stroke sensor (2).
After inputting the expansion/contraction length by 5) and the fixed resistance (23, etc.), the solenoid valves (SU) (SD) are output to control the expansion and contraction of the rolling cylinder (4). Left and right input terminals (L) In (R), the connection part of the input harness 21) from the stroke sensor (5) is provided replaceably with a coupler Q4), and the fixed resistor (I) is also provided replaceably,
When connecting the stroke sensor (5) to the left input terminal (L), connect the fixed resistor (23) to the right input terminal (R).
5) This is for adjusting the integration error during sensor manufacturing to correct the detected value.

When the horizontal sensor (2) detects the inclination angle of the vehicle body (7) in the left-right direction, the rolling cylinder (4) is controlled to expand and contract according to this inclination angle to roll the working device relative to the vehicle body (7). At this time, the rolling sensor (4) is hydraulically expanded and contracted by the operation of the solenoid valve (SU) or (SD), and the stroke sensor (5) detects this length of expansion and contraction, and this is input. The fixed resistance (2) is fed back from the terminal (L) to the rolling control device (6) and is input from the input terminal (R).
When this corrected value becomes a value equivalent to the inclination angle detected by the horizontal sensor (2δ), the output to the solenoid valve (S U) (SD) is stopped, Place the work equipment in a horizontal position.The vehicle body (
If the inclination angle in 7) changes, the same operation as above is repeated.

If the stroke sensor (5) in rotation is in the form of an interlocking mechanism and must be replaced with the rod t2, the stroke sensor (5) is connected between the arm (I3) and the sensor arm (191), and the rod t2 [) will be connected between the sensor arm (19) and the lower link (3). Stroke sensor (5) like this
When the connection position of the lower end of is rotated, the interlocking arm (13) on the lower link (2) side opposite from the lower link (3) side
When the side attachment is changed, even if the inclination of the vehicle body (7) is the same before and after the change, the direction of expansion and contraction of the stroke sensor (5) is reversed. 5) from the left input terminal (L) to the right input terminal (R), and replace the fixed resistor (23) to the opposite side. This allows the stroke sensor (5) and the fixed resistor (23 to be connected to the rolling control ( The value input to 6) is also r
Since +Jr-J is reversed, rolling control can be performed normally.

In addition, although the case where the working device is controlled to the left and right horizontal positions with respect to the vehicle body has been described above, the control mode may be provided so as to be freely switchable so that the working device is controlled to the left and right inclined positions.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is a block diagram, FIG. 2 is a partially exploded perspective view, and FIG. 3 is a partially cutaway rear view. In the figure, (1) is a lift arm, (2) (3) is a lower link, (4) is a rolling cylinder, (5) is a stroke sensor, (6) is a rolling control device, (L) (R
) indicates an input terminal.

Claims (1)

[Claims] A pair of left and right lower links whose tips are connected to the left and right positions of the working device and are rotated up and down by the lift arm (1).
2) The lower link (2) on either side of (3) and the lift arm (1) are connected by an extendable rolling cylinder (4), so that the left and right lower links (2) and (3) can be connected to each other. In a rolling control device (6) that performs rolling control of the working device while receiving input from a stroke sensor (5) that detects a vertical movement difference between the stroke sensor (
5) A rolling control device for a tractor, which comprises switchably providing detection input terminals (L) and (R) for the rolling cylinder (4).