JPH02145103A - Rolling control device for tractor work equipment - 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 Application Field The present invention relates to a rolling control system for a tractor working machine, and more specifically, during rolling control, a pair of left and right lower links is controlled depending on the mounting width depending on the type of working machine. This can be used when correcting vertical movement differences.

Problems to be Solved by the Prior Art and the Invention Recently, rolling devices have been put into practical use for horizontally controlling the ground level of mounting work equipment used during work on tractors.
Rolling control of this work equipment is normally carried out by connecting and suspending the left and right lift arms for lifting and lowering the work equipment of the tractor and the left and right lower links with a reference rod on one side and a telescopic cylinder using hydraulic pressure or the like on the other side. Many machines control the work equipment by adjusting the vertical movement difference of the lower link by expanding and contracting the telescopic cylinder based on the detected value of the ground tilt sensor installed on the machine body side. Conventionally, when adjusting the vertical movement difference of the link, a stroke sensor is connected between the lift arm and the lower link in parallel with the telescoping cylinder in order to check the operating amount of the telescoping cylinder. , In the above-mentioned detection between the lift arm and the lower link, the connection position of the lower link may be changed, and when this change occurs, the calculation at the time of detection becomes very troublesome, so instead of the lift arm, a dedicated detection There is a control arm that is provided with separate left and right rotatable control arms, and the left and right control arms and the left and right lower links are connected and detected by a reference rod and a stroke sensor, but both of these When changing the mounting width of the lower link due to differences in the mounting width when installing the work equipment,
It is necessary to change the calculation formula using a changeover switch or the like, which makes the rolling control device complicated and expensive.

Therefore, as a countermeasure for changing the mounting width as described above, the present invention attempts to cope with the change of the mounting width by a simple operation of moving the upper and lower connection positions of the stroke sensor according to the latter type, instead of switching the rolling control device. It is something to do.

Means for Solving the Problems The present invention provides a lower control arm connected between upper control arms (1) and (2) which are integrally rotatable on the left and right sides and a pair of left and right lower links (3 and 4). In the reference rod (5) on one side and the stroke sensor (6) on the other side, which detects the vertical movement difference between the links (3) and (4), the stroke sensor (6)
Alternatively, the rolling control device for a tractor working machine may be configured such that the mounting position of the reference rod (5) is movably adjustable.

Functions and Effects of the Invention According to the above configuration, when performing rolling control to control the ground level state of the work equipment attached to the tractor during work on the tractor, the work equipment is connected to the pair of left and right lower links (3) (4). ) and the upper top link to attach and hold it to the rear of the tractor, and this lower link (3)
An arbitrary position approximately in the middle of (4) is connected to a pair of left and right hydraulic lift arms through rods so as to be able to move up and down from the ground, and one side of the rod is connected to a hydraulic telescopic cylinder, and the telescopic action of the telescopic cylinder is used to lift the hydraulic lift arms. Lower link (3) (4
), the vertical position of the one-way stool is adjusted to perform rolling control.

Adjustment of this expansion/contraction action is achieved by connecting the control arms (1) and (2), which are provided so as to be rotatable integrally on the left and right sides, by a rotation axis having an axis at or near the rotation axis of the lift arm, and the lower link (2). 3) and (4) by a link mechanism connected at a position inside the rod of the lift arm with a reference rod (5) on the negative side and a stroke sensor (6) on the other side, installed on the body side of the tractor, for example. By detecting the inclination with respect to the ground surface by the ground inclination sensor, this detection signal is sent to the rolling control device to calculate the vertical position of the lower link (3) or (4), and the stroke sensor (6) is moved up to this calculated position. Upon detection of , the telescopic cylinder is caused to expand and contract to perform adjustment.

However, the mounting width of the lower links (3) and (4) varies depending on the type of work machine.

As shown in Figure 2, the narrow mounting width (W) changes from the wide mounting width [W'
], by selecting the position of [Q'] with respect to (Q) so that [h] and [h'] are equal, the relational expression between (h) and [θ] can be obtained. −h=sinθ−(
It is possible to calculate the installation angle of the work implement in a horizontal state at ground level with respect to the body of the tractor without correcting W-Q/L) and coefficients.

That is, the present invention uses the stroke sensor (6) instead of a calculation type changeover switch, etc., which is required depending on the mounting width.
The upper and lower connecting positions can be moved approximately in parallel to a position where the value of (W-Q/L) is always constant, and the specific means for doing so are free.

With this configuration, there is only one calculation formula for converting the detected value of the stroke sensor (6), and there is no need to switch using the changeover switch, etc., so the sharing of the control program of the rolling control device is greatly improved. In addition, there is no need for the changeover switch, etc., which is required in the past due to the difference in mounting width of the work equipment, so there are fewer switches, fewer erroneous operations, and it is economically cheaper. The connection position in (6) can also be checked at a glance.

Example: When the tractor is turned over, the body (7) of the tractor is long from front to back, and the engine (8) is mounted on the front part, and from the engine (8) toward the rear there is a transmission case (with a gear change interlocking mechanism inside). 9) are connected via a clutch device, and from this mission case (9), left and right front wheels (10) located on the front side of the fuselage (7) and left and right rear wheels (11) located on the rear side of the aircraft body (7) are connected. ), and is provided with a bonnet (12) that covers the engine (8), and a control device (13) for controlling the tractor rearward from the rear end of the bonnet (12). A pilot seat (14) for this maneuver is provided, and a pilot seat (13) for this maneuver is provided.
The front wheels (10) are connected to each other so that they can be steered by a handle (15).

Further, lower links (3) and (4), which are a pair of left and right belt-shaped pieces extending rearward for attaching a working machine, are connected to the lower rear end position of the mission case (9) so as to be freely rotatable up and down.
A rotary tiller (16), which is an example of a working machine, is connected to the rear end of the lower links (3) and (4), and a top link hitch (17) is provided at the upper rear end of the mission case (9). The top link (18) connected to the rotary tiller (16) is rotatably connected to the upper support arm (19) of the rotary tiller (16), and the transmission case (9)
A PTO shaft (20) protruding from the rear end and an interlocking case (21) of the rotary tiller (16) are interlocked and connected by an interlocking shaft (22) having a universal joint.

Further, the lower links (3) and (4) are fitted and supported near the middle of the front and back lengths of the transmission case (9), and are pivoted to a lift shaft (23) which is rotated by hydraulic pressure. Pair of left and right lift arms (24) that rotate up and down
The left side is rotatably connected to the distal end thereof by a fixed rod (25) and the right side by a telescopic cylinder (26) operated by hydraulic pressure. Further, the lift shaft (23) is formed hollow, and the control shafts (34) of the control arms (1) and (2), which are integrally configured on the left and right sides, are loosely supported in the hollow part so as to be vertically swingable. Arms (1) (2) and the lower link (
3) and (4) at an arbitrary inner position closer to the rotational fulcrum than the connection position of the fixed rod (25) and the telescopic cylinder (26) connected to the lower links (3) and (4),
The control arm (1) and the lower link (3) are connected to each other by a reference rod (5), and the control arm (2) and the lower link (4) are connected to a stroke for detecting the amount of expansion and contraction of the telescopic cylinder (26). rotatably connected by a sensor (6);
The upper and lower connection hole positions (27) of this stroke sensor (6)
) (27') is further provided with connecting hole positions (28) (28') which can be moved to the inner position by an arbitrary amount in a substantially parallel state to form a link mechanism (A).

In addition, a ground tilt sensor (2) is placed at an arbitrary position on the first aircraft (7) side to detect the left and right tilt state of this aircraft (7) and the ground surface.
9), and receives the detection signal from the ground inclination sensor (29) and performs calculation control of the vertical movement position of the right lower link (4) by the stroke sensor (6).
A rolling control device (30) mainly composed of PU is built into the control device (13).

Further, the stroke sensor (6), the ground inclination sensor (29), and a solenoid valve (31) that operates the telescopic cylinder (26) are electrically connected to the rolling control device (30), and The cylinder (26) and the solenoid valve (
31) and a circuit configured to be able to be driven hydraulically.

In the tractor configured as described above, when working with the rotary tillage device (16), there are many cases where the ground surface on which the work is performed with respect to the tractor body (7) is uneven; Due to the unevenness of the front wheel (10) and rear wheel (11), one side of the front wheel (10) and the rear wheel (11) move up and down, and this vertical movement causes the aircraft (7) to tilt. The ground inclination sensor (29) provided detects this, and this detection signal is sent to the rolling control device (30).
The data is sent to the CPU for arithmetic processing.

The solenoid valve (31) is actuated by the output of the rolling control device (30) based on this calculation, and this action causes the hydraulic telescopic cylinder (26) to telescopically actuate the right lower link (3) relative to the left lower link (3). (4) up and down,
This vertical amount is detected by a stroke sensor (6), and this detection signal is sent to the rolling control device (30) to determine the position of the vertical movement difference, and the rotary tilling device (16) is controlled in relation to the inclination of the machine body (7). Control is performed to maintain a constant horizontal state of the ground level.

When installing other working machines other than the rotary tilling device (16) during this rolling control, the mounting widths of these working equipment are divided into at least two types (hereinafter referred to as categories), as shown in Fig. 3. Narrow wearing width category [W]
In the work machine, the stroke sensor (6) is connected to the upper and lower connection hole positions (27) (27') by [Ω], and in the work machine of category [W'], which has a wide mounting width, the stroke sensor (6) are connected to the upper and lower connecting hole positions (28) (2B') by [Q'].

By moving this connection position, even if there are wide and narrow categories of work equipment, H = h - L / Q as shown in Figure 2.
and H=W-ainθh=sinθ-CW-Q/
L) When detecting the installation angle of the work equipment in the horizontal state with respect to the ground level with respect to the machine body (7) using the above equation, w-a=w'
・11' h=sin θ-(W'-Q'/L), so the value of (W-Q/L) is always constant and the detected value (h) of the stroke sensor (6) and [θ] Only one conversion calculation formula is required, and there is no need to change the calculation formula using a changeover switch or the like as in the past, and the rolling control device (30
) can greatly improve the sharing of control programs for the stroke sensor (6), and since the changeover switch and the like are no longer required, the number of switches is reduced, which reduces the number of erroneous operations, making it economically cheaper. You can also check the connection status at a glance.

In addition, when using the above configuration, when the lower link (4) is in a substantially horizontal state, the LA mist flow sensor 6) is caused to rotate in a direction close to tangential to the rotation of the lower link (4). is more effective.

In another embodiment, in order to improve the ease of handling in the above invention, the lower link (3) (
4) side connection hole position (27') (27') is moved to the connection hole position (28') (28'') in the same way as the stroke sensor (6) and reference rod (5). In this case, the control arm <
1) Since there is no need to move either of the connection hole positions (27) and (27) on the (2) side, it is possible to prevent erroneous operation due to movement of the connection holes.

Furthermore, from the connecting hole position (27''') to (28'
) may also be configured to be moved without removing the connecting portion by link motion or the like as shown in FIG.

In another embodiment, both of the above inventions are further improved, and the (CQS) as shown in FIGS.
By setting Q a) small, (Q) and [Q′]
It has the advantage of reducing the error in the intermediate arm (
32) According to (33), the lower links (3) (4)
) can absorb the influence on the detected value due to the fluctuation of (a
) can be set smaller.

In addition, the stroke sensor (6) and the reference rod (5
) is not limited to the above configuration, and can be adapted to any combination.

In addition, there is no need to limit the categories to two types depending on the width of the attachment of the work equipment, and the movement of the connection position for this purpose can be adapted to the type of category required.

Further, the present invention is applicable to all mobile work vehicles that require horizontal control, such as tractors, combine harvesters, transplanters, and construction machines.

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
Figure 2 (a) is a side action line diagram, Figure 2 (b) is a front action line diagram, Figure 3 (a) is a slope view, Figure 3 (b) is a partial side view, and Figure 4 (a) is a slope view, Figure 4 (b) is a partial side view, Figure 5 (a') is a slope view, Figure 5 (b) is a partial side view, Figure 61!1 (a) ) is a slope view, FIG. 6(b) is a partial side view, and FIG. 7 is a partial side view. In the figure, symbols (1) and (2) are left and right control arms, and (3) (
4) is the left and right lower link, (5) is the reference rod, (6
) indicates a stroke sensor.

Claims (1)

[Claims] The upper control arm (1) (2) can be rotated integrally on the left and right sides.
) and a pair of left and right lower links (3) (4) to detect the vertical movement difference between the lower links (3) and (4).A reference rod (5) on one side and a stroke sensor on the other side. The rolling control device for a tractor working machine according to (6), wherein the mounting position of the stroke sensor (6) or the reference rod (5) is movably adjusted.