JPH0637612Y2 - Angle control device for work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Use The present invention relates to a device for controlling the left and right tilt angles of a working machine mounted via a tow link of an agricultural tractor.

(B) Conventional Technology In the rolling control of a working machine, a technology has been conventionally known in which the work machine is leveled when the work is lifted.

For example, it is like the technique described in JP-A-57-94203.

The technique disclosed in Japanese Patent Laid-Open No. 57-196310 is also known in that two types of rolling control are provided for high speed operation and low speed operation.

(C) Problems to be solved by the device Angle control in an agricultural tractor detects the angle with respect to the machine and the horizontal with a sensor, and tilts the working machine to a set angle based on the output, or They try to keep them parallel.

When working in a field on a sloping ground, the work is performed while keeping the work machine horizontal. For example, when working on a sloping land that rises to the right, the brake lever turns at the same time as the position lever is raised to raise the work equipment. If the work implement does not quickly tilt to the same level as the tractor, the work implement is tilting downward to the right because
The ridges and ridges were broken, and the work machine was damaged.

In order to solve this problem, the present invention, when the position lever is raised to raise the work implement, the speed at which it tries to be parallel to the work implement is independent of the switching position of "fast" or "slow". It was designed to operate at "fast" speeds.

(D) Means for Solving the Problems The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

The tilt sensor 15 detects the left and right tilt angles of the working machine, and the output detected by the tilt sensor 15 controls the left and right tilting angles of the working machine in an angle control device that allows the control speed to be adjusted to a high or low level. When the work machine is lifted by operating the lift lever 2, the control is stopped by the output from the tilt sensor 15, the work machine is controlled to be parallel to the machine body, and the control speed is high. It is what

(E) Embodiment The purpose of the present invention is as described above, and the structure of the present invention will be described based on the structure of the embodiment shown in the accompanying drawings.

FIG. 1 is an overall side view of an agricultural tractor equipped with a rotary tiller, and FIG. 2 is a plan view of the rotary tiller.

The hydraulic case 4 is placed on the axle case 1, and the lift arms 5R and 5L are projected on the left and right sides of the hydraulic case 4. When you operate the position control lever 2, the lift arm
5R and 5L rotate and lift link 5R and 5L are connected and pivotally supported by lift link 6, hydraulic lift link 8 and lower link 3R.
-Move the rotary tiller 9 up and down through 3L. The lower link 3L pivotally connects the lift link 6 and the check link 14L to the central part, and the lower link 3R pivotally connects the hydraulic lift link 8, the detection link 7 and the check link 14R. One end is under the axle case 1 and the other end is Pivoted to the rotary tiller 9, check links 14R and 14L are rotary tiller 9
To prevent rocking. A lift link 6 is pivotally connected to the tip of the lift arm 5L, and the angle of the rotary tiller 9 with respect to the main unit can be adjusted by a lift link turnbuckle 6a. A hydraulic lift link 8 and a detection link 7 are pivotally connected to the tip of the lift arm 5R, and the hydraulic lift link 8 is expanded or contracted manually or automatically to adjust the angle with respect to the machine. The detection link 7 is a detection device for adjusting the angle with respect to this machine, and is configured as shown in FIG.

The upper end of the detection link 7 is pivotally connected to the lift arm 5R, the cylinder 10 is provided in the middle, and the rod 11 is fitted therein. Rod 11
Is slidable in the cylinder and is pivotally connected to the lower link 3R. As the right side of the rotary tiller 9 rises, the rod 11 rises and the limit switch 12 operates. Conversely, when the right side descends, rod 11 descends and the limit switch
Activate 13. With such a configuration, the hydraulic lift link 8 is operated by keeping ON / OFF the horizontal posture limit switches 12 and 13 so that the rod 11 is located between the horizontal posture limit switches 12 and 13, and the horizontal lift limit switches 12 and 13 are kept parallel to the machine. To do. Details will be described later.

The hydraulic lift link 8 is controlled by the hydraulic circuit shown in FIG. 4 to control the angle of the rotary tiller 9. A 4-port, 3-position switching type solenoid valve 17 is arranged between the reciprocating hydraulic cylinder 19 and the hydraulic pump 18, and the pressure oil from the hydraulic pump 18 is generated when the solenoid 17a is excited.
Oil is sent to the side where 6a is withdrawn, while the side where piston rod 16 enters is returned to the tank. Therefore, the hydraulic lift link 8
Grows and the right side of the rotary tiller 9 descends. When the solenoid 17b is excited, pressure oil is sent to the entry side of the piston rod 16, the hydraulic lift link 8 is shortened, and the right side of the rotary tiller 9 is raised.

An inclination sensor 15 is installed at the center of the rotary tiller 9, and the absolute angle of the rotary tiller 9 is digitally detected. The tilt sensor 15 is arranged such that the light source and the light receiving element are opposed to each other with the slit plate sandwiched therebetween, and the slit plate is provided with a grid stripe radially encoded around the rotation axis, and the light source having the number of bits required for the encoding. With the light receiving element, the tilt angle corresponding to the rotation of the slit plate can be digitally obtained. In the embodiment of the present invention, the value of the sign when the rotary tiller 9 is in the most upwardly rising state is “0”, and the value in the horizontal state is the absolute coordinate with respect to the horizontal state. It is set to "15" or "16", and the value at the most downward-sloping state is set to "31".

FIG. 5 is an electric circuit diagram of the tilt angle control of the present invention, and FIG. 6 is a tilt angle control operation panel diagram. Reference numeral 21 denotes a battery which is a power source, and when the key switch 22 is turned on, the electric system becomes a standby state. The control circuit 20 is
It consists of an input / output interface, an arithmetic circuit, and a memory circuit. It converts the input from sensors and various switches to a level that can be processed by the arithmetic circuit by the input interface. Calculations and comparisons are performed by the arithmetic circuit, stored in the memory circuit, and read from the memory circuit. In this way, the signals are organically combined, the command and the process are performed, and the output interface converts the level to a level suitable for the external circuit and outputs the output signal. Reference numeral 26 is an automatic switch, and automatic control by a signal from the tilt sensor 15 does not work, and the hydraulic lift link 8 is expanded and contracted by the manual manual tilting up switch 23 and the manual manual tilting down switch 24 to adjust the tilt angle of the rotary tiller 9. Adjust it. That is, the manual tilting and raising switch 23
When turned on, the gate 30a of the AND circuit 30 becomes high level, and at the same time, the high level signal is output to the gate 30b, so that the output of the AND circuit becomes high level and the switch circuit 32
Turns on the bias and activates the solenoid 17b. Therefore, the right side of the rotary tiller 9 is raised.
When the manual tilt down switch 24 is turned on,
The gate 29a of the D circuit is at the high level, the gate 29b is at the high level, the AND circuit is at the high level, the gate of the switch circuit 31 is turned on, and the solenoid 17a is activated, and the right side of the rotary tiller 9 is lowered.

This rising / falling speed can be adjusted.By adjusting the pulse variable resistor 27, the pulse oscillator 28's intermittent time changes, and if pulses are generated continuously, the rising / falling speed becomes faster and intermittent pulses are generated. If this is done, the ascending / descending speed will slow down. However, the high level signal is output to 29b and 30b only in the continuous excitation state (when operating at "fast" speed). Of course, at this time, a high level signal is output to one of 29a and 30a.

When the automatic manual changeover switch 26 is turned on, the automatic mode is set. In the automatic mode (however, it will be described later when the micro switch 25 is ON), the tilt sensor 15 generates a code corresponding to the tilt angle. If the code is "0" to "14",
In other words, when the right side of the rotary tiller 9 is raised with respect to the horizontal, the gate 29a is set to the high level and the solenoid 1
7a is activated, the right side of the rotary tiller 9 is lowered, and the gate 29a is brought to a high level until it becomes horizontal.
On the contrary, when the right side of the rotary tiller 9 is lowered, the tilt sensor 15 outputs "17" to "31", sets the gate 30a at a high level, and activates the solenoid 17b to raise it.

When the position control lever 2 is pulled close to the upper limit, the micro switch 25 turns on. Micro switch 25
When is turned on, the input from the tilt sensor 15 is stopped, and the input from the horizontal attitude limit switches 12 and 13 is accepted.
Further, when the micro switch 25 is turned on, pulses are continuously generated regardless of the adjustment of the variable resistor 27 to operate at a “fast” speed, and the manual tilting up switch 23 and the manual tilting down switch 24 are operated. It doesn't work when I go.

When the micro switch 25 is ON, the rotary tiller 9
In case of rising to the right with respect to this machine, the normally open horizontal posture limit switch 13 is turned on and becomes low level, the gate 29a is at high level and the right side is lowered to be parallel to this machine. On the contrary, when the rotary tiller 9 descends to the right, the normally-closed horizontal posture limit switch 12 is turned on, the level becomes low, the gate 30a becomes high, and the right side rises. In this way, by positioning the rod 11 between the horizontal attitude limit switch 12 and the horizontal attitude limit switch 13, the rod 11 is made parallel to the machine.

(F) Action of the device Next, referring to the flowchart in FIG. 7,
Turning on the key switch 22 activates the tilt angle control circuit. When the position control lever 2 is pulled in order to raise the rotary tiller 9, the position control lever 2 will move the micro switch 25 near the upper limit.
When (a) is turned on and the automatic manual changeover switch 26 is turned off (b), operation correction is performed so that the rotary tiller 9 is in a predetermined state regardless of the angle of the rotary tiller 9. And the rotary tiller 9 is raised.

If the automatic switch is ON (b), it is judged whether the horizontal attitude limit switch 12 mounted on the detection link 7 is ON or OFF (c).
Judge whether N or OFF (d). If OFF, solenoid 17b
To raise the right side of the rotary tiller 9. Then, the solenoid 17b is excited until the horizontal attitude limit switch 12 is turned on. Further, if the horizontal posture limit switch 12 is ON (c), it is judged whether the horizontal posture limit switch 13 is ON or OFF (e). If it is ON, the solenoid 17a is excited to lower the right side of the rotary tiller 9. . Normally, the horizontal attitude limit switch 12 is OFF and the horizontal attitude limit switch 13 is not ON, but if this happens, the output will be OFF (d).

If the rotary tiller 9 is not in the uppermost position,
Position control lever 2 is micro switch 25
In the state where is OFF (a), it is judged whether the manual manual tilting and raising switch 23 is ON or OFF (f). If it is ON, the solenoid 17b is excited to raise it. It is determined whether the tilt down switch 24 is ON or OFF (g). O
If N, the solenoid 17a is excited and the right side of the rotary tiller 9 is lowered. That is, the rotary tiller 9
Means that manual operation cannot be performed in the raised position.
It excites 7b, so it operates at a "fast" speed.

Position control lever 2 is micro switch 25
Is OFF, and if it is not in the automatic mode (h), the state is maintained and it is in the automatic mode, and 2
If it is less than a second (i), the tilt sensor 15 receives an ascending or descending command (j) (k), and the solenoid 17b-1
7a operates continuously. After 2 seconds (i), the magnitude of the pulse output from the oscillation circuit 28 is changed by the variable resistor 27 (l) (m) (p), and (j) (k) (n) according to the sign obtained from the tilt sensor 15. ) (O) (q) (r) and the gate 29a or 30a of the AND circuit is set to the high level to excite the ascending or descending solenoid. Then, the rotary tiller 9 is raised or lowered in order to keep the rotary tiller 9 horizontal at a speed corresponding to the magnitude of the pulse.

In other words, position control lever 2 in automatic mode
Is within 2 seconds after turning off the micro switch 25,
It operates at a "fast" speed and thereafter attempts to keep the rotary tiller 9 horizontal at a speed adjusted by the variable resistor 27.

(G) Effect of the Invention Since the present invention is configured as described above, it has the following effects.

Firstly, in the automatic control, even when the working machine is inclined to either side and reaches the field end and starts traveling, the angle control of the working machine is performed at a low speed to prevent hunting. Nevertheless, if you raise the work implement by operating the elevating lever, you can quickly control the work implement parallel to the machine body, so prevent damage to the ridges and ridges or the work implement. You can

[Brief description of drawings]

FIG. 1 is an overall side view of an agricultural tractor equipped with a rotary tiller, FIG. 2 is a plan view of the rotary tiller, FIG. 3 is a sectional view of an angle detecting device with respect to this machine, and FIG.
FIG. 5 is a hydraulic circuit diagram of the tilt angle control, FIG. 5 is an electric circuit diagram of the tilt angle control, FIG. 6 is a tilt angle control operation panel diagram, and FIG. 7 is a flow chart of the tilt angle control. 2 …… Position control lever 7 …… Detection link 8 …… Hydraulic lift link 9 …… Rotary tiller 12 …… Horizontal posture limit switch 13 …… Horizontal posture limit switch 15 …… Inclination sensor 17 …… Solenoid valve 17a, 17b ...... Solenoid 23 ...... Manual tilting up switch 24 ...... Manual tilting down switch 25 ...... Micro switch 27 ...... Pulse variable resistance 28 ...... Oscillation circuit

Claims (1)

[Scope of utility model registration request] 1. A tilt sensor 15 detects a tilt angle of a working machine from left and right, and an output detected by the tilt sensor 15
In the angle control device for controlling the left and right tilt angles of the working machine, when the control speed is adjustable and the working machine lifting lever 2 is operated to raise the working machine, the tilt sensor is used.
An angle control device for a working machine, which is characterized in that the control by the output from 15 is stopped, the working machine is controlled to be parallel to the machine body, and the control speed is high.