JPH0736721B2 - Tilt control device for agricultural work machines - Google Patents

Description

TECHNICAL FIELD The present invention relates to a tilt control device for controlling the tilt of a work machine mounted on a tractor in the left-right direction.

[Prior Art] The tractor is equipped with a working device such as a cultivator through a 2P link type or 3P link type coupling device (hereinafter, referred to as a 2P hitch or a 3P hitch), and an agricultural working machine that performs work includes There is a device provided with a control device for controlling the inclination of the work machine in the left-right direction.

[Problems to be Solved by the Invention] In this type of tilt control device, the horizontal tilt of the working machine, that is, rolling is controlled based on the detection result of the tilt sensor that detects the horizontal tilt of the tractor or the working machine. The rolling control program to be stored in the memory is written in the memory.Since this rolling control program has different contents depending on whether a 2P hitch is provided or a 3P hitch is provided, the conventional control device uses a 2P hitch as a connecting device. Only one of the 3P and 3P hitches can be controlled, and there is a problem in that it is poorly compatible with work machines.

[Means for Solving Problems] In order to solve the above problems, the present invention provides a tilt control device configured as follows.

That is, the tilt control device according to the present invention is configured such that a tractor or a working machine is provided with a tilt sensor that detects a tilt in the left-right direction, and the working machine is controlled to a predetermined tilted posture based on a detection value of the tilt sensor. In the tilt control device, the connecting device that connects the work machine to the tractor is 2P.
A control program in the case of a link type coupling device,
A feature is that a memory in which a control program in the case of a 3P link type coupling device is written is provided, and one of these control programs is selected and used according to the actual coupling device.

[Operation] The control device is provided with the memory in which the control program of the 2P link system and the control program of the 3P link system are written, and the corresponding control program is selectively selected according to the coupling system actually adopted. Since it can be selected and adopted, one type of control device can support both the 2P link system and the 3P link system.

[Embodiment] FIGS. 1 to 4 are views showing an example (1) of an agricultural working machine to which the present invention is applied. A 2P link type coupling device (hereinafter, "2P hitch") 3 is provided. The 2P hitch 3 is equipped with a rotary tiller 5, which is a working machine. The tractor main unit 2 is provided with an inclination sensor 7 that detects the horizontal inclination of the tractor main unit.

The 2P hitch 3 is provided with a bracket 10 which is rotatable up and down in a plane perpendicular to the traveling direction of the tractor main unit 2, and the bracket 10 has a pair of left and right draft links for towing work machines.
11,11 are connected. Bracket 10
Is formed by forming the base portion 10a and the left and right mounting portions 10b, 10b into a U-shape in a plan view, and a circular hole 10c formed in the base portion 10a is projected rearward from the bracket base 12 of the tractor main unit 2. axis
13 rotatably fitted to the flange plate 14 with bolts 15
It is attached to 13 end faces. Further, connecting pins 16, 16 are provided at the rear end portions of the left and right mounting portions 10b, 10b, and the tip ends of the draft links 11, 11 are connected to the connecting pins 16, 16. Reference numeral 17 in the figure is a stopper for preventing the draft link from falling off.

The tractor main unit 2 has lift arms 18, 18 for raising and lowering the working machine, and a lift rod 19 (left side in the illustrated example) and a lift rod cylinder 20 (illustrated example in the figure) attached to the tip ends of the lift arms 18, 18. On the right) is the draft link 11,11
Is connected to the middle part of. The lift arms 18 and 18 are integrally attached to an intermediate shaft 23 that is horizontally provided above the machine frame 22 of the tractor main unit 2, and by rotating the hollow shaft 23 with a hydraulic cylinder (not shown), Lift arm 1
It is designed to rotate 8,18 up and down. The hydraulic cylinder for raising and lowering the working machine and the lift rod cylinder 20 for rolling the working machine are both driven by an electrohydraulic hydraulic device 25 provided in the tractor main unit 2.

Further, a rotary shaft 30 is rotatably provided inside the hollow shaft 23 with respect to the hollow shaft 23, and sensor arms 31, 31 'are attached to the left and right protruding ends of the rotary shaft 30, respectively. Has been. Sensor arm on the lift rod 19 side (left side)
A sensor rod 32 is attached to 31 and a cylinder type stroke sensor 33 is attached to the sensor arm 31 'on the lift cylinder 20 side (right side). Further, the lower ends of the sensor rod 32 and the stroke sensor 33 are Joints 34, 34 are connected to the projections 35, 35 formed on the outer surfaces of the bracket mounting portions 10b, 10b. Rotation axis
A sensor arm angle sensor (not shown) that detects the amount of rotation of the sensor arm 31 is provided on the unit 30, and the working machine is controlled to move up and down based on the detection value of the sensor arm angle sensor. Further, in the present embodiment, the stroke sensor 33 is an angle sensor with respect to the machine, and the relative lateral inclination of the working machine with respect to the tractor machine is detected by the amount of expansion and contraction of the stroke sensor. Tilt control is performed.

As the angle sensor for the machine, a rotation angle sensor 36 as shown in FIGS. 5 and 6 may be adopted instead of the stroke sensor as in the present embodiment. In the case of this illustrated example, the base portion of the bracket is formed as a disc-shaped gear 37, and a rotation angle sensor 36 is provided in a gear 38 that meshes with the gear 37. Further, in the above-described embodiment, in order to detect the inclination of the working machine, the inclination sensor 7 for detecting the inclination of the tractor main body, and the angle sensor 33 (36) for detecting the inclination of the working machine with respect to the tractor main body. ) Is provided, the tilt sensor for detecting the tilt in the left-right direction may be provided on the tractor or the working machine, and the tilt of the working machine may be detected by this tilt sensor, as is conventionally known.

Next, FIGS. 7 to 9 show the tractor main unit 2 of the previous embodiment.
A farm work machine (1 ') equipped with a 3P link type coupling device (hereinafter referred to as "3P hitch").

The 3P hitch 60 has one top link 61 and a pair of left and right lower links 62, 62, and is equipped with a lift rod 19 and a lift cylinder 20 attached to the tip of the hydraulic lift arms 18, 18.
Is connected to the middle portion of the lower links 62,62. The cultivator 5, which is a working machine, has a top link 61 at the upper end of the mounting frame 64.
By connecting the lower end of the mounting frame 64 to the rear ends of the lower links 62, 62 while connecting to the rear end of the 3P hitch 6,
It is attached to 0.

The lift arms 18, 18 and the sensor arms 31, 31 'are provided in the tractor main unit 2 as in the first embodiment, and the sensor rod 32 attached to the sensor arm 31 on the lift rod 19 side (left side) and the lift. The stroke sensor 33 attached to the sensor arm 31 'of the cylinder 20 (on the right side) is connected to the middle portion of the left and right lower links 62, 62, respectively.
In the case of this 3P hitch 60, as in the case of the 2P hitch,
The expansion and contraction of the stroke sensor 33 detects the inclination of the working machine 5 in the left-right direction with respect to the tractor main body 2.

FIG. 10 is a block diagram showing the tilt control device 40 of the agricultural working machine 1 (1 '). The controller 41 stores a shared program applicable to both the case where the tractor main unit is provided with the 2P hitch and the case where the tractor main unit is provided with the 3P hitch.
The controller 41 includes a tilt angle setting device 43 for setting the tilt angle of the work machine 5 in the left-right direction, the tilt sensor 7, the stroke sensor 33, a mode setting device 46 for setting a control method, and a work machine mounting portion. Of the lift rod cylinder 20 connected to an auxiliary setting device 47 for specifying the width (category) and type of coupling device, and a manual operation switch 48 for manually tilting the working machine, and processing data supplied from these. The output command is issued to the proportional solenoid valve 49 of. The operation of the tilt control device 40 will be described below with reference to the flowchart of FIG.

First, the connection device reads the signal from the auxiliary setting device 47
It is determined whether it is a 2P hitch or a 3P hitch, and the detection value of the stroke sensor 33 is determined according to the judgment, which will be described later.
Switch the coefficient when converting to. If it is a 3P hitch, the category is read at the same time.

Next, the reading signals of the tilt angle setting device 42, the tilt sensor 35, and the stroke sensor 33 are read by the reading buffers 50, 51, and 52, and the target tilt angle A of the working machine 5 and the tractor main body 2 are read. Of the working machine 5 with respect to the tractor main unit 2 and the inclination angle (to the main unit angle) C of the working machine 5 with respect to the tractor main unit 2, and a target angle D of the working unit 5 with respect to the tractor main unit 2 from the B and C is calculated. To do. Next, the control mode set by the mode setter 46 is read. When the mode is set to "automatic", the target angle D of the machine and the actual angle C of the machine are compared with each other, and when the two match, the lift rod cylinder 20 is maintained as it is ( Output OFF), when the work implement 5 is rising to the right of the target tilt angle A, the lift rod cylinder 20 is extended (output signal), and when it is falling to the left, the lift rod cylinder 20 is contracted (output signal). . When the mode is set to “manual”, the lift rod cylinder 20 is expanded and contracted according to the instruction of the manual operation switch 48. When set to "parallel", the lift rod cylinder 20 is maintained with the working machine 2 parallel to the tractor main machine 2.

In this example, the difference between the rolling control program (I) when the 2P hitch is provided and the rolling control program (II) when the 3P hitch is provided is that the detected value of the stroke sensor 33 is set to the machine angle D. It is the difference in the coefficient when converted to. In this embodiment, the coefficient reference table is switched by designating the type of the coupling device with the auxiliary setting device 47. The rolling control programs (I) and (II) may be separately provided and switched from the outside.

[Effects of the Invention] As is clear from the above description, the tilt control device for an agricultural work machine according to the present invention selects the required rolling control program from the two types of programs written according to the method of the coupling device. Since it can be selected, one tilt control device can be adapted to 2P hitch and 3P hitch, and it has become possible to use it for various purposes.

[Brief description of drawings]

Fig. 1 is a side view of a riding agricultural work machine provided with a 2P hitch as a connecting device, Fig. 2 is a perspective view of the 2P hitch, Fig. 3 is a rear view with a part thereof omitted, and Fig. 4 is a main part thereof. Top view, No. 5
Figures and 6 are side and rear views showing different 2P hitches, Fig. 7 is a side view of an agricultural machine equipped with a 3P hitch as a connecting device, and Fig. 8 is a plan view of the 3P hitch with a part omitted. FIG. 9 is a plan view showing a part of it in section,
FIG. 11 is a block diagram of a tilt control device according to the present invention, and FIG. 11 is a flow chart showing the operation of this control device. 1, 1 '... Farm work machine, 2 ... Tractor machine, 3 ... 2P hitch,
5 ... Rotary tiller (working machine), 7 ... Inclination sensor, 18 ...
Lift arm, 20 ... Lift rod cylinder, 31,31 '...
Sensor arm, 32 ... Sensor rod, 33 ... Stroke sensor, 40 ... Tilt control device, 60 ... 3P hitch

Claims (1)

[Claims] 1. A tilt control device comprising a tractor or a working machine provided with a tilt sensor for detecting a tilt in the left-right direction, and the work machine being controlled to a predetermined tilted posture based on a value detected by the tilt sensor. In, a memory for writing a control program when the coupling device that couples the work machine to the tractor is a 2P link type coupling device and a control program when the coupling device is a 3P link type coupling device is provided and actually adopted. A tilt control device for an agricultural work machine, characterized in that one of the control programs is selected and used according to the connection method.