JPS5982002A - Apparatus for controlling angle of working machine - 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 The present invention relates to an angle control device f for a working machine such as a lorry, plow, or earth removal plate connected to a tractor, or a rice transplanter connected to a traveling vehicle, and in particular to an angle control device for a working machine such as a rice transplanter connected to a traveling vehicle. This is a culm design of an angle control device for working machines that aims to improve performance and control stability.

The present invention will be described in detail below with reference to drawings showing an embodiment of the angle control device for a rotary crane mounted on a tractor as a working machine. Figure 1 shows the angle control device according to the present invention (hereinafter referred to as the misfire 111 device). Fig. 2 is a partially cutaway left side view of a tractor equipped with a tractor and a tractor mounted on its rear, and Fig. 2 is a plan view of the main parts thereof. In the figure, 1 is a rotary mounted on the tractor body, 2 is a rotary attached to the rear of the tractor, and is connected to the rear of the tractor 1 via the rotary 2fdl wooden top link 2o and the lower left and right lower links 2], 2]. It is stored on the side so that it can be raised and lowered.

That is, the curved end of the top link 20 is located after the hydraulic lift 1o (11
114, the top link 20 is connected and supported via the top link hinge 22. : 3.23 connects and supports the pair of left and right lower links 21, 21 iri ends, and connects the rear end of each lower link 21, 21 to the front end image side of the rotary 2.

The oil Uf lift 10 has a pair of left and right lift arms 11゜1.
The base end of 1 is interlocked and connected to the left lift arm 1.
1 is connected to the upper end of a connecting rod 24. Zhongfeng 4 rar I with connecting rod 24 turnbuckle
'E, and the lower end of the joint is connected to the middle press of the lower link 21 on the left 1 (11). Connect one end of the lift rod 25 to the position near the tip of the right lift arm 11. , In question 11.1, the hydraulic cylinder 26 is connected to -, and the piston rod 28 of the connected cylinder 26 is connected to the middle press of the lower link 21 on the right side [7, tears + I'E
Lift arm by 1111 of lift 10] 1.1
The piston rod 28 of the hydraulic cylinder 26 moves up and down the entire rotor 2, and the piston rod 28 of the hydraulic cylinder 26 is
Id 9: The horizontal tilt angle of the lower chest 2 can be changed depending on the number of people. In this embodiment, the control is performed so that the low position is 2-horizontal.

A tilting limit detection mechanism 30 for the rotary 2 is provided behind the hydraulic cylinder 26 . This Iba1 collapse limit detection mechanism 30
As shown in FIG. 3, a cylindrical cylinder; the upper end of 31 is connected to the rear end of lift arm 11;
1, the upper end of the rod 32, whose lower end is connected to the lower link 21 on the right side, can be freely moved into the inner 11! has been done.

And in the cylinder 31, there is a normally open limit switch 33° that is pressed by the upper end of the rod 32 to create inh L, , #t+ pressure, which defines the retracting and advancing limit position of the piston rod 28 of the cylinder 26. Limit switch; 34
are installed at upper, lower and IC appropriate width W1 intervals, respectively, and when the rotary 2 is positioned in the -L direction as described later, when the upper limit switch 33 starts operating Ijt, or when the lower limit When the switch 34 is deactivated, the piston rod 28 retracts or advances so that the upper end of the piston is at I.
J Mituto Switch 33. : It will become like f#'t between 34 and 34 hours.

The length of the connecting rod 24r1 on the left side can be changed by a turnbuckle, and the working angle of the rotary 2 in the left and right directions can be adjusted slightly.

A cylindrical tilt angle sensor 40 is provided at the center of the upper surface of the rotary cover 16 of the rotary 2, and outputs a signal corresponding to the tilt angle of its axis with respect to the vertical line. FIG. 4 is a perspective view showing the internal structure of the housing of the oblique angle sensor 40. In the figure, 44, 44, . . . are light receiving elements such as phototransistors, and 45°, 45, . There are 5 pieces each with 41 pitches above and below.
IIJ lined up and facing the 11f1 rear direction of the aircraft.
It is fixed to the inside of the bell-shaped case. In the gap between these emitters and the light receiving elements facing each other, there are 4J and 42 in the left and right direction.
It is pivoted at its -F end so that it can move freely. 111′!
An oil damper 43 is attached to the pivot shaft 41 of the Z light plate 42, and when the inclination angle sensor 40 changes the tilt angle of the rotor 20, the light shielding plate 42 becomes lead) 1 and automatically moves. Fi+ the ovary Rika of shading noru 42 as in the work
Ill be L. Light shielding 4x42 light receiving elements 44.44
..., 1/5 bits (1 [light windows 42a, 42b, 42c
.

42d, 7I2e are established, and the light receiving element 44.4
4... light reception, side light condition is 2 degrees from the crotch side, 2
'.

The circumferential length and phase of each light-shielding window are determined to be 22, 23, and 24. As a result, the 5-bit output of the light-receiving elements 44, 44...
) will output a signal.

FIG. 5 shows a hydraulic circuit I" A valve V is interposed. This is an electromagnetic fpV-type directional control valve with four points and three positions. The pressure oil in the other oil chamber is supplied to the oil chamber on the rod advancing side, and the pressure oil in the other oil chamber is flowed into the tank to the piston rod 28 of the hydraulic cylinder 26.
The car is almost out and goes up to the right side of rotary 2. Furthermore, when the solenoid valve V is energized, the solenoid valve V becomes 1 t, and pressure oil is supplied to the oil chamber on the piston rod retraction side of the oil field cylinder 28, and the pressure oil in the other oil chamber is is returned to the tank, and the piston rod 28 of the hydraulic cylinder 26 enters iM 1. , the right side of rotary 2 descends.

FIG. 6 is an electronic circuit diagram of the main part of the device of the present invention.

In the figure, 67 is a battery whose negative pole is both grounded, and its positive pole is connected to the power supply terminal a3 of the input/output interface 52 of the microcomputer 50 via a key switch 78. Micro-ymp-L-1'50
, CPU (central processing bag 6<7) 51, input/output interface 52, RAM (random access memory)
5:3, ROM (read-only memory) 54, etc. Various switches and the like are connected to a large number of input ports a1 to a9 of the input/output interface 52, and the input ports a, afi are used to change the tilt angle g of the rotary 2 in the left-right direction by operating the hand t(th). Manual switches 68 and 69 are respectively connected to the manual switches 68 and 69, which are operated by the outside of the manual switch 68 (or 69), and the input port a+ (or a2) goes to a high level, causing the output to be described later. A high level signal is output from capo) b, (straight b2), and the right side of the rotary 2 is raised (or lowered) by -F. Input port a3 is connected to the battery 6 via the key switch 78.
It is a power supply terminal connected to the net price of 7.

Input boat a4. Two outputs of the logic judgment circuit 66, ie, command signals for raising and lowering the piston rod 28 of the hydraulic cylinder 26 are applied to ag.

A command signal for raising and lowering the piston rod 28 is issued based on the tilt angle of the rotary 2 detected by the tilt angle sensor 4o of the logic judgment circuit 66. That is, the BCD output signal of the tilt angle sensor 40 is amplified by an amplifier 61, then converted to a pure binary code by a code converter 62, and this pure binary code is input to a logic at1flJ disconnection circuit 66. Tilt angle sensor 41j: 25=32□(4o7~"3","
) (7) Signal Yassue, 1,'.

- The chest 2 is horizontal, and the central part of the light shielding plate 42 is the light receiving element 44.
．． 44..., the light-emitting elements 45, 45... output the signal ``15'' or F'i''16'' in the opposing gap, and when the right side of the low cleaner 2 is lowered, the light shielding plate 42 is The light-receiving elements 44, 44..., the light-emitting elements 45, 45... are biased to the right and output signals "01 to 14", and on the other hand, when the right side of the low cleaner 2 is raised, Outputs signals “17” to “31” and selects logic II judgment circuit 66.
is the input port a as a command signal to raise the piston rod 28 of the hydraulic cylinder 26 when the output is "O1' to "14".
4 is a high level, and when it is 017'' to ``31'', it represents a descending command signal, and input capo)ag is a high level, and ``1'' is a high level.
5" and "16", the output of K is set to low level.

Reference numeral 65 is a two-digit display, which is used to display the numerical values from "0" to ":N", and the output of the code converter 62 is sent to a tecoder 63 to display the segment of the character "day". is converted into a signal suitable for the display 6 via the driver 64.
given to 5.

A position control lever switch 71 is connected to the input port (a6) of the input/output interface 52, and the position control lever 14 is connected to the rotary 2
When the input/output interface 7. is operated to the position where it should be slightly raised near the -1- limit, the circuit is closed and the input/output interface 7. : [-- As will be described later, the input port a6 of the base 52 is set to a low level to prohibit the angle control of the rotary rotary 2 and control the rotary 2 so that the horizontal tilt angle is within a predetermined range.

Capo) a7. The normally closed limit switch 34 and the normally open limit switch 33 are respectively connected to the input ports a7. al is set to a low level, and when it becomes low level, the piston rod 28 of the hydraulic cylinder 26 is not driven beyond the deflection even if the rotary 2 reaches the left and right tilting limit.

An automatic switch 72 for automatically controlling the angle of the rotary 2 is connected to the input capo ag.
Due to the operation of the input port a9, the input port a9 becomes low level.

On the other hand, the output port-1-b of the input/output interface 51,
, b2 are connected to one input terminal of AND gates 74 and 75, respectively, and output port b3 is connected to a pulse oscillator 73, and the pulse oscillator 73 makes sure that the output from output port b3 is at the NO level. In some cases, a continuous signal or a pulse signal is output, and the output of the pulse oscillator 73 serves as the other input of the AND game. The microcomputer outputs a command to raise the 50-piece rotary 2 to the right side using a high level signal from output port b1, and outputs a command to lower the rotary rotary 2 to the right side by using a low level signal from output port b. Together with these command signals, the output port b3 is also set to high level. AND gate 74
．． The outputs of 75 are respectively given to switch circuits 76 and 77, and when each switch 76 and 77 is turned on, solenoids S, u, and Sd are excited, respectively.

Now, based on FIG. When the key switch 78 is turned on, the microcomputer 50 starts control, and the microcomputer 50 starts control.
/) Input port a1. , according to the condition of a2, for rising (
Also, when the helper 1 switch 68 (crossover 69) of d (up/down) is operated, the input capo) a, (or a2) lqtz.
The level control microcomputer 50 outputs a level signal from the output port b (or 1) as a command to raise (or lower) the rotary 2 to the right side.
, a signal of level 7 is output from the output port b3, and the output of the pulse oscillator 7; becomes a high level continuously, and the solenoid Su (straddle S(+) continuously reaches 1ηb
Due to the magnetization, the right side of the rotary 2 continuously rises (or descends).

When the position control lever 14 is operated and the rotary 2 is set to an appropriate position 1, +, gay, the position control lever switch 71 is turned on, the input port a6 becomes low level, and the microcomputer 5
0 is input capo-1-a7. aB situation, i.e. rotary 2
monitors the left-right tilting state of the rotary rotary 2, and if only the input capo (1da8) is at a low level, the solenoid Su (also 1da8) is continuously energized, and the right side of the rotary 2 is moved to the right side of the rotary 2. 'When a7+as reaches a high level, raise it by 1 (and lower it by 1). (d) When driving with the rotary 2 in the upper retracted position iFe &, if the tilt angle of the rotary 2 in the left and right direction is larger than semi! degree, there is a risk that the tractor body 1 will fall when turning, etc. This is to avoid this problem.

When the position control lever 14 is operated to lower the rotary 2 at an appropriate position, the position lever switch 35 becomes 1lllI6FtL, which enables automatic angle control of the rotary 2. When the automatic switch 72 is turned on, the input boat aou becomes low level, and the detection result of the inclination angle sensor 40) J2<Lowcrit2's 4111 Angle calculation 1 is performed. In this case, for a predetermined time (3 seconds) after the white i#+ switch 72 is turned on, the tilt angle J of the lower door 2 is
'j! l1II Bait 11゛Continuous 1. ζ, that is, the excitation of solenoids Su, S, and d &'':J [is carried out continuously, and then intermittently. That is, when the automatic switch 72 is turned on, the tractor due to irregularities in the field, etc.] is turned to the right. When the rotary 2 is in the downhill (or right-handed) state, the rotary 2 is also in the right-down (or right-up) state 14, and the inclination angle sensor 40 with J [K attached to its upper surface is also in the right-down (or right-hand) state ), the output signal of the tilt angle sensor 40 has a value of "0" to "14' (or "17" to "31"), and the input/output interface 7 ace 520 input port a,
(or a5) becomes high level, and high level signals are generated from output ports b and b+ (also 1dJ3.).

As a result, the pulse 1i1QZ,) 7:3 is opened at a predetermined time (3 seconds) and continuously outputs a high level signal to continuously excite the solenoid Su (or Sd)12,
The piston rod 28 of the oilfield cylinder 26 enters (also I'
When the right side of the rotary 2 rises (or moves downward), the output signal of the tilt angle sensor 40 becomes "15" or "16".
Since it continues with the ox that becomes, the rotary 2 quickly becomes horizontal 1μ. During this time, the output of the tilt angle sensor 40 is displayed on the display 6.
Monitored at 5.

Now, after the rotary 2 has been opened for a predetermined period of time, if the rotary 2 is tilted due to irregularities in the field, and the input boat a4 or a5 becomes high level, the output of the output port 1) 1 or the mechanisms b2 and b3 becomes a vine bell. In this case, the output of the pulse oscillator 73 becomes a pulse signal with a predetermined duty ratio, and the output of the AND gate 74 or 75 becomes the pulse signal generated by the pulse oscillator 73 because a predetermined time has elapsed since the in-house σ switch 72 was turned on. When +91 becomes high level and orange, the solenoid Su or S, d is intermittently excited, and the rotary 2-1 is intermittently driven! +! 17. Therefore, since the rotary 2 is gently controlled to the horizontal position F7,
Unnecessary hunting can be prevented and the angle control accuracy of the work equipment can be significantly improved.

In addition, in the above-mentioned embodiment, the rotary rotary mounted on a tractor as a working machine was described, but it is not limited to this.For example, 4JI: Advanced It can also be applied to angle control of working machines such as rice transplanters mounted on traveling vehicles.

I posted the details above/fll <First digit of the book, by detecting the horizontal tilt angle 7J' of the work equipment relative to the reference a "I" and extending the connecting member between the work equipment and this machine. Angle J of the work machine that controls the horizontal tilt angle of the work machine
control device fA/, (where, when the device is swept to perform 1T11 operation, 1, the predetermined time is i7i connection f
11<The elongation of the shrine 1 ru 11σJ is continuous, 1 N after 1 tachibana
Since it was designed to be carried out in an I&A' style, there was a risk of a delay in response immediately after the work started, and if we were too lazy to do so, the improvement of the control system would become a national strength, and the undeveloped 11-1 scale would be I will play the four songs that I have chosen.

[Brief explanation of drawings]

The drawings show a different embodiment of the water valve 1, and Fig. 1 is a partially cutaway left side view of a tractor equipped with the main Fll-1 device N, with a rotary tractor attached to the rear as a working machine. , second
The figure is a cross-sectional view of the typical part, FIG. 3 is a longitudinal sectional view of the rotary tilt limit detection mechanism, FIG. 4 is a schematic perspective view of the inside of the tilt angle sensor, and FIG. 5 is the main part of the device ff of the present invention. Hydraulic circuit diagram, 6th
The figure is a block diagram showing the electronic circuit of the control system, and FIG. 7 is a flowchart for explaining the operation. 1...Truck body 2. ,, Rotary 11...
Lift arm 20...Top link 21...Lower link 24...Connection rond 26...Hydraulic cylinder 28...Piston rond 30...Tilt limit detection mechanism 33.34...Limit switch 40... Tilt angle sensor 42... Light shielding plate 44... Light receiving element
45... Light emitting element 50... Microcomputer 66... Logic judgment circuit 7; 3... Pulse oscillator patent Applicant Yanmar Agricultural Machinery Co., Ltd. YI
J Patent Attorney Noboru Kono Inu Figure 2 Figure 3 Figure 4 Figure 5-14- Figure 7

Claims (1)

[Claims] 1. Detects the horizontal tilt angle of the work equipment with respect to the true single surface and extends/contracts the connecting member between the work equipment and this machine 1, υild+
In the working machine angle control device 11'' which controls the left and right tilting angle of the working machine, when the device is operated to make 1Jjl1 movement, 1 is the expansion/contraction of the width of the connecting portion Mfi at a predetermined time). !l/; Purchase of 1 set of angular control method of the cutting machine, which is characterized in that the step is performed continuously and then intermittently.