JP2001309702A - Rotary working machine-linking device in tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the operability and the safety of the attaching and detaching of a link, wire and the like of an angle sensor by setting the sensor on the car body-side of a tractor. SOLUTION: The angle sensor 35 is placed on the car body-side of a tractor; a linking device 34 rotating under interlocking with the motion of a rear cover is placed on the part linking the car body to a rotary working machine; and the linking device 34 and a detection arm 36 of the angle sensor 35 are linked to each other with a wire 37. Judging whether the detection arm 36 exits in the range of an electrically effective angle β of the angle sensor 35, or it is out of the range, it can be discriminated that the car body and the rotary working machine are in a linked state, they are in a non-linked state, or the wire 37 has been take out from the linking device 34.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary work machine connecting device for a tractor, and more particularly to a rotary work machine connecting device for a tractor in which an angle sensor for detecting a rotation angle of a rear cover is arranged on a vehicle body side. It concerns the device.

[0002]

2. Description of the Related Art When a rotary work machine is connected to a rear part of a vehicle body of a tractor via a link device, and the rotary work machine can be moved up and down to perform tilling work, a rear cover of the rotary work machine is used. Calculates the depth of plowing by detecting the rotation angle of. Generally, an angle sensor is often arranged on the rotary work machine side.However, an angle sensor is installed on the vehicle body side of the tractor, and the rotation of the rear cover can be transmitted to the vehicle body side angle sensor by a link or wire. Conceivable.

When an angle sensor is installed on the vehicle body side, when the rotary working machine is detached from the vehicle body, the hitch of the link device is detached, and the link of the angle sensor and the connection of the wires are disconnected. However, when the detection arm of the angle sensor installed on the vehicle body moves while the link or wire of the angle sensor is disconnected, the tillage control is activated and the rotary work machine moves up and down. Not only is the operability poor, but it also involves risks.

[0004] Therefore, there is a technical problem to be solved in order to improve the operability and safety when attaching and detaching links and wires of the angle sensor by installing an angle sensor on the vehicle body side of the tractor. Thus, the present invention aims to solve this problem.

[0005]

SUMMARY OF THE INVENTION The present invention has been proposed in order to achieve the above object. In a tractor 10 in which a rotary working machine 20 is connected to a rear portion of a vehicle body so as to be able to move up and down, the tractor 10 An angle sensor 35 is disposed on the vehicle body side, and an interlock 33 is provided at a connection between the vehicle body and the rotary work machine 20 so as to rotate in conjunction with the rotation of the rear cover 30. Is connected to the detection arm 36 of the tractor 10 by a wire 37, and when the rotary work machine 20 is connected to the vehicle body of the tractor 10, the rear cover 3
The detection arm 36 rotates in the upper limit direction of the electrical effective angle β of the angle sensor 35 in conjunction with the lowering operation of the angle sensor 0, and the detection arm 36 turns the electric sensor of the angle sensor 35 in conjunction with the raising operation of the rear cover 30. In the lower limit direction of the effective angle β,
On the other hand, when the vehicle body of the tractor 10 and the rotary work machine 20 are not connected to each other, the detection arm 36 is urged to deviate from the upper limit of the electrical effective angle β of the angle sensor 35, and further,
When the wire 37 is removed from the interlock 34, the detection arm 36 is urged to deviate from the lower limit of the electrical effective angle β of the angle sensor 35, and the detection arm 36
Is below the lower limit of the electrical effective angle β of the angle sensor 35, the rotary work machine in the tractor provided with control means for inhibiting the vertical output of the rotary work machine 20 until a preset release operation is performed. When the detection arm 36 is out of the upper limit of the electrical effective angle β of the angle sensor 35, the connection device and the rotary work machine connection device in the tractor formed to activate the alarm means, and the detection device When the arm 36 deviates from the upper limit or the lower limit of the electrical effective angle β of the angle sensor 35, the detection arm 36
Is in the electrical effective angle β, the rotary work in the tractor formed so as to store the value detected by the angle sensor 35 when the rotary work machine 20 is raised up as the lowest position of the rear cover 30 is stored. Machine coupling device, and
The detection arm 36 is an electric effective angle β of the angle sensor 35.
When the state deviating from the upper limit is less than the specified time, the stored value of the lowermost position of the rear cover 30 is not changed even when the detection arm 36 is within the electrical effective angle β. If the detection arm 36 deviates from the upper limit of the electrical effective angle β of the angle sensor 35 during the ascent operation of the rotary work machine coupling device and the rotary work machine 20 in the tractor, the detection arm 36 Effective angle β
A rotary working machine coupling device in a tractor formed so that the stored value of the lowermost position of the rear cover 30 is not changed even if the rear cover 30
When the difference between the stored value of the lowermost position of the rear cover 30 and the planned change value is equal to or less than a predetermined value, a rotary work machine coupling device in a tractor formed so that the stored value of the lowermost position of the rear cover 30 is not changed. Is what you do.

[0006]

An embodiment of the present invention will be described below in detail with reference to the drawings. FIGS. 1 to 3 show a tractor 10 having a front wheel 12 steered by operating a steering handle 11 and a rear wheel 14 driven by the rotational power of an engine 13. A link device 17 comprising a top link 15 and left and right lower links 16, 16 is provided at the rear part, and a rotary work machine 20 is provided by a link hitch device 18 provided at the rear end of the link device 17.
Are linked. A lift cylinder 22 is built in the rear upper part of the transmission case 21, and the left and right lift arms 23, 23 are vertically rotated by the drive of the lift cylinder 22, and the link device 17 is moved via the lift rods 24, 24. Move up and down.

On the other hand, the rotary working machine 20 includes a transmission case 28 that receives power from the PTO shaft 25 on the vehicle body side and transmits the power to the tilling claw 27, a main cover 29 that covers an area above the tilling claw 27, A rear cover 30 and the like are pivotally attached to the rear end of the main cover 29 so as to be vertically rotatable. The movement of the rear cover 30 is transmitted to the interlock 33 via the link rod 31, the wire 32, and the like. Further, an angle sensor 35 is disposed on the transmission case 21 on the vehicle body side, and a link 37 provided near the link hitch device 18 and a detection arm 36 of the angle sensor 35 are connected by a wire 37. Thus, when the rotary work machine 20 is connected to the vehicle body by the link hitch device 18, the pushing and pulling of the wire 32 on the work machine is transmitted to the wire 37 on the vehicle body via the interlocks 33 and 34. Then, the detection arm 36 of the angle sensor 35 on the vehicle body rotates. These link hitch devices 1
8, the wires 32 and 37, the interlocks 33 and 34, the angle sensor 35, the detection arm 36 and the like constitute a connecting device for the rotary working machine 20.

FIG. 4 shows the movement of the interlock 34 provided on the link hitch device 18 and the detection arm 36 of the angle sensor 35 disposed on the vehicle body side, and interlocked with the raising operation of the rear cover 30 of the rotary working machine 20. The interlock 34 is a fulcrum 3
8 around the counterclockwise direction in FIG.
The interlock 34 rotates clockwise about the fulcrum 38 in conjunction with the 0 lowering operation. The detection arm 36 of the angle sensor 35 is pulled by the spring 40 and urged to rotate counterclockwise in the figure.
4 is urged by a spring 41 to rotate clockwise in the figure. The spring constant of the spring 41 is set to be larger than the spring constant of the spring 40. Then, the distal end of the interlock 34 and the distal end of the detection arm 36 are connected by a wire 37.

Here, as shown in FIGS. 1D and 1E, the angle sensor 35 is a potentiometer whose resistance value changes with the rotation of the detection arm 36 and whose output voltage changes from 0V to 5V. It is configured. The electrical effective angle β (range in which the voltage changes) is smaller than the mechanical effective angle α (the range in which the detection arm 36 can rotate) of the angle sensor 35, and in this embodiment, the electrical effective angle is The lower limit of β is 0 V and the upper limit is 5 V. A region outside the upper limit of the electrical effective angle β is defined as U, and a region outside the lower limit of the electrical effective angle β is defined as D even within the range of the mechanical effective angle α.
Further, a region used for actual control even within the range of the electrical effective angle β is denoted by S.

FIG. 1A shows a state in which the body of the tractor 10 and the rotary work machine 20 are not connected (the state shown in FIG. 2). In this state, the interlock 34 is maximally clockwise by the bias of the spring 41. In order to rotate to the angle, the detection arm 36 is pulled by the wire 37 and urged to rotate to a region U which is out of the upper limit of the electrical effective angle β.

FIG. 2B shows a state in which the vehicle body of the tractor 10 and the rotary work machine 20 are connected (the state shown in FIG. 3). In this state, the rotary work machine 20 is drawn toward the vehicle body and the rear cover 30 is slightly raised. Therefore, the detection arm 36 is located within the electrical effective angle β of the angle sensor 35. And
The detection arm 36 rotates in the lower limit direction of the control area S in conjunction with the raising operation of the rear cover 30, and the detection arm 36 rotates in the upper limit direction of the control area S in conjunction with the lowering operation of the rear cover 30. That is, as shown by a broken line in FIG. 3C, when the rotary working machine 20 is in the connected state, the detection arm 36 is always located within the control area S of the angle sensor 35.

When the wire 37 is removed from the interlock 34 for inspection or adjustment, the detection arm 36 is biased by the spring 40 as shown by a solid line in FIG. To rotate counterclockwise to the maximum angle,
The detection arm 36 is biased so as to rotate to a region D which is out of the lower limit of the electrical effective angle β. In addition, the interlock 3
4 rotates clockwise to the maximum angle by the bias of the spring 41.

Next, the control of the working depth of the rotary working machine 20 based on the movement of the detection arm 36 of the angle sensor 35 shown in FIG. 4 will be described. FIG. 5 is a block diagram of a tillage depth control system,
FIG. 6 shows a control procedure according to the first aspect of the present invention. First, each sensor and switches are read (step 101). Now, as shown in FIG. 4C, the detection arm 36 moves from the control area S of the angle sensor 35 to the area D
When the rotary working machine 20 moves up and down, it is not only inferior in detachability but also in danger because it is in a state where inspection and adjustment are performed as described above (Step 102). Therefore, in such a state,
The controller as the control means prohibits the work implement elevating operation until a preset release operation is performed (step 10).
Four). The release operation is, for example, an operation of moving the position lever by a certain amount or more, or an operation of providing a separate release switch and pressing it. When the wire 37 is connected to the interlock 34 again after the inspection and adjustment are completed, the detection arm 36 enters the control area S from the area D. At this time, for the same reason as described above, the controller does not operate. The work implement lifting / lowering operation is prohibited (step 103 → 104).

Here, in a state that does not correspond to steps 102 and 103, for example, when the detection arm 36 is located within the control area S of the angle sensor 35, the controller maintains the current elevating operation state ( Step 10
Five). Then, the ascending solenoid or the descending solenoid is driven to perform the tillage depth control so that the detection value of the angle sensor 35 matches the set value of the tillage depth adjustment dial. Specifically, when the detection arm 36 is close to the upper limit of the control area S (close to the area U), the rear cover 30 is lowered and the rotary work machine 20 is in a high state. Is output. On the other hand, when the detection arm 36 is close to the lower limit of the control area S (close to the area D), the rear cover 30 is raised and the rotary work machine 20 is in a low state. Is output.

The detection arm 36 is provided with the angle sensor 3.
Similarly, when the controller deviates from the upper limit of the electrical effective angle β of 5 to the area U, the controller maintains the current elevating operation state. This is to prevent the lifting and lowering of the rotary working machine 20 during connection or disconnection and to prevent the work machine mounting / dismounting work from being performed smoothly if the lifting / lowering output is prohibited when the rotary working machine 20 is attached / detached. It is. In addition, the movement of the interlock 34 may be tested in a non-connected state, and a worker's intentional operation may be allowed to perform a work machine elevating operation. By setting the lowering speed at this time to a relatively high speed, for example, even when the rotary work machine 20 is detached when the lowering speed is low at the lowest cultivation depth, the link hitch device 18 This eliminates the problem that the lowering speed becomes slower than necessary.

The electrical effective angle β of the angle sensor 35
Is 0 V and the upper limit is 5 V. Therefore, when the detection arm 36 deviates from the electrical effective angle β to the area D, the detection value of the angle sensor 35 becomes 0 V, and the angle sensor 35
The same result as when the coupler (not shown) of the cable connecting the controller and the controller is removed. Therefore, in any case, the controller can prohibit the lifting and lowering operation of the work implement with the same control. Further, since the area D and the area U are outside the range of the electrical effective angle β, the rotation position of the detection arm 36 can be accurately grasped.

Further, as described above, the detection arm 3
6 is an area U from the upper limit of the electrical effective angle β of the angle sensor 35.
When it is deviated, the controller outputs a control signal for lighting or blinking to the work implement ascending lamp, which is an alarm means, and changes the control signal according to the work state. FIG. 7 shows a control procedure according to the second aspect of the present invention. First, each sensor and switches are read (step 201). Immediately after starting the engine or when the signal is interrupted due to the disconnection of the sensor coupler or the like, the safety state is established (step 202), and the work implement ascent lamp is processed to blink at a standard cycle (step 202).
206). Similarly, as shown in FIG. 4C, when the detection arm 36 is out of the lower limit of the electrical effective angle β of the angle sensor 35 to the area D, the work implement ascending ramp is set to the standard cycle. Flashes with.

On the other hand, when the detection arm 36 is located within the control area S of the angle sensor 35 (step 203), the work implement lift lamp is turned on or off according to the position of the rotary work implement 20. (Step 204).
When the detection arm 36 is out of the range U from the upper limit of the electrical effective angle β of the angle sensor 35, the work implement ascending lamp blinks at an alarm cycle (step 20).
Five). In this manner, whether the angle sensor 35 is properly adjusted can be properly determined based on the lighting or blinking state of the work implement ascent lamp. Only when the working depth control ON / OFF switch is operating in the “ON” state, an alarm is issued by blinking of the work implement raising lamp or the like, but the working depth control ON / OFF switch is operating in the “OFF” state. In this case, even when the detection arm 36 is located in the area U or the area D deviated from the electrical effective angle β, the warning by the work implement lift lamp is not performed.

FIG. 8 shows a control procedure according to the third aspect of the present invention. First, each sensor and switches are read (step 301). When the detection arm 36 enters the control area S from the area D which is out of the lower limit of the electrical effective angle β of the angle sensor 35 (step 302), or
When 6 enters the control area S from the area U outside the upper limit of the electrical effective angle β (step 303), a sensor value storage request flag is set (step 304). Then, the rotary working machine 20 is raised to the highest position (step 305), and if the sensor value storage request flag is present (step 306), the sensor value of the angle sensor 35 at the time of the highest operation is rear cover. It is stored as the lowermost position of 30 (step 307). After that, the sensor value storage request flag is reset (step 308).

That is, when the wire 37 is removed from the interlock 34 or when the rotary working machine 20 is connected to the vehicle body,
Since the lowermost position of the rear cover 30 is stored again by raising the rotary working machine 20, there is no need to mechanically adjust the mounting position of the angle sensor 35 even when the working machine is replaced.

Here, when the detection arm 36 enters the control area S from the area D and changes the storage of the lowermost position of the rear cover 30, the time when the detection arm 36 deviates from the area D is measured, and the time when it falls within the specified time is less than the specified time At this time, the stored value of the lowermost position of the rear cover 30 is not changed. This is because when the mounting position of the angle sensor 35 is slightly shifted or the like, the detection arm 36
Oscillates around the upper limit of the control area S,
When the memory is changed each time the detection arm 36 enters the area D and returns to the control area S, the memory element (for example, EEPROM) is prevented from being destroyed beyond the rewrite limit number of times. That's why.

When the detection arm 36 enters the control area S from the area D to change the storage of the lowermost position of the rear cover 30, when the rotary working machine 20 comes out of the area D during the ascent operation, The stored value of the lowermost position of the rear cover 30 is not changed. This is because the detection arm 36 may deviate from the control area S and enter the area D during the lifting operation of the work implement, for example, when the mounting position of the angle sensor 35 is slightly shifted, as described above. This is to prevent the storage element from being destroyed beyond the limit of the number of times the storage element can be rewritten when the storage is changed each time the storage element 36 enters the area D and returns to the control area S.

Further, when the detection arm 36 enters the control area S from the area D to change the storage of the lowermost position of the rear cover 30, the stored value of the lowermost position of the rear cover 30 up to the previous time is stored in the rotary work machine. 20 is compared with a change value of the lowermost end position of the rear cover 30 obtained by raising the top cover 20 when the difference is smaller than a predetermined value.
The stored value at the lowermost position of 0 is not changed. This prevents the memory element from being destroyed beyond the limit of the number of times the memory element can be rewritten, when the memory change is performed each time a slight difference occurs when the detection arm 36 enters the area D and returns to the control area S. To do that. The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[0024]

According to the present invention, the angle sensor 35 is disposed on the vehicle body side of the tractor 10 and the movement of the rear cover 30 is controlled by the interlock 34, as described in the above embodiment. The power is transmitted to the detection arm 36 by a wire 37, and the vehicle body and the rotary work machine 20 are connected depending on whether the detection arm 36 is within the range of the electrical effective angle β of the angle sensor 35 or deviates from the electrical effective angle β. It can be determined whether the vehicle is in a state, the vehicle body and the rotary work machine 20 are not connected, or the wire 37 is detached from the interlock 34. The interlock 34 is used for inspection and adjustment.
In a state where the wire 37 is detached from the rotary work machine, the lifting / lowering output of the rotary work machine 20 is prohibited, so that the detachable operability can be improved, and the danger of the worker due to the unexpected lifting / lowering operation can be prevented, thereby contributing to ensuring safety.

According to a second aspect of the present invention, the detection arm 3
When the angle 6 deviates from the upper limit of the electrical effective angle β of the angle sensor 35, the alarm means is activated. Therefore, the operator can determine whether or not the angle sensor 35 is normally adjusted depending on the operation state of the alarm. Can be properly determined.

According to a third aspect of the present invention, the detection arm 3
6 falls within the range of the electrical effective angle β from the state deviating from the electrical effective angle β of the angle sensor 35, the rotary working machine 20 is operated to the highest position, and the detection value of the angle sensor 35 at that time is changed. Since the lowermost position of the rear cover 30 is stored, there is no need to adjust the mounting position of the angle sensor 35 when the wire 37 is removed from the interlock 34 or when the rotary work machine 20 is newly connected.

According to a fourth aspect of the present invention, the detection arm 3
When the value of the electrical sensor 6 deviates from the upper limit of the electrical effective angle β of the angle sensor 35 for a predetermined time or less, the stored value of the lowermost position of the rear cover 30 is not changed, so that rewriting to the storage element is reduced. Thus, the life of the storage element is extended.

According to a fifth aspect of the present invention, a rotary work machine 2
0, the detection arm 36 detects the angle sensor 3
When the electrical effective angle β deviates from the upper limit of 5, the stored value at the lowermost position of the rear cover 30 is not changed, so that rewriting to the storage element is reduced and the life of the storage element is extended.

According to a sixth aspect of the present invention, the rear cover 3
When the difference between the stored value at the lowermost position of 0 and the planned value to be changed is equal to or smaller than a predetermined value, the stored value at the lowermost position of the rear cover 30 is not changed, so that rewriting to the storage element is reduced. The life of the storage element is extended.

[Brief description of the drawings]

 The figure shows an embodiment of the present invention.

FIG. 1 is a side view of a tractor to which a rotary working machine is connected.

FIG. 2 is a side view of the tractor when the vehicle body and the rotary working machine are not connected to each other.

FIG. 3 is a side view of the tractor when the vehicle body and the rotary working machine are not connected to each other.

4 (a) to 4 (c) are explanatory diagrams showing movements of an interlock and a detection arm of an angle sensor, FIG. 4 (d) is an equivalent circuit of the angle sensor, and FIG. 4 (e) is an output characteristic diagram of the angle sensor.

FIG. 5 is a block diagram of a control system.

FIG. 6 is a flowchart showing a control procedure according to the first embodiment;

7A is a flowchart showing a control procedure according to the second aspect of the present invention, and FIG. 7B is a timing chart of a blinking cycle of a work implement ascent lamp.

FIG. 8 is a flowchart showing a control procedure according to the invention of claim 3;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Tractor 20 Rotary work machine 30 Rear cover 34 Linker 35 Angle sensor 36 Detection arm 37 Wire

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Yutaka Kashino 1 Yachikura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Co., Ltd. F-term (reference) 2B033 AA05 AB01 AB11 AC05 BA01 BB02 DB31 ED14 ED15 ED16 2B041 AA03 AA13 AA17 AB05 AC03 CA03 CA16 CG08 HA05 HA07 HA13 HA15 HA16 HA23 HA29 2B304 KA04 KA16 LA02 LA06 LB05 LB15 MA04 MB02 MD02 MD03 PA07 PB06 PC02 PC08 PC13 QA07 QA12 QA22 QB02 QB13 QC03 QC16 QC17 RA03 RB02

Claims (6)

[Claims] 1. A tractor 10 in which a rotary working machine 20 is connected to a rear portion of a vehicle body so as to be movable up and down.
An angle sensor 35 is disposed on the vehicle body side of the vehicle, and an interlock 34 that rotates in conjunction with the rotation of the rear cover 30 is provided at a connection portion between the vehicle body and the rotary work machine 20 side.
And a detection arm 36 of the angle sensor 35 with a wire 37
, The vehicle body of the tractor 10 and the rotary work machine 20
Is connected, the detecting arm 36 rotates in the upper limit direction of the electrical effective angle β of the angle sensor 35 in conjunction with the lowering operation of the rear cover 30, and the detecting arm 36 in conjunction with the raising operation of the rear cover 30. 36 rotates in the lower limit direction of the electrical effective angle β of the angle sensor 35, while the tractor 10
When the rotary work machine 20 is not connected to the vehicle body, the detection arm 36 is biased so as to be out of the upper limit of the electrical effective angle β of the angle sensor 35, and the wire 37 is detached from the interlock 34. Then, the detection arm 36 is urged to deviate from the lower limit of the electrical effective angle β of the angle sensor 35, and the detection arm 36 is
5. The rotary work in the tractor, further comprising control means for prohibiting the lifting and lowering output of the rotary work machine 20 until the preset release operation is performed when the electrical effective angle β deviates from the lower limit of the electrical effective angle β. Machine coupling device. 2. A rotary work machine coupling device for a tractor according to claim 1, wherein when the detection arm deviates from the upper limit of the electrical effective angle β of the angle sensor, the alarm means is activated. . 3. When the detection arm 36 is out of the upper limit or lower limit of the electrical effective angle β of the angle sensor 35,
When the detection arm is within the electrical effective angle β, the detection value of the angle sensor 35 when the rotary working machine 20 is raised to the maximum is stored as the lowermost position of the rear cover 30. 3. A rotary working machine coupling device in the tractor according to 1 or 2. 4. When the detection arm 36 deviates from the upper limit of the electrical effective angle β of the angle sensor 35 for a prescribed time or less, the detection arm 36 is in the electrical effective angle β. The rotary working machine coupling device according to claim 3, wherein the stored value of the lowermost position of the rear cover (30) is not changed. 5. If the detection arm 36 deviates from the upper limit of the electrical effective angle β of the angle sensor 35 during the raising operation of the rotary working machine 20, the detection arm 36 falls within the electrical effective angle β. The rotary working machine coupling device according to claim 3, wherein the stored value of the lowermost position of the rear cover (30) is not changed even in the retracted state. 6. When the difference between the stored value of the lowermost position of the rear cover 30 and the planned change value is equal to or smaller than a predetermined value, the stored value of the lowermost position of the rear cover 30 is not changed. A rotary work machine connecting device in the tractor according to the above.