JP2559714B2 - Tractor - Google Patents

Description

Description: [Industrial field of use] The present invention relates to a tilt control device for controlling the lateral tilt of an agricultural work machine mounted on a tractor.

[Prior Art] A tractor is used as an agricultural work machine for performing desired agricultural work by connecting working machines such as a cultivator and a substitute scraper through a connecting device such as a 2P link system and a 3P link system. in this case,
Although it is necessary to control the tilt of the connected working machine in the left-right direction, normally, the tractor is equipped with a sensor that detects the lateral tilt of the machine and a sensor that detects the tilt angle of the working machine with respect to the machine, and Control is often performed by detecting the left-right inclination. According to this method, no matter what work machine is connected,
There is an advantage that the left and right tilt control of the connected working machines can be performed.

[Problems to be Solved by the Invention] In some cases, depending on the type of working machine such as a wide left and right substitute machine, it may be advantageous to directly detect the lateral tilt of the working machine to perform tilt control. In the tilt sensor of the machine and the conventional tractor control device that controls based on the tilt angle of the working machine with respect to the machine, the tilt control can be performed based on the detection result of the tilt sensor provided in the working machine. There wasn't. In order to solve this problem, a control device that can selectively perform control by a sensor that detects a right and left tilt angle relative to the machine and control by a tilt sensor provided in the working machine is proposed. However, since this device is designed to switch the control system by switching the connector connected to the tilt sensor, if the work situation changes during the work. In addition, there is a problem in that it is difficult to appropriately switch the control method and use it in order to perform appropriate control.

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

That is, a tractor according to the present invention includes an actuator that tilts a working machine connected to the machine to the left and right, a machine horizontal sensor that is attached to the machine and that detects a left and right tilt of the machine with respect to a horizontal plane, and a machine. The horizontal angle of the working machine to the set angle based on the detection value of the horizontal sensor of the machine and the detection value of the horizontal angle sensor of the machine. In a tractor including a control device having a main unit sensor control unit that operates the actuator, a detection signal from a work unit horizontal sensor that is installed on the work unit and that detects a lateral inclination of the work unit is provided in the control unit. A work implement sensor control unit is provided which is operable to operate the actuator so that the horizontal inclination angle of the work implement is set to a set value based on the detection signal of the work implement horizontal sensor. After connecting the machine horizontal sensors,
A work machine tilt control state by the machine horizontal sensor, a machine angle sensor, a machine sensor control unit and an actuator,
It is characterized in that a switching means for switching between the working machine horizontal sensor, the working machine sensor control section and the working machine tilt control state by the actuator is provided.

[Operation] The horizontal tilt of the working machine is controlled based on the detection value of the machine horizontal sensor that detects the tilt of the machine and the detection value of the angle sensor for the machine that detects the tilt of the working machine with respect to the machine. A detection signal from a work implement horizontal sensor that directly detects the left and right inclination of the work implement can be input to the tractor control device configured as described above. Based on the detection signal of the work implement horizontal sensor, the left and right inclination angles of the work implement can be determined. With the working machine sensor control unit that operates the actuator to set the value and the working machine horizontal sensor, the working machine horizontal sensor, the working machine angle sensor, the working machine sensor control unit, and the working machine inclination by the actuator Since there is provided a switching means for switching between the control state and the work implement horizontal sensor, the work implement sensor control unit, and the work implement inclination control condition by the actuator, what kind of work implement is used? Be sintered, it is possible to control the lateral inclination, and the type of work machine, according to working conditions,
It is possible to directly detect the tilt of the working machine and appropriately switch to the lateral tilt control.

[Embodiment] FIGS. 1 to 4 are views showing an example of an agricultural working machine to which the present invention is applied. A self-propelled tractor 2 has a 2P link type coupling device (hereinafter referred to as a 2P hitch) at a rear portion of the main machine 2. ) 3 is provided. The 2P hitch 3 is equipped with a rotary tiller 5, which is a working machine.

The 2P hitch 3 is provided with a bracket 10 that can be vertically swung in a plane perpendicular to the traveling direction of the tractor main unit 2, and a pair of left and right draft link 11, 11 for working machine is connected to the bracket 10. It is supposed to be done. 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
It is rotatably fitted to 13 and is attached to the end face of the shaft 13 by a flange plate 15. Then, connecting pins 16, 16 are provided at the rear ends of the left and right mounting parts 10b, 10b, and the leading ends of the draft links 11, 11 are connected to the connecting pins. 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 and 18 for lifting the working machine.
And a lift rod 19 (left side in the illustrated example) and a lift rod cylinder 20 (right side in the illustrated example) attached to the tip ends of the lift arms 18, 18 are the draft links 11, 1.
It is connected to the middle part of 1. The lift arms 18, 18 are attached to a hollow shaft 23 that is horizontally provided above the machine frame 22 of the tractor main unit 2. By rotating the hollow shaft 23 with a hydraulic cylinder (not shown), the lift arms It is designed to rotate 18,18 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. A sensor rod 32 is attached to the sensor arm 31 on the lift rod 19 side (left side), and the lift cylinder 20
A cylinder type stroke sensor 33 is attached to each side (right side) sensor arm 31 ', and the lower ends of the sensor rod 32 and the stroke sensor 33 are formed on the outer surfaces of the attachment portions 10b, 10b of the bracket. The protrusions 35, 35 are connected by joints 34, 34. A sensor arm angle sensor (not shown) that detects the amount of rotation of the sensor arm 31 is provided on the rotary shaft 30, and the work machine lifting control is performed based on the detection value of the sensor arm angle sensor. Further, the amount of expansion and contraction of the stroke sensor 33 detects the inclination of the working machine with respect to the tractor main body in the left-right direction (angle with respect to the main machine), and based on this, the tilt control described later is performed.

In the illustrated agricultural work machine 1, the inclination sensor 35 (A)
Is installed in the tractor main unit 2 and detects the inclination of the tractor main unit 2. The tilt sensor is 35
As shown in (B) and 35 (C), the work machine 5 or the 2P hitch 3 can be installed in an appropriate place, and can be replaced if necessary.

FIG. 5 is a block diagram showing the tilt control device 40 of the agricultural work machine 1. The controller 41 stores a shared program in which a control program (I) for mounting the tilt sensor on the tractor main body and a control program (II) for mounting on the working machine or the 2P hitch are combined. The controller 41 includes a tilt angle setting device 43 for setting a tilt angle of the working machine 5, the tilt sensor 35, the stroke sensor 33, a mode setting device 46 for setting a control method, and a working machine when the working machine is mounted. An auxiliary setting device 47 for designating the mounting position of the width and the inclination sensor, and a manual operation switch 48 for manual work machine rolling are connected, and by processing the data supplied from these, the proportional solenoid of the lift rod cylinder 20 is processed. valve
Output command to 49. The operation of the tilt control device 40 will be described below with reference to the flowchart of FIG.

First, the signal from the auxiliary setting device 47 is read to determine where the tilt sensor 35 is attached, and if it is attached to the tractor main unit 2 (A), the control program (I) is selected. If it is attached to the working machine 5 (B) or the 2P hitch 3 (C), select the control program (II).

When the control program (I) is selected, the detection signals of the tilt angle setter 42, the tilt sensor 35, and the stroke sensor 33 are read in the buffers 50, 51, 52.
Read with, the target tilt angle of the working machine 5 (eg horizontal)
A, the inclination angle B of the tractor main unit 2 and the relative inclination angle (against main unit angle) C of the working unit 5 with respect to the tractor main unit 2 are obtained, and the target pair of the working unit 5 with respect to the tractor main unit 2 from A and B is obtained. The machine angle D is calculated. Next, the control mode set by the mode setter 46 is read. When the mode is set to “automatic”, the target angle D to the machine and the actual angle C to the machine are compared, and when they match, the lift rod cylinder valve 49 is turned off and the working machine 5 When the work machine 5 is in the state of rising to the right, it outputs an output signal in the direction of extending the lift rod cylinder 20, and when the working machine 5 is in the state of descending to the left, it outputs an output signal in the direction of contracting the lift rod cylinder 20. 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.

On the other hand, when the control program (II) is selected, B represents the actual inclination angle of the working machine 5, so A and B are compared as they are. Therefore, it is not necessary to calculate D. Other than this, it is the same as the control program (I).

In this embodiment, since the 2P hitch 3 and the working machine 5 perform the same operation in the left-right direction, the tilt sensors 35 (B) and 35
When installed in (C), tilt control is performed according to the same control program (II), but when the 2P hitch 3 and work implement 5 operate differently in the left and right directions, when tilt sensors are installed in each. It is only necessary to create a control program for each of the above and incorporate these control programs into a shared program.

Next, Figs. 7 to 9 show an agricultural working machine 1'provided with a 3P hitch as a connecting device.

The 3P hitch 60 has one top link 61 and a pair of left and right lower links 62, 62 ', and the lift rod 19 and the lift cylinder 20 are connected to an intermediate portion of the lower links 62, 62'. The rotary tiller 5, which is a working machine, has a mounting frame.
The upper end of 64 is connected to the rear end of the top link 61, and the lower end of the mounting frame 64 is connected to the rear ends of the lower links 62, 62 ', so that the 3P hitch 60 is mounted. Also,
The lower ends of the sensor rod 32 and the stroke sensor 33 are connected to the attachment pieces 66, 66 of the left and right lower links 62, 62 ', respectively.

The tilt control device of this agricultural work machine 1'is also exactly the same as the tilt control device 40 of the previous example, and the tilt sensor 35 is attached to the tractor main unit 2 '.
If the tilt sensor 35 is attached to the work implement 5, the control program (I) is selected. If the tilt sensor 35 is attached to the work implement 5, the control program (II) is selected. Is performed. The operation of the tilt control device is the same as that described above, and a description thereof will be omitted. When the mounting position of the tilt sensor 35 is designated by the auxiliary setting device 47, the width (category) of the working machine mounting portion is set at the same time.

In addition, in the case of an agricultural work machine in which a front 3P hitch is provided on the tractor main unit 2 and a soil discharging plate or the like is attached to this, the rear
This is the same as the case of the agricultural work machine 1'provided with a 3P hitch. In this case, the inclination sensor is attached to the tractor main body 2 or a work machine such as an earth shaving plate.

As described above, this tilt control device is provided with the tilt sensor in any of the main body of the tractor, the working machine, and the coupling device.
It can be used as it is with a simple operation of switching the auxiliary setting device. This tilt control device can also be applied to the case where each connecting device such as a 2P hitch, a rear 3P hitch, and a front 3P hitch is provided.

[Effects of the Invention] As is clear from the above description, the tractor according to the present invention is the tractor according to the present invention, which detects the tilt of the machine and the detection value of the machine horizontal sensor, and detects the tilt of the working machine with respect to the machine. The tractor control device configured to control the lateral inclination of the working machine based on the detected value of the angle sensor, the detection signal from the working machine horizontal sensor that directly detects the lateral tilt of the working machine can be input, It is possible to switch the control system in a state in which the working machine sensor control unit that operates the actuator to set the horizontal tilt angle of the working machine to a set value based on the detection signal of the working machine horizontal sensor and the working machine horizontal sensor are connected. Since the switching means that can be used is provided, the following effects can be obtained. First, by selecting the work machine tilt control method using the machine horizontal sensor, the machine angle sensor, the machine sensor control unit, and the actuator, no matter what work machine is connected, the horizontal tilt control of the work machine is controlled. For example, even if a cultivator or the like that vibrates significantly during operation is connected, it is difficult to be affected by the vibration, and accurate control can be performed. On the other hand, by selecting the work implement inclination control method using the work implement horizontal sensor, the work implement sensor control unit, and the actuator, for example, in the case of a substitute machine having a wide width in the left and right, the horizontal inclination of the work implement is directly detected. Since accurate tilt control can be performed, uniform work can be performed over a wide range on the left and right. Further, since both of the above control methods can be switched while the work machine horizontal sensor is connected, it is possible to select and execute appropriate control as appropriate according to the work situation.

[Brief description of drawings]

Fig. 1 is a side view of an 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 plan view of its main part. 5 and 5 are block diagrams of the tilt control device according to the present invention, and FIG. 6 is a flowchart showing the flow of control. Also, the seventh
The figure is a side view of an agricultural work machine provided with a rear 3P hitch as a connecting device, FIG. 8 is a perspective view of the rear 3P hitch, and FIG. 9 is a plan view thereof. 1,1 ′ …… Agricultural work machine, 2 …… Tractor main machine, 3 …… 2P hitch, 5 …… Rotary tiller (working machine), 18 …… Lift arm, 20 …… Lift rod cylinder, 31,31 ′ …… Sensor arm, 32 …… Sensor rod, 33 …… Stroke sensor, 35 …… Tilt sensor, 40 …… Tilt control device, 60 ……
Rear 3P hitch

Claims (1)

(57) [Claims] 1. An actuator for tilting a working machine connected to the machine to the left and right, a machine horizontal sensor mounted on the machine side for detecting a lateral tilt of the machine with respect to a horizontal plane, and a work machine for the machine. Actuating the actuator so that the horizontal inclination of the working machine becomes a set value based on the detection angle of the machine horizontal angle sensor and the detection value of the horizontal sensor of the machine and the detection value of the horizontal sensor of the machine. In a tractor having a control device having a main machine sensor control unit to be operated, the control device is capable of inputting a detection signal from a work machine horizontal sensor that is installed on the work machine and that detects a lateral inclination of the work machine, A work machine sensor control unit for operating the actuator so as to set the horizontal tilt angle of the work machine to a set value based on the detection signal of the work machine horizontal sensor is provided, and the machine horizontal sensor and the machine parallel sensor are provided. A tractor provided with switching means for switching between a working machine tilt control state by a sensor, a machine tool sensor control unit and an actuator, and a working machine tilt control state by the working machine horizontal sensor, the working machine sensor control unit and an actuator. .