JP4151010B2 - Tow angle detection method and apparatus for tractor and towed vehicle - Google Patents

Description

  The present invention relates to a method and an apparatus for detecting a towing angle of a towed vehicle such as a tractor and a work machine.

  As a method of towing a towed vehicle such as a work machine with a tractor, there are a method using a three-point link device and a method using a swing draw bar. In either method, the wheel steering device of the towed vehicle controls based on the towing angle of the tractor and the towed vehicle. The tow angle is detected by angle sensors provided on the rotation shafts of the hitch tractor side and towed vehicle side ends, respectively. As disclosed in Japanese Patent Application Laid-Open No. 2001-301636, the method using the three-point link device is that the tractor side end rotation shaft and the towed vehicle side end rotation shaft of the hitch are both on the towed vehicle side. The control line for the wheel steering system will also be completed on the towed vehicle side.

Compared with the one using a three-point link device, the method using the swing drawbar has a lower traction point and can make the hitch point load approach the tractor side, thereby improving the traction traveling performance. However, because the tractor side end rotation shaft of the hitch that provides the tractor side angle sensor is structurally unique to the tractor, the control line of the wheel steering device is not completed on the towed vehicle side and extends to the tractor side. . As a result, when the tractor and the work implement are attached and detached, the wiring work for the tractor side angle sensor is always required, and there is a problem that the detachment work between the tractor and the work implement becomes complicated.
JP 2001-301636

  The present invention has been made to solve the above problems, and the problem is that the tractor is necessary for controlling the wheel steering device when towing a towed vehicle such as a work machine via a swing drawbar and hitch. It is an object of the present invention to provide a method and apparatus for detecting the traction angle between a tractor and a towed vehicle, which can omit the wiring work of the tractor side angle sensor when the tractor and the towed vehicle are attached and detached.

  In order to solve the above-mentioned problems, the means employed by the present invention is that a link bar is disposed above a hitch that pulls a towed vehicle in a system in which a tractor pulls a towed vehicle via a swing drawbar, and the link Bearing the tractor side and towed vehicle side end rotation shaft of the bar on the tractor and the towed vehicle so that the shaft center line coincides with the tractor side and towed vehicle side end rotation shaft of the hitch, The tractor side and towed vehicle side angle sensors are provided on the tractor side and towed vehicle side end rotation shafts of the link bar, respectively, and the traction of the tractor and the towed vehicle necessary for controlling the wheel steering device is based on the angle sensors. Detect the angle.

  In the method and apparatus according to the present invention, the tractor side and towed vehicle side end rotation shafts of the link bar are positioned on the same axis as the hitch tractor side and towed vehicle side end rotation shafts. The detection angle of the sensor corresponds to the angle between the tractor and the hitch, and the detection angle of the towed vehicle side angle sensor corresponds to the angle between the towed vehicle and the hitch.

  Since the link bar can be on the towed vehicle side, the control line of the wheel steering device is completed on the towed vehicle side. As a result, when the method and apparatus of the present invention are applied to the swing drawbar traction method, wiring work for the tractor side angle sensor, which was essential at the time of detachment with the tractor, becomes unnecessary, and the traction traveling performance is improved. There is an excellent effect that the detachment work between the tractor and the towed vehicle becomes easy.

  The present invention applied to a system in which a hitch of a towed vehicle is connected to a swing drawbar of the tractor and the tractor pulls the towed vehicle. The side end rotation shafts are respectively supported by the tractor side and the towed vehicle side bearing members. The tractor-side bearing member is provided on the mast of the tractor three-point link device, and its axis is aligned with the axis of the hitch tractor-side end rotating shaft. The towed vehicle side bearing member is provided on the frame of the towed vehicle, and its axis is aligned with the axis of the towed vehicle side end rotation shaft of the hitch.

  It is preferable that the link bar has a structure that can be expanded and contracted to cope with a change in the interval between the tractor side and the towed vehicle side bearing members. A tractor-side angle sensor is provided on the tractor-side end rotation shaft of the link bar, and a towed vehicle-side angle sensor is provided on the towed vehicle-side end rotation shaft, and each angle sensor is connected to the control circuit of the wheel steering device for control. Complete the line on the towed vehicle side.

  The present invention will be described based on embodiments shown in the drawings. 1 and 2 are a side view and a plan view of the embodiment, and FIG. 3 is a plan view in which a swing draw bar and hitch are omitted for easy viewing.

  The tractor 1 pulls the towed vehicle 3 by connecting the hitch 4 of the towed vehicle 3 to the swing drawbar 2. A link bar 5 is disposed above the hitch 4. The tractor side and towed vehicle side end rotary shafts 6 and 7 of the link bar 5 are respectively supported by the tractor side and towed vehicle side bearing members 8 and 9. At this time, between the tractor side and towed vehicle side end rotary shafts 6 and 7 of the link bar 5 and the tractor side and towed vehicle side bearing members 8 and 9, the tractor side and towed vehicle side angle sensors 10 and 12 are provided. Is installed coaxially. Since the portion excluding both ends of the link bar 5 has a double-pipe structure that can be expanded and contracted, fluctuations in the distance between the tractor side and the towed vehicle side bearing members 8 and 9 are absorbed and expanded by the link bar 5.

  The tractor side bearing member 8 is fixed to the mast 15 of the three-point link device 14 of the tractor 1 so that the axis thereof coincides with the axis of the tractor side end rotary shaft 12 of the hitch 4. The towed vehicle side bearing member 9 is fixed to the frame 16 of the towed vehicle 3 so that its axis coincides with the axis of the towed vehicle side end rotation shaft 13 of the hitch 4.

  A hitch swing cylinder 17 is disposed between the hitch 4 and the frame 16, and a steering cylinder 19 for steering the wheels 18 of the towed vehicle 3 is disposed in the frame 16. Although not shown, a control line for connecting the cylinder and the angle sensor to the control circuit is wired to the hitch and the frame.

  Since the tractor side and towed vehicle side end rotating shafts 6 and 7 of the link bar 5 are located on the same axis as the tractor side and towed vehicle side end rotating shafts 12 and 13 of the hitch 4, the tractor side angle The detection angle θ 1 of the sensor 10 corresponds to the angle between the tractor 1 and the hitch 4, and the detection angle θ 2 of the towed vehicle side angle sensor 11 corresponds to the angle between the towed vehicle 3 and the hitch 4. Therefore, the wheel steering device of the towed vehicle 3 is accurately controlled based on the detection angles of the tractor side and towed vehicle side angle sensors 10 and 11.

  Since the tractor side and towed vehicle side angle sensors 10 and 11, the hitch swing cylinder 17 and the steering cylinder 19 around which the control line turns are all on the towed vehicle side, the control line is completed on the towed vehicle side, The wiring work for the tractor-side angle sensor, which is essential when the tractor and the towed vehicle are attached and detached, becomes unnecessary. Therefore, when the present invention is applied to the swing drawbar towing system of the tractor, not only the towing traveling performance is improved, but also the detaching operation between the tractor and the towed vehicle becomes easy.

Side view of the example, Plan view of the embodiment, The top view which abbreviate | omits and shows a swing drawbar and a hitch for visibility.

Explanation of symbols

1: Tractor 2: Swing draw bar 3: Towed vehicle 4: Hitch 5: Link bar 6: Tractor side end rotation shaft (link bar)
7: Towed vehicle side end rotation shaft (link bar)
8: Tractor side bearing member 9: Trailer side bearing member 10: Tractor side angle sensor 11: Trailer side angle sensor 12: Tractor side end rotation shaft (hitch)
13: Towed vehicle side end rotation shaft (hitch)
14: Three-point link device 15: Mast 16: Frame 17: Hitch swing cylinder 18: Wheel 19: Steering cylinder

Claims (4)

In the method in which the tractor (1) pulls the towed vehicle (3) via the swing draw bar (2), a link bar (5) is disposed above the hitch (4) that pulls the towed vehicle (3). The tractor side end rotary shaft (6) of the link bar is supported on the tractor so that the axial center line thereof coincides with the tractor side end rotary shaft (12) of the hitch. The towed vehicle side end rotation shaft (7) of the link bar is supported so that the towed vehicle side end rotation shaft (13) of the hitch coincides with the axial center line, and the tractor side end rotation of the link bar is rotated. axis provided tractor-side angle sensor (10) to (6), said link bar of the towing vehicle-side angle sensor towed vehicle side end portion rotational shaft (7) to (11), respectively, the tractor side and the towed vehicle the basis of the side angle sensor (10, 11) , A tractor and towing angle detection method of the towing vehicle for detecting a pulling angle necessary for controlling the wheel steering system, the link bars of the tractor-side end portion rotational shaft (6) is a three-point linkage of the tractor (14 ) Of the tractor and the towed vehicle characterized in that the towed vehicle side end rotary shaft (7) of the link bar is respectively supported by the frame (16) of the towed vehicle (3) . Tow angle detection method. The tractor and towed vehicle tow angle detection method according to claim 1, wherein the link bar (6) is extendable in the axial direction. In the method in which the tractor (1) pulls the towed vehicle (3) via the swing draw bar (2), a link bar (5) is disposed above the hitch (4) that pulls the towed vehicle (3). The tractor side and towed vehicle side end rotary shafts (6, 7) of the link bar are respectively supported by the tractor side and the towed vehicle side bearing members (8, 9), and the tractor side bearing member on the tractor. (8) is arranged so that the shaft center line coincides with the tractor side end rotation shaft (12) of the hitch, and the towed vehicle side bearing member (9) is mounted on the towed vehicle on the towed vehicle. The tractor side end rotation shaft (13) is arranged so as to coincide with the axial center line, and the tractor side end rotation shaft (6) of the link bar is connected to the tractor side angle sensor (10) . The towed vehicle side angle set on the towed vehicle side end rotating shaft (7). A server (11) a traction angle detection device of the tractor and the towed vehicle comprising respectively, the tractor-side bearing member (8), the mast (15) of the three-point linkage of the tractor (14), wherein The towed vehicle side bearing member (9) is provided on the frame (16) of the towed vehicle (3), respectively . The tractor and towed vehicle traction angle detection device according to claim 3, wherein the link bar (6) is extendable in the axial direction.

Images