JPH02138904A - Rolling controller for ground operating machine - Google Patents

Abstract

PURPOSE:To know the height difference between the lower links on both right and left sides simply by providing the attitude detection mechanism with a sensor which can output the signals corresponding to the relative rotation, when the lower links on both sides relatively rotate. CONSTITUTION:The attitude detection mechanism A is composed of an inter- locked rotation part 16 containing a shaft 13 supported horizon-tally and a couple of arms 14, 14 extending backward from both ends of the horizontal shaft 18, of a connector 17 binding one arm 14 to the lower link 6, and of the sensor S2 which is located between the other side arm 14 and the lower link 7 and can output the signals corresponding to the relative rotation, when both lower links relatively rotate to each other. Further, the connector 17 and the sensor S2 are set more front the lift rods 4, 5 toward the machine body whereby the height difference between the lower links 6, 7 can be readily known. During the operation, there is no danger of collision of the connector 17 or the sensor S2 to trees or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a rolling control device for a ground work machine connected to the rear of a power vehicle such as a tractor.

[Prior art] A lateral inclination sensor that detects the left and right inclination of the ground work equipment is attached to the power vehicle on the towing machine side, and also detects the left and right inclination of the ground work equipment with respect to the power vehicle, and Left and right riffs connecting links 1
A rolling control device is known that controls the horizontal inclination value of a ground work machine to a preset value by controlling the expansion and contraction of one of the rifts 1 to 1, which is formed to be extendable and retractable.

However, since the lower part of this lift rod is pivoted to the lower link at a certain angle that is not perpendicular to the vertical movement of the lower link, changes in the length of the lift rod cannot be determined by simple proportional reduction. If insufficient, calculate the lift rod length by trigonometrically calculating the rotation angle of the lower link or lift 1 to arm, and then calculate the vertical component of this calculated length. It must be corrected and included when calculating the left and right slope of the
-232008), as described above, it is necessary to perform various complicated correction calculations for the low link control operation, making the control circuit complicated. There is a problem in that the control device becomes expensive because it requires many types of sensors.

Furthermore, in such conventional devices, length sensors for detecting the length of the hydraulic lifts 1 to 1-lot, which are extended and retracted by hydraulic pressure, are arranged side by side on the outside of the hydraulic lifts 1 to 1-rod. There was a risk that the sensor would be hit by a tool when removing and replacing the ground work machine, or that the sensor would be damaged by hitting a tree or the like during work.

[Means for Solving the Problems] The present invention is proposed in view of the problems described in 1. To this end, the following technical measures have been taken.

That is, a pair of left and right foot pads 3.3 are installed at the rear of the power vehicle 1.
and a lower link 6.7 are respectively rotatably connected, and the rear end of the lift 1 hair arm 3.3 and the intermediate part of the lower link 6.7 are connected by a pair of left and right lift lorados 4.5, At least one of the lift rods 4.5 is configured to include an extendable actuator 12 so as to be able to adjust the left and right tilting posture of the ground work equipment 2, and a tilt sensor S for detecting the left and right tilt of the power vehicle 1 relative to the ground; , and an attitude detection mechanism A that detects the horizontal tilt attitude of the ground work equipment 2 with respect to the power vehicle 1. In a rolling control device for a ground work machine 2 configured to control the horizontal tilting posture, the posture detection mechanism A includes a horizontal shaft 13 that is supported laterally, and a horizontal shaft 13 that extends rearwardly from both sides of the horizontal shaft 13. an interlocking rotating member 15 consisting of an arm section 14.14, a connecting body 17 connecting the arm section 14 on one side and the lower link 6, and a connecting body 17 that connects the arm section 14 on the other side and the lower link 7; When the link 6.7 rotates relative to each other, the link 6.7 outputs a signal corresponding to the amount of relative rotation. A rolling control device for a ground-based work machine is configured.

[Embodiment and its operation] An embodiment of the present invention will be described below based on the drawings.

As shown in FIG. 1, at the rear of a tractor as a power vehicle 1, a rotary tilling device 2, which is an example of a ground work machine, is connected to a pair of left and right lift arms 3.3 and a left and right lift rod 4.
The working equipment connecting link mechanism 9 is connected by a three-point link mechanism such as a three-point link mechanism consisting of left and right lower links 6, 7 that swing up and down through the link 5, and center links 1 to 8. The lift arm 3.3 is raised and lowered by a hydraulic lifting mechanism 11 that moves the lift arm 3.3 up and down to the lift 1 using hydraulic pressure by means of a cylinder 10.The lift arm 3.3 is lifted and lowered by a hydraulic lift mechanism 11 that moves the lift arm 3.3 up and down to the lift 1 using hydraulic pressure. This lift rond cylinder 12 is expanded and contracted to control rolling of the horizontal attitude of the ground work equipment 2 with respect to the power vehicle 1.

The lateral inclination of the power vehicle 1 relative to the ground is detected using a lateral inclination sensor S made of a bubble, a weight, etc. It is calculated by detecting the difference in height between the rear ends of the lower links 7 on the telescopic side with respect to the links 6. For this purpose, a rear protruding shape is provided at both left and right ends of the horizontal shaft 13 formed of a round bar. The arm parts 14 and 14 are respectively fixed to form an interlocking rotating member 15 having a U-shape in plan view, and the intermediate part of the horizontal shaft 13 can be freely rotated laterally to the left and right at the rear upper part of the power vehicle 1. The arm part on the same side as the lower link 6 on the non-extensible side] and 4 are connected by a rod-shaped connecting body 17, and the arm part 14 on the same side as the lower link 7 on the extensible side moves in a straight line. Pivot connection is made between the stroke sensor S2 and the stroke sensor S2, which is formed by a type potentiometer. The pivot positions of the body 17 and the stroke sensor S2 are determined so that they are both substantially perpendicular to the respective lower links 6.7.

Here, the U-shaped interlocking rotating member 15, the connecting body 17, and the stroke sensor S2 will be collectively referred to as an attitude detection mechanism A.

Therefore, in the first embodiment, the movement dimension of the stroke sensor S2 changes in direct proportion to the change in the rotation angle of the lower link 7 in the working posture.

In the case of FIG. 1, when the right lift rod 5 is shortened by ΔL from the state where both the left and right lift rods 4.5 have the same length, the right lower link 7 becomes the left lower link 6.
The horizontal inclination angle β of the powered vehicle 1 can be calculated from β=5in1 (ΔH/B) (where B is the distance between the rear ends of the lower links 6.7).

At this time, the lower end of the stroke sensor s2 is
Since the position is Δh higher than the lower end of the rod 17, ΔH is calculated from this Δh.The length of the lower link 6.7 is D, and the swinging fulcrum of the lower link 6.7 is the connecting body. 17. If the length to each pivot position 19.20 of stroke sensor S2 is d, Δh= (d/
D) ΔH, and since the distance between the pivot points 19.2o and the distance B between the rear ends of the lower links 6.7 is constant, these factors determine the horizontal inclination angle of the vehicle with respect to power. β can be determined by a linear calculation formula using the above-mentioned Δh as a variable.

At this time, since the connecting body 17 and the stroke sensor S2 are in a substantially orthogonal posture on the lower link 6.7, "1"
Δh is the length of the connecting body 17. Tos I~Low sensor S2
It is directly proportional to n - r, which is the difference in the length r detected by . Therefore, from this Ω to r, it is necessary to perform a complicated correction calculation to calculate the horizontal inclination angle β of the ground work equipment 2 relative to the powered vehicle. Figure 2 shows the procedure.

An example of the rolling control section 21 that controls the ground work machine 2 to tilt left and right at a predetermined horizontal angle will be explained based on the control block diagram of FIG. The left and right tilt angle set value of the ground work machine 2 set by the left and right tilt angle setting dial E and the detected value of the left and right tilt angle from the ground of the power vehicle 1 detected by the left and right tilt sensor S are differentially set. The differential amplifier A calculates the horizontal tilt control angle of the ground work equipment 2 relative to the power vehicle.

The length Q of the connecting body 17 is determined by a length setting device F, such as a potentiometer, and by a stroke sensor S.
The length r detected in step 1 is inputted into the operational amplifier A, respectively, to calculate Q-r, and then ΔH and the left-right tilt angle β of the ground work equipment 2 relative to the power vehicle are both calculated in the operational amplifier A2. Ru.

(In this embodiment, the rod 17 is fixed, so the set value has a certain reference value, but the rod 17 may be configured with a linearly movable potentiometer so that the set value can be changed. The respective outputs of the differential amplifier A1 and the operational amplifier A2 are connected to the drive amplifier A4, so that the left-right tilt angle β of the powered vehicle matches the left-right tilt angle β of the powered vehicle in the differential amplifier A.
A5 switches and controls the electromagnetic switching valve V to supply the pump's pressure oil to the lift rod cylinder 12, or to discharge the pressure oil in the lift rod cylinder 12 to the tank. When the difference between the horizontal tilt angle β of the wood machine and the tilt control angle, that is, the horizontal tilt deviation value, is within a small value, for example, the window comparators C1 and C
7 so that no output appears in the drive amplifiers A4, A.

Note that various circuits that satisfy the above functions can be used as the specific circuit of the rolling control section 21.

[Effects of the Invention] Since the present invention is configured as described above, it has the following technical effects. That is, the posture detection mechanism that detects the horizontal tilt posture of the ground work equipment 2 with respect to the power vehicle 1 includes a horizontal shaft 13 supported laterally and arm portions extending rearwardly from both sides of the horizontal shaft 13.] 4. An interlocking rotating member 15 consisting of 14
and a connecting body 17 connecting the one side arm portion 14 and the lower link 6.
and a sensor S that is located between the arm portion 14 on the other side and the lower link 7 and outputs a signal corresponding to the amount of relative rotation when the left and right lower links 6.7 rotate relative to each other. , the difference in height between the left and right lower links 6.7,
It can be easily found.

Moreover, the connecting body 17 and the sensor S2 are connected to the lift rod.
Since it is installed at a position closer to the front of the machine than 4 and 5, there is no possibility of damaging the connecting body 17 or sensor S2 by hitting it against a bush or the like during work. It is possible to reduce the manufacturing cost by using inexpensive members such as the following.

Furthermore, if the sensor S is provided offset from the center of the body toward the lower link 7 on one side as in this embodiment, inspection, adjustment, and assembly will be easier, and maintenance will be easier.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a perspective view in a working state, FIG. 2 is a block diagram showing a control procedure, and FIG. 3 is a control block diagram. ] 2 4, 5 6, 7 Description of symbols Power vehicle ground work equipment (rotary tillage device) Riff 1 ~ Arm lift rod Lower link Lift rod cylinder Horizontal axis Arm interlocking rotating member connection body Inclination sensor Stroke sensor Attitude detection mechanism

Claims (1)

[Claims] 1) A pair of left and right lift arms 3 at the rear of the power vehicle 1;
3 and lower links 6, 7 are respectively rotatably connected, and the rear end portions of these lift arms 3, 3 and intermediate portions of the lower links 6, 7 are connected by a pair of left and right lift rods 4, 5. , at least one of the lift rods 4 and 5 is constituted by an extendable actuator 12 so as to be able to adjust the left and right tilting posture of the ground work equipment 2, and a tilt sensor S_1 for detecting the left and right tilt of the power vehicle 1 with respect to the ground. , an attitude detection mechanism A that detects the horizontal tilt attitude of the ground work equipment 2 with respect to the power vehicle 1, and these inclination sensor S_1 and attitude detection mechanism A.
In the rolling control device for a ground-based work machine 2 configured to control the ground-based work machine 2 to a predetermined left-right inclined attitude relative to the ground based on the detection operation of An interlocking rotating member 15 consisting of arm parts 14, 14 extending rearwardly from both sides of the horizontal shaft 13, a connecting body 17 connecting the arm part 14 on one side and the lower link 6, and a connecting body 17 on the other side. The sensor S_2 is located between the arm part 14 and the lower link 7 and outputs a signal according to the amount of relative rotation when the left and right lower links 6 and 7 rotate relative to each other. , a rolling control device for a ground work machine, characterized in that it is provided at a position closer to the front of the machine body than the lift rods 4 and 5. 2) The sensor S_2 that detects the relative rotation amount of the left and right lower links 6 and 7 is located in front of the lift rods 4 and 5,
The rolling control device for a ground work machine according to claim 1, wherein the rolling control device is located above the one-side lower link 7.