JPH02138905A - Rolling control device of ground working machine - Google Patents

Abstract

PURPOSE:To reduce risk of breaking of attitude-detecting mechanism by hitting with miscellaneous trees, etc., during working by providing attitude-detecting mechanism in a space surrounded by lift arm, lower link, lift rod and rear part of machine body in a side view. CONSTITUTION:An attitude-detecting mechanism A detecting inclined attitude in left and right of ground working machine 2 to powering car 1 is provided. Said mechanism A is constructed with a gearing rotation part material 15 rotating gearing with movement of one lower link 6 and a sensor S2 installed between the part material 15 and another lower link 7 and outputting a signal corresponding to relative rotated amount of the lower links in left and right. Further, the mechanism A is provided in a space surrounded by lift arms 3, lower links 6 and 7, lift rods 4 and 5 and rear part of the machine body in a side view. As the result, height of the links 6 and 7 are able to be calculated with simple calculation. Furthermore, risk of breaking of the mechanism A by hitting with miscellaneous trees, etc., during working is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a low link control device for a ground work machine connected to the rear of a power vehicle such as a 1-rafter.

[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
- One riff 1 that is formed to be expandable and contractible
2. Description of the Related Art A rolling control device is known that controls the horizontal inclination value of a ground work machine to a preset value by controlling expansion and contraction of a rond.

However, since the lower parts of the lifts 1 to 1-rot are pivoted to the lower link at a certain angle that is not perpendicular to the vertical movement of the lower link, changes in the lengths of the rifts 1 to 1-rot are simply Since proportional calculation is insufficient, the lift rod length is calculated by trigonometric calculation of the rotation angle of the lower link or lift 1 to arm, and the vertical component of this calculated length is used for the above-mentioned ground work. It must be corrected and included when calculating the left and right tilt of the aircraft (for example,
9-232008), the rolling control operation requires various complicated corrections and reductions, which complicates the control circuit.In addition, the rotation angle of the lift arm,
There is a problem in that the control device is expensive because it requires many types of sensors such as a length sensor and an inclination angle sensor.

Moreover, in such a conventional device, the length sensor that detects the length of the rift 1-lock 1 which is extended and retracted by hydraulic pressure was installed in parallel on the outside of the hydraulic rift 1-lock 1, so that the power There is a risk that the sensor may be hit by tools when removing the ground work machine connected to the vehicle and replaced with another work machine, or that the sensor may 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 mentioned above, and for this purpose, the following technical measures have been taken.

That is, at the rear of the power vehicle 1, a pair of left and right rifts 1-3.
3 and a lower link 6.7 are respectively rotatably connected, and the rear end portion of this lift arm 3.3 and the intermediate portion of the lower link 6.7 are connected by a pair of left and right lift rods 1 4.5. death,
In the rolling control device for a ground work machine, in which at least one of the floats 1-4.5 described in 1. ] - is provided with an attitude detection mechanism A that detects the horizontal tilt attitude of the ground work machine 2, and this attitude detection mechanism A includes an interlocking rotation member 15 that rotates in conjunction with the movement of one lower link 6, and an interlocking rotation member 15 that rotates in conjunction with the movement of one lower link 6. The sensor S2 is disposed between the member 15 and the other 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. Detection mechanism A includes a lift arm 3.3, a lower link 6.7, and a lift rod 4.5 when viewed from the side.
A rolling control device for a ground-based work machine is arranged in a space surrounded by a rear part of the machine body and a rear part of the machine body.

[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.
Left and right lower links swinging downward 6.7 through 5
The work equipment connecting link mechanism 9 is connected by a three-point link mechanism such as a three-point link mechanism consisting of a central top link 8, and the lift arm 3.3 is raised and lowered by a lift cylinder 10 using hydraulic pressure. The lift rod cylinder 12 is formed by a lift rod cylinder 12, and the lift rod cylinder 12 is extended and contracted to generate power for the ground work equipment 2. This is to perform rolling control of the left and right attitude with respect to the 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 link 6. For this purpose, the left and right arm parts 1 are attached to the base 13 formed by a round shaft.
4, ] 4 are respectively fixed to form a U-shaped interlocking rotating member 1 in plan view.
5, the base 13 is pivotally supported in the left and right lateral directions on the rear upper part of the power vehicle 1, and the arm 1 is on the same side as the lower link 6 on the non-extensible side.
4 are connected by a rod 17, and the arm part 14 on the same side as the lower link 7 on the telescopic side is pivotally connected by S1 to loke sensor S2, which are formed of something like a linear movement type potentiometer. When the working machine 2 is in a substantially horizontal field and maintained in a normal working posture, the rod 17
and the stroke sensor S2 is connected to each lower link 6.
．． The above-mentioned pivot positions are determined so that they are both substantially perpendicular to 7.

Here, the U-shaped interlocking rotating member 15, the rod 17, and the stroke sensor S are collectively referred to as posture detecting means 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, from the state where the left and right lift rods 1-5 are both the same length, the right lift rod 1-5 is changed by Δ
If it is shortened by L, the right lower link 7 will be at a higher position than the left lower link 6 by ΔH, and the left-right tilt angle β of the powered vehicle 1 will be β = sin' (ΔH/B) (where B is lower This can be calculated from the distance between the rear ends of links 6 and 7).

At this time, the lower end of the stroke sensor S2 is at a position higher than the lower end of the rod 17 by Δh, so ΔH is calculated from this Δh, and the length of the lower link 6.7 is Δh=(d
/D) ・ΔH, and ] - Pivot position 19.2
Since the distance 0 has a certain relationship with the rear end distance B of the lower link 6.7, from these facts, the left-right tilt angle β of the vehicle against power can be calculated using the above-mentioned Δh as a variable.
Therefore, it can be found.

At this time, since the rod 17 and the stroke sensor S2 are in a position substantially orthogonal to the lower link 6.7, the above Δh is the difference between the length Q of the lot 17 and the length r detected by the stroke sensor S. It is directly proportional to a certain Q - r, and therefore, from this Q - r, the horizontal inclination angle β of the ground work equipment 2 relative to the powered vehicle can be calculated without the need for complicated correction calculations, Second
The procedure is shown in the figure.

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 setting value of the ground work equipment 2 set by the setting dial of the left and right tilt setting device 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 lot 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 A2 to calculate n-r, and then ΔH and the horizontal inclination angle β of the ground work equipment 2 relative to the power vehicle are both calculated in the operational amplifier A2. .

(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. =8 The respective outputs of the differential amplifier A1 and the operational amplifier A2 are output to the drive amplifier A4, the differential amplifier A3, and the left/right tilt angle β of the powered vehicle so that the left/right tilt angle β of the powered vehicle matches the left/right tilt control angle of the powered vehicle.
A5 switches and controls the electromagnetic switching valve V to supply pressure oil from the pump to the rift 1 to rod cylinder 12, or to discharge pressure oil in the rift l-rod cylinder 12 to the tank. When the difference between the machine's left-right tilt control angle and the machine's left-right tilt angle β, that is, the left-right tilt deviation value, is within a small value, the window comparator C0
, C2 so that no output appears at the drive amplifiers A4 and As.

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

[Effects of the Invention] Since the present invention is configured as described above, it has the following technical effects.

That is, the attitude detection mechanism that detects the horizontal tilt attitude of the ground work equipment 2 with respect to the power vehicle 1 includes an interlocking rotating member that rotates in conjunction with the movement of one lower link 6, this interlocking rotating member 15, and the other lower link. The sensor S2 is disposed between the left and right lower links 6.7 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. 7 can be calculated using an extremely simple calculation method, and the above-mentioned known device detects the rotation angle of the lift arm and corrects the stroke sensor based on this rotation angle. This invention eliminates the need for complicated correction calculations.

Further, since the attitude detection mechanism A is disposed in a space surrounded by the lift arm 3.3, the lower link 6.7, the lift rod 4.5, and the rear part of the fuselage in a side view, When attaching or replacing the ground work equipment 2 to the power vehicle 1, tools etc. may hit the attitude detection mechanism A and damage it.
Alternatively, it has a feature that reduces the risk of damage caused by hitting obstacles such as bushes during work.

[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. Explanation of symbols 4, 5 6, 7 S. Power vehicle ground work equipment (Rorif 1-arm lift rod lower link lift rod cylinder interlocking rotating member tilt sensor tari tilling device)

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. , in a rolling control device for a ground work machine, in which at least one of the lift rods 4 and 5 is configured with an extensible actuator 12 so that the left and right tilted posture of the ground work machine 2 can be adjusted; An attitude detection mechanism A is provided to detect the horizontal tilt attitude of the machine 2. The sensor S_2 is disposed between the lower link 7 and outputs a signal corresponding to the amount of relative rotation when the left and right lower links 6 and 7 rotate relative to each other. Lift arm 3 in view,
3, lower links 6, 7, lift rods 4, 5,
A rolling control device for a ground work machine, characterized in that it is disposed in a space surrounded by a rear part of the machine body.