JPH0246643Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an angle control device for a working machine such as a rotary, plow, or earth removal plate connected to a tractor, or a rice transplanter connected to a traveling vehicle.

For example, with a rotary tiller towed by a tractor, it is desirable to hold the rotary horizontally when cultivating rice paddies, flat fields, etc. in the horizontal direction, but it is preferable to hold the rotary horizontally when cultivating fields, etc. on sloped areas. When cultivating along the
It may be necessary to till the entire field so that it has a constant slope angle.

The present invention has been developed in view of the above circumstances, and it is possible to control working machines such as rotaries and earth removal plates to any tilt angle in the left and right directions, and also provides a means for changing the width of the dead zone for this control, thereby improving the field performance. The object of the present invention is to provide an angle control device for a working machine that enables work to be performed according to the situation and improves work efficiency.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to drawings showing an embodiment of a rotary angle control device mounted on a tractor as a working machine.

FIG. 1 is a partially cutaway left side view of a tractor equipped with an angle control device according to the present invention (hereinafter referred to as the device of the present invention) and a rotary attached to the rear thereof, and FIG. 2 is a plan view of the main part thereof. In the figure, 1 is the tractor body, 2 is the rotary attached to the rear of the tractor,
The rotary 2 is attached to the rear side of the tractor 1 so as to be movable up and down via one top link 20 and two lower links 21, 21 on the left and right lower sides thereof. That is, the front end of the top link 20 is connected to the hydraulic lift 1.
The rear end of the top link 20 is connected to the upper central part of the front end of the rotary 2, and the lower link pins 23 are connected to the lower corners of both sides of the transmission case 3. The front ends of the pair of left and right lower links 21, 21 are connected and supported through the rotary 2, and the rear ends of each lower link 21, 21 are connected to both sides of the front end of the rotary 2.

The hydraulic lift 10 has a pair of left and right lift arms 1.
1 and 11 are interlocked and connected, and the upper end of a connecting rod 24 is connected to the tip of the left lift arm 11. The connecting rod 24 is extendable and retractable with a turnbuckle, and its lower end is connected to the middle of the left lower link 21. The upper end of the lift rod 25 is connected to the tip of the right lift arm 11, and a double-acting hydraulic cylinder 2 is connected to the lower end of the lift rod 25.
6 are integrally connected, and the piston rod 28 of the hydraulic cylinder 26 is connected to the middle of the right lower link 21. When the hydraulic lift 10 is driven, the lift arms 11, 11 move together, and the rotary 2 The rotary 2 is moved up and down as a whole, and the tilt angle of the rotary 2 in the left-right direction is changed by driving the piston rod 28 of the hydraulic cylinder 26 back and forth. That is, when the solenoid 43 or 44 of the solenoid valve 45 is energized as shown in FIG. Pressure oil in the other oil chamber is returned to the tank, the piston rod 28 of the hydraulic cylinder 26 moves back (or moves forward), and the right side (or left side) of the rotary 2 rises. do.

The length of the left connecting rod 24 can be changed using a turnbuckle, making it possible to finely adjust the tilt angle of the rotary 2 in the left-right direction.

In addition, a cylindrical tilt angle sensor 29 is attached to the center of the upper surface of the rotary cover 16 of the rotary 2, and outputs a potential according to the left-right tilt angle of the rotary 2 with respect to the horizontal plane or the tilt angle of its axis with respect to the vertical line. do.

FIG. 3 is an electronic circuit diagram of the main part of the present device. In the figure, 31 is a battery whose negative pole is grounded to the body, and whose positive pole is connected via a key switch 32 to a power supply terminal 1 of a window comparator 30, which will be described later. Window comparator 30
is a semiconductor device that discriminates a changing input voltage by comparing it with two freely settable comparison reference voltages, and in this embodiment, TCA965 manufactured by Siemens is used.

The terminal of the window comparator 30 is an input terminal to which a signal to be compared and identified is to be applied, and the output voltage V ₂₉ of the above-mentioned tilt angle sensor 29 is applied thereto. Incidentally, the inclination angle sensor 29 is set so that its output voltage V ₂₉ becomes a predetermined voltage when the left-right inclination angle of the rotary 2 is 0 degrees (the rotary 2 is in a horizontal state). When the left side becomes higher (that is, rotary 2 rotates counterclockwise when viewed from the rear of the aircraft), V ₂₉ decreases, and conversely, the left side becomes higher than the right side (rotary 2 also rotates clockwise). And V ₂₉ is starting to rise.

As shown in FIG. 4, the terminal of the window comparator 30 is an input terminal to which a voltage defining the midpoint of the window is applied, and the output potential of the variable resistor 34 is input thereto. The variable resistor 34 is rotary 2
It is connected to a key switch 32 connected to the positive terminal of a battery 31 via a resistor 33, and is also grounded to the body via a low resistor 35. A knob 12 for setting the resistance value of the variable resistor 34 is provided on the operation panel 14 in front of the driver's seat 13. That is, the voltage of a voltage dividing circuit constituted by a resistor 33, a variable resistor 34, and a resistor 35 is set by rotating the knob 12 left and right, and this is applied to the terminal of the window comparator 30.

The input voltage V ₉ to the terminal of the window comparator 30 defines 1/2 width of the window as shown in FIG.
This is the voltage at the connection point between the resistor 36 and the resistor 37 of a voltage dividing circuit composed of a resistor 37 and a variable resistor 38. A knob 15 for setting the resistance value of the variable resistor 38 is provided on the operation panel 14 in front of the driver's seat 13. That is, the voltage V ₉ of the voltage dividing circuit constituted by the resistors 36 and 37 and the variable resistor 38 is set by turning the knob 15 to the left and right, and this is applied to the terminal of the window comparator 30.

Terminal , is the output terminal of the window comparator 30, and is connected to drive circuits 41 and 42 each formed by connecting two transistors, and when the respective outputs V ₂ and V ₁₄ become low level, the solenoid 43 .

Next, the operation of the window comparator 30 will be briefly explained based on FIG. 4A and 4B show the binary outputs V ₂ and V ₁₄ , respectively, with the output V ₂₉ of the tilt angle sensor 29 taken on the horizontal axis. V ₁₄ is V ₈ −
Low level at V ₉ , high level at V ₂₉ > V ₈ − V ₉ , and high level at _{V 29 <} V ₈ + V ₉ , V ₂₉
>V ₈ + ₉ becomes low level. And V ₈ −V ₉ ~
The range of V ₈ +V ₉ is called a window, V ₈ defines the midpoint of the window, and V ₉ defines 1/2 of its width. In the proposed device, _V8 , which defines the midpoint, is fixed at an appropriately set value with a variable resistor 34, and 1/2
Although V ₉ that defines V 9 is fixed at a value appropriately set by the variable resistor 38, V ₂₉ changes depending on the state of the horizontal angle of the rotary 2 (absolute horizontal angle with respect to the horizontal plane). That is, depending on the state of the rotary 2 and the set angle, V ₂ or V ₁₄ becomes a low level, and the solenoid 43 or 44 is energized, so that the left-right tilt angle of the rotary 2 is controlled. and _V29
is within the window, that is, V ₈ −V ₉ ~ _{V 8} +
If it is within the range of _V9 , the left/right tilt angle of the rotary 2 is not controlled as a control dead zone. _V9 , which defines this window width, is determined by the resistance value of the variable resistor 38 by operating the knob 15 as described above.

A tractor equipped with the device of the present invention having such a configuration is used and operated as follows. Before starting work, the left and right tilting angle of the rotary 2 is set using the knob 12. As a result, the resistance value of the variable resistor 34 changes, and a voltage _V8 corresponding to the set angle is input to the terminal of the window comparator 30.

In addition, by changing the resistance value of the variable resistor 38 using the knob 15, the input voltage _V9 that defines the window width of the window comparator 30 is changed, and therefore the control dead band width is changed. This is because if the field condition is poor and there are small irregularities on the field surface, the tractor 1 will swing from side to side, and the rotary 2
In order to prevent this, the width of the control dead band is widened to prevent unnecessary control of the tilt angle of the rotary 2. On the other hand, when the field is in good condition and the field surface is relatively smooth, the tractor 1 hardly oscillates, so the rotary 2 also oscillates little, and the width of the dead zone of the horizontal tilt angle control of the rotary 2 is narrowed. This is intended to improve work accuracy. Voltage V ₉ set with knob 15
is input to the terminal of the window comparator 30 and defines the 1/2 width of the window.

When the tilling work is started in such a state, the rotary 2 performs tilling while being tilted in the left-right direction by an angle set by the knob 12 with respect to the horizontal surface. When the tractor 1 tilts to the right (or left) due to irregularities in the field, the rotary 2 also tilts to the right (or left), and the tilt angle sensor 29
detects this condition and its output _V29 rises (or falls). Then, V ₂₉ defines the midpoint of the window set by knob 12. V ₈ and knob 1
V ₉ defines the 1/2 width of the window set in 5.
When the sum V ₈ +V ₉ (or the difference V ₈ −V ₉ ) is larger (or smaller) than the output V ₂ (or
V ₁₄ ) becomes a low level, the solenoid 43 or 44 is energized, and the piston rod 28 of the hydraulic cylinder 26 moves back (or advances), causing the right side of the rotary 2 to rise (or fall) and move the rotary 2 to the left. (or to the right). This rotation causes the output V ₂₉ of the tilt angle sensor 29 to become V ₈ +V ₉ (or V ₈ -
The rotation is continued until V 29 becomes smaller (or larger) than V ₉ ), that is, until V ₂₉ is within the window, and the rotary 2 is approximately at the horizontal tilt angle set by the knob 12, and the field is tilted relative to the horizontal plane. The tiller is cultivated at a substantially constant tilt angle set by the knob 12.

In this case, the voltage V ₉ that defines the window width (i.e., the dead zone width) is appropriately set by the variable resistor 38, so that the work can be done in accordance with the field conditions as described above, and even if there are small irregularities on the field surface. When the machine is rocking, the width of the dead zone can be widened to prevent unnecessary tracking of the rotary 2, and on the other hand, when the field surface is smooth, the width of the dead zone can be narrowed to improve work accuracy. be.

In the above-mentioned embodiments, a rotary mounted on a tractor was explained as a working machine, but the present invention is not limited to this. For example, a soil removal plate mounted on the front of a tractor, a rice transplanter mounted on a traveling vehicle, etc. can also be used. Applicable.

As described in detail above, the present invention includes a connecting member between a working machine and this machine that changes the tilt angle of the working machine in the left-right direction by expanding and contracting, a means for driving the connecting member to extend and contract, and a connecting member that changes the horizontal tilt angle of the working machine with respect to a reference plane. comprising means for detecting a direction tilt angle and means for setting the angle;
The telescoping drive means is controlled based on the detection result of the detection means so that the left-right tilt angle of the working machine becomes a set angle, and dead zone width changing means for the control is provided to adjust the left-right tilt angle. Since the sensitivity is adjusted by changing the width of the dead zone set by the setting means, when working on a field on a slope while traveling along contour lines, the means for setting the horizontal inclination angle can be used to adjust the sensitivity. The left and right tilt of the work equipment can be set arbitrarily.
The entire field can be cultivated so that it has a constant inclination angle along this slope, and the sensitivity can be adjusted by appropriately changing and setting the dead zone width of the setting means for setting the left and right tilt angle. Work can be done in accordance with field conditions such as slopes, headlands, and ridges.If the field is rough and has uneven surfaces and the machine is rocking, the dead zone width can be widened to eliminate unnecessary tilt angles of the work machine. It has an excellent feature of preventing excessive tracking due to control, and conversely, when the field surface is nearly flat and smooth, the width of the dead zone is narrowed to improve control accuracy and work accuracy.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention.
The figure is a partially cutaway left side view of a tractor equipped with the proposed device and a rotary attached to the rear; FIG. 2 is a plan view of the main parts; FIG. 3 is an electronic circuit diagram of the main parts of the proposed device; FIG. 3 is an explanatory diagram of the operation of a window comparator. 1... Tonerakta, 2... Rotary, 12, 15...
Knob, 21... Lower link, 26... Hydraulic cylinder, 29... Tilt angle sensor, 30... Window comparator, 34, 38... Variable resistance, 43, 44... Solenoid.

Claims (1)

[Scope of utility model registration request] A connecting member between the working machine and this machine that changes the horizontal tilting angle of the working machine by expanding and contracting, a means for driving the connecting member to extend and contract, a means for detecting the horizontal tilting angle of the working machine with respect to a reference plane, and and an angle setting means for controlling the telescopic drive means based on the detection result of the detection means so that the horizontal tilt angle of the working machine becomes the set angle, and a dead zone width changing means for the control. An angle control device for a working machine, characterized in that sensitivity is adjusted by changing the dead zone width of the setting means for setting the horizontal tilt angle.