JPH0334643Y2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention can be applied to, for example, a rotary tiller by connecting a tractor with a top link and a lower link, or a rice transplanter by connecting a passenger vehicle with a top link and a lower link. a tilt sensor that detects the tilting of the working machine in the left-right direction, and a hydraulic pressure that swings the lower link etc. based on the output of the sensor to keep the horizontal tilt of the working machine substantially constant. The present invention relates to a device that includes an angle correction member such as a cylinder and maintains the right and left plowing depths or the right and left seedling planting depths of the working machine to be approximately equal.

"Prior Art" A farm work machine is attached to a mobile farm machine via a traction link so that it can be raised and lowered, and the traction link is swung based on the output of a tilt sensor that detects tilting of the farm work machine in the left and right direction. There is now a technology that includes an angle correction member that keeps the left and right inclination approximately constant.

"Problems to be Solved by the Invention" In the prior art, a light-shielding plate is pivotally supported so as to be swingable so that it is always vertical, and a light-emitting and light-receiving element for detecting tilting is inserted between the slits formed in the light-shielding plate. However, due to processing and assembly errors in the light-shielding plate, etc., and quality performance differences in the light-emitting and light-receiving elements, the sensor output may not reach the preset value when the light-shielding plate is vertical. Therefore, it is necessary to perform complicated adjustment operations during manufacturing, and there are problems in that it is difficult to disassemble, repair, or replace the tilt sensor.

"Means for Solving the Problem" However, the present invention provides a light-emitting and light-receiving element for detecting the center position, which is placed between the light-shielding plates, and detects the light emitted by the light-receiving elements only when the light-shielding plate is in a vertical position. A central slit is provided in the light shielding plate to allow light from the element to pass through.

"Function" The vertical position of the light shielding plate is detected by each of the elements for detecting the center position and the center position slit, and the tilt output of each element for detecting the tilt at this time and the preset center position (horizontal By calculating the difference from the median output at the position), the difference can be added to the slope output to obtain an appropriate control value, making adjustment of the sensor section during manufacturing much easier than before. In addition, in addition to the machining accuracy of parts such as the light shielding plate and each element, voltage drop of the battery power supply and the like can be automatically corrected.

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Fig. 1 is an overall side view, and Fig. 2 is a plan view of the main parts, in which a rotary tiller 2, which is an agricultural work machine, is equipped at the rear of a tractor 1, which is a mobile agricultural machine, and 3 in the figure is an engine; 4 is clutch case, 5
is the transmission case, 6 is the front wheel, 7 is the rear axle, 8
is the rear wheel, 9 is the PTO axis, 10 is the lift arm 11
and a hydraulic lift equipped with a position control lever 12, 13 a driver's seat, and 14 a steering handle. Further, in the figure, 15 is a tilling rotary, 16 is a rotary cover, 17 is a main beam, 18 is a tail wheel, and 19 is a depth adjust handle.

The tiller 2 is attached to the rear side of the tractor 1 via a top link 20 and a lower link 21 which is a traction link so that it can be raised and lowered. The front end of the top link 20 is connected and supported to the rear side of the hydraulic lift 10 via a top link hinge 22, and the work machine 2
The rear end of the top link 20 is connected to the central upper part of the front end, and the front ends of the pair of left and right lower links 21, 21 are connected and supported at the lower corners of both sides of the transmission case 5 via lower link pins 23, and the working machine The rear ends of each lower link 21, 21 are connected to both sides of the front end of the lower link 2.

Furthermore, lift rods 24, 2 are attached to the pair of left and right lift arms 11, 11 provided on the hydraulic lift 10.
A hydraulic cylinder 25, which is an angle correction member that connects the upper ends of the right lift rod 24 and keeps the horizontal inclination of the working machine substantially constant, is integrally connected to the lower end of the right lift rod 24;
The turnbuckle 26 is attached to the left lift rod 24, and the piston rod 27 of the hydraulic cylinder 25 is attached.
The right lower link 21 is connected to the middle of the right lower link 21, and the right lower link 21 is interlocked and connected to the right lift arm 11 using the lift rod 24 and the hydraulic cylinder 25. 21 alone, and a tilt sensor 28 is fixedly installed in the center of the upper surface of the rotary cover 16 of the rotary tillage work machine 2, so that the left and right tilt of the work machine 2 is detected by the tilt sensor 28. ing.

Further, FIG. 3 is a perspective view showing the structure of the tilt sensor 28, in which a light emitting element 28a consisting of an LED,
Each element 2 is provided with a light-receiving element 28b made of a phototransistor, and each element 2
8a and 28b, and a light shielding plate 29 is provided between the light emitting and light receiving elements 28a and 28b.
is pivotally supported at its upper end so that it can swing freely only in the left and right directions. An oil damper 30a is attached to the pivot shaft 30 of the light shielding plate 29, and suppresses the swinging of the light shielding plate 29 so that when the inclination angle of the rotary 15 changes, the light shielding plate 29 becomes vertical and immediately stops. are doing.

A slit 2 is provided at a height position where the light-emitting element 28a for tilt detection and the light-receiving element 28b of the light-shielding plate 29 face each other.
9a has been opened. The slit 29a has a horizontal fan shape in which the opening area is larger on the left side and continuously becomes smaller toward the right side, and the center line of the slit 29a in the swinging direction is centered around the pivot shaft 30 at the upper end. It is arc-shaped. Therefore, the amount of light emitted by the light emitting element 28a and received by the light receiving element 28b is determined when the right side of the rotary 15 is located lower than the left side (rightward tilted state), as shown in FIG.
In contrast, it becomes large when the left side is located below the right side (left-leaning state), and it changes continuously in between. The light shielding plate 29 is designed not to swing beyond a predetermined amount, and when the light emitted from the light emitting element does not pass through the slit, it will not swing any further.

Further, light emitting and light receiving elements 28c and 28d for detecting the center position are provided oppositely with the light shielding plate 29 in between, and the light from the light emitting element 28c that is captured by the light receiving element 28d passes through only when the light shielding plate 29 is in a vertical state. A central position slit 29b is provided in the light shielding plate 29 to allow
By obtaining the center position input signal a from 8d,
In addition to detecting the vertical state of the light shielding plate 29, the preset median value b is compared with the median value b' of the tilt input signal from the light receiving element 28b for tilt detection, and processing and assembly errors and quality performance are determined. The control value is calculated by calculating a detected difference b-b' caused by the difference, and adding the detected difference to the tilt input signal from the light receiving element.

Next, as shown in FIG.
A hydraulic pump 32 is connected through a 4-port electromagnetic hydraulic switching valve 31, and rising and falling solenoids 31a and 3 switch the hydraulic switching valve 31.
1b, a telescopic lift link 33 is interposed between the lift arm 11 and the lower link 21 in parallel with the hydraulic cylinder 25, and the lift link 33 is provided with limit switches 33a and 33b for raising and lowering. , rotary work machine 2
The movable end of the lift link 33 is positioned between each limit switch 33a, 33b while the work machine is supported in the raised position, so that the working machine is supported horizontally with respect to the tractor 1.

FIG. 6 is a control circuit diagram of the hydraulic cylinder 25, in which a lift position switch 34 detects the lifting movement of the working machine by operating the position control lever 12, and a lift position switch 34 detects the lifting motion of the working machine by operating the position control lever 12, and the hydraulic cylinder 25 is operated based on the output of the tilt sensor 28. an automatic switch 35 that operates the hydraulic cylinder 25, and a manual switch 36 for raising and lowering that manually operates the hydraulic cylinder 25.
a, 36b. A horizontal control circuit 37 connects the sensor 28 and the switches 33a to 36b, and a key switch 39 applies a power source 38 to the circuit 37 and the solenoids 31a and 31b. , 41 to connect the drive circuits 42, 43 of the solenoids 31a, 31b, respectively, and the AND gates 40, 4.
1 is connected to the pulse oscillator 44, and the circuit 37
Continuous excitation directly via the oscillator 44 as well as the oscillator 44
Each solenoid 31a, 31b is configured to be excited by one of the modes of pulse (intermittent) excitation performed via the solenoid.

The present invention is constructed as described above, and as shown in the flowchart of FIG. 7, by turning on the manual switches 36a, 36b with the key switch 39 turned on, the ascending or descending solenoids 31a, 31b are activated. The hydraulic cylinder 25 is continuously energized, and the hydraulic cylinder 25 is operated and controlled manually to adjust the left and right inclination of the rotary tiller 2 to an arbitrary angle.

Further, when the manual switches 36a, 36b and the position switch 34 are off, the automatic switch 35 is turned on, and when the working machine is horizontal horizontally and the light shielding plate 29 of the tilt sensor 28 is in a substantially vertical position, the center position detection is performed. At the same time, the center position input signal a is obtained from the light receiving element 28d of
The difference between b' and the preset median value b -
b' is calculated, and the difference b-
b' is added to obtain the control value, and based on the control value, the ascending or descending solenoids 31a, 31
b is pulse-excited to cause the hydraulic cylinder 25 to horizontally control the working machine 2.

"Effects of the Invention" As is clear from the above embodiments, the present invention pivots the light-shielding plate 29 so as to be swingable so that it is always vertical, and the slit 29a formed in the light-shielding plate 29 is sandwiched between the slits 29a for detecting tilting. The light emitting and light receiving elements 28a, 2
8b, light-emitting and light-receiving elements 28c and 28d for central position detection are provided oppositely with the light-shielding plate 29 in between, and only when the light-shielding plate 29 is in a vertical state, the light-receiving element 28d A central position slit 29b is provided in the light shielding plate 29 through which the light from the light emitting element 28c to be captured passes. By calculating the difference between the tilt output of each of the elements 28a and 28b for tilt detection at this time and the median output at a preset center position (horizontal position), the difference is calculated as the tilt output. An appropriate control value can be obtained by adding
The adjustment operation of the sensor 28 portion during manufacturing can be performed much more easily than before, and
In addition to the machining accuracy of parts such as the light shielding plate 29 and each of the elements 28a to 28d, the voltage drop of the battery power supply 38, etc. can be automatically corrected. element 28
It is possible to assemble and repair and replace parts a to 28d, and it has practical effects such as being safer and easier to handle than before.

[Brief explanation of the drawing]

Fig. 1 is an overall side view showing an embodiment of the present invention, Fig. 2 is a plan view of the main part, Fig. 3 is a perspective view of the main part of the tilt sensor, Fig. 4 is its output diagram, and Fig. 5. Figure 6 is the hydraulic circuit diagram for horizontal control, and Figure 6 is the electrical circuit diagram.
FIG. 7 is a flowchart. 28a, 28c... Light emitting element, 28b, 28d
... Light receiving element, 29 ... Light shielding plate, 29a ... Slit, 29b ... Central position slit.

Claims (1)

[Scope of utility model registration request] In a tilt detection device, a light shielding plate is pivotally supported so as to be swingable so as to be always vertical, and a light emitting and light receiving element for detecting tilting is arranged between a slit formed in the light shielding plate, and a light emitting and light receiving element for tilt detection is arranged. Light-emitting and light-receiving elements for central position detection are provided opposite each other, and a center-position slit is provided in the light-shielding plate through which light from the light-emitting element that is captured by the light-receiving element passes only when the light-shielding plate is in a vertical state. Tilt detection device.