JPH0343924Y2 - - Google Patents

Description

[Detailed explanation of the invention] (a) Industrial application field This invention is designed to horizontally control a working machine such as a rotary tiller attached to the rear of a tractor so that it is parallel to the ground surface, or This invention relates to a left-right tilt control device that sets a fixed angle so that work can be performed at a fixed angle.

Particularly when lifting and rotating the work equipment using the lift arm, if it remains tilted relative to the tractor, it may come into contact with other parts that would normally not come into contact, or one side may protrude to the right or left. In order to prevent the machine from touching and destroying obstacles, the width of the left and right slope is gradually narrowed as the work equipment ascends and turns, and finally, at the top end, the slope is zero with respect to the tractor. It is an idea to bring about the state.

(b) Prior art Conventionally, when the working machine descends, the rotatable width increases, and when it ascends, the rotatable width decreases.The technology that sets the width opposite to that of the present invention is disclosed in Japanese Utility Model Publication No. 54-39373.
The technique described in the above publication is known to the public.

In addition, in this type of work equipment attitude control device for conventional agricultural tractors, when the work equipment rises and reaches a certain angle, the attitude control is suddenly canceled and the work equipment is tilted relative to the agricultural tractor. It had returned to a state of non-existence.

However, in the case of such a configuration, the work equipment suddenly returns to its original position at a certain height, resulting in rapid position control, which may cause the work equipment to unexpectedly come into contact with the operator or assistant. However, there were problems such as contact with obstacles.

(c) Issues to be solved by the invention In this invention, when the lifting angle of the work equipment becomes constant, instead of returning the work equipment to the horizontal position all at once, the width of left and right rotation is adjusted according to the pattern set in the controller. The lift arm is configured such that as the rotation angle of the lift arm increases, the width Z in which the lift arm can be rotated from side to side gradually becomes smaller.

The tilted working machine M is then gradually returned to the horizontal position along the horizontally rotatable width Z.

(d) Structure of the invention The problems to be solved by this invention are as described above.
Next, we will explain the means to solve the problem.

The left and right rotation angle of the work implement with respect to the tractor is detected, and as the work implement M rises, when the rising angle θ exceeds a certain level, the left and right rotation width Z of the work implement M gradually decreases. The microcomputer in the controller 40 is set with a pattern of the horizontal rotation width Z for the vertical position of the work machine,
The construction is such that the tilted work machine M gradually returns to its original horizontal position as the work machine rises.

(E) Embodiment The problems to be solved by the present invention and the means for solving them are as described above.Next, the structure of the embodiment shown in the attached drawings will be explained.

Fig. 1 is an overall side view of a tractor showing the work equipment attitude control device of the present invention, Fig. 2 is a rear view of the same, and Fig. 3 is a drawing showing changes in the width of horizontal rotation of the work equipment with respect to its height above the ground. , FIG. 4 is a control block diagram, and FIG. 5 is a flowchart.

The overall configuration will be explained with reference to FIGS. 1 and 2.

Two lift arms 9, 9 are interposed between the lift arms 2L, 2R and the working machine, and a hydraulic cylinder 10 for left-right posture control is interposed in either of them. This hydraulic cylinder 10 is expanded and contracted in response to a signal from an inclination sensor 13 on the working machine side to control the working machine in a constant posture during normal work.

21 is a seat, and 31 is a position control lever.

In the embodiments shown in FIGS. 1 and 2, a rotary tiller is shown as the work machine, and a two-point link type work machine mounting device is shown as the installation method, but the present invention is not limited to this.

The rotary tiller is composed of a power transmission case 16, a tiller claw 28, a depth wheel 81, a depth control handle, and the like. The working machine rotates horizontally and vertically as shown in Fig. 2 by the expansion and contraction of the hydraulic cylinder 10, but the range of rotation is gradually regulated according to the working machine lifting angle θ of the lift arm. It is.

From the tractor transmission case 1, PTO
The shaft protrudes rearward and drives a working machine such as a rotary tiller M. This PTO shaft 3 protrudes rearward and drives a working machine such as a rotary tiller M. A pivot support plate 5 is rotatably supported around this PTO shaft 3, and behind this, a mounting frame 8 on the work machine side is movable up and down with respect to the mounting frame with pins 7, 7. It is pivoted at.

A hydraulic case 1' is mounted and fixed above the transmission case 1, and lift arms 2L, 2R are rotatably protruded from the hydraulic case 1'.

Conventionally, only the horizontal rotation angle sensor 13 on the working machine side or the sensor 1 on the agricultural tractor side was used.
However, in this configuration, both the sensor 12 on the agricultural tractor side and the sensor 13 on the work machine side are arranged, and the tilt angle can be detected from both. I got the value.

The sensor 12 on the tractor side works effectively especially when the working machine rotates significantly.

At the base of the position control lever 31,
A lever rotation angle detection sensor 32 is provided, and the operation panel 14 is provided with a manual/automatic switching 35 and a ground angle setting dial 36.

15L and 15R are fenders, and when the work machine rises in a tilted state, the fenders 15
There is a risk of contact with L, 15R or lift arms 2L, 2R.

In the present invention, in order to solve this problem, as the work equipment ascends, the horizontal rotation width θ is set by providing a prohibited area, and this θ is gradually reduced. This is the setting.

(F) Function of the invention Next, the function of the invention will be explained based on Figures 4 and 5.

A desired angle is set on the controller 40 using the ground angle setting dial 36. Additionally, a third controller is installed in the microcomputer within the controller 40
The prohibition range, that is, the value of the horizontal rotation width for the vertical position of the working machine shown in the figure is set in a pattern.

Therefore, during normal work, when the posture of the work machine is fed back only by the horizontal rotation angle sensor 12 of the machine, the horizontal and vertical movement commands of the work machine are sent to the lift arm 2 after checking with the ground angle setting dial 36.
is transmitted to the hydraulic circuit.

Also, as shown in Figure 5, even during normal work,
Posture control can also be performed using the left and right rotation angle sensor 12 on the tractor side and the left and right angle sensor 13 on the work machine side.

When reaching the edge of the field, the position control lever 31 is rotated significantly for rotation, and this signal is sent from the lever rotation angle detection sensor 32 as an electrical signal to the controller 40, which causes the lift arm 2 to move. rotates a lot. The rotation angle of lift arm 2 is determined by lift arm rotation angle sensor 4.
1 is fed back to the controller 40.

Due to the large upward rotation of lift arm 2,
The machine's left/right rotation angle sensor 12 also operates, and feeds back the current angle of the work equipment to the controller 40, calculates the left/right rotation width of the other work machine, and compares this value with the Z value. The hydraulic circuit is operated so that the setting pattern shown in FIG. 3 is achieved.

The tractor-side left-right rotation angle sensor 12 is constantly operated during normal work.

Therefore, as the working machine gradually rises, the horizontally rotatable width Z also gradually decreases, so that the working machine that was tilted gradually returns to its original perpendicular posture.

Next, the flowchart shown in FIG. 5 will be explained.

First, when the manual/automatic changeover switch 35 is set to automatic, the controller reads the setting angle A set by the ground angle setting dial 36, and then the machine angle B of the horizontal rotation angle sensor 12 on the tractor side is read.
Read the horizontal rotation angle sensor 1 on the work machine side.
3 reads the working machine angle C, and the working machine rising angle θ is read by the working machine rising angle sensor 41 provided at the base of the lift arm 2L.

Then, from the value of θ, the width Z that allows left and right rotation is calculated based on the pattern shown in FIG. If setting angle A is horizontal, the tilt angle of the machine at that time is sensed, and it is determined that it is tilted significantly (B-
If the absolute value of the value of A) is smaller than the width Z that allows left and right rotation, the controller is used to control the value of C so that it becomes 0.

On the other hand, even if the inclination of the tractor is too large, the set angle is small and exceeds the width Z that allows left and right rotation relative to θ. , the setting is reset so that it falls within the width Z that allows left and right rotation, and control is started so that C=0.

Similarly, when controlling with a ground angle, A is established so that the absolute value of (B-A) falls within the horizontal rotation range Z, and then control is performed so that A=C. It is.

(g) Effects of the invention Since the invention is constructed as described above, it has the following effects.

First, the work equipment does not suddenly return to its original position after it reaches a certain angle, as in the past, but it gradually returns to its original position, so it returns to a state of zero incline all at once. The impact of time no longer occurs.

Second, when the work equipment M in the tilted state is gradually raised, the work equipment M gradually decreases the inclination angle by the width Z that can be rotated left and right according to the rising angle θ, and then reaches the highest position. The position returns to the original horizontal state, so
When moving around at the edge of a field, the inclined working machine M no longer comes into contact with obstacles such as ridges or stone walls.

[Brief explanation of the drawing]

Fig. 1 is an overall side view of a tractor showing the work equipment posture control device of the present invention, Fig. 2 is a rear view of the same, and Fig. 3 is a drawing showing changes in the width of horizontal rotation of the work equipment with respect to its height above the ground. , FIG. 4 is a control block diagram, and FIG. 5 is a control flowchart. M...Work machine, 12...Left-right rotation angle sensor on the tractor side, 13...Left-right rotation angle sensor on the work machine side.

Claims (1)

[Scope of utility model registration request] The left and right rotation angle of the work implement with respect to the tractor is detected, and as the work implement M rises, when the rising angle θ exceeds a certain level, the width Z in which the work implement M can be rotated left and right gradually becomes smaller. The microcomputer in the controller 40 is set with a pattern of the horizontal rotation width Z for the vertical position of the work machine,
A posture control device for a tractor working machine, characterized in that the working machine M, which has been tilted, is configured to gradually return to its original horizontal position as the working machine rises.