JPH0543607Y2 - - Google Patents
Info
- Publication number
- JPH0543607Y2 JPH0543607Y2 JP1984085288U JP8528884U JPH0543607Y2 JP H0543607 Y2 JPH0543607 Y2 JP H0543607Y2 JP 1984085288 U JP1984085288 U JP 1984085288U JP 8528884 U JP8528884 U JP 8528884U JP H0543607 Y2 JPH0543607 Y2 JP H0543607Y2
- Authority
- JP
- Japan
- Prior art keywords
- work equipment
- ground
- ground work
- attitude
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Description
【考案の詳細な説明】
［産業上の利用分野］
この考案は対地作業機の左右方向姿勢を一定に
維持させるとともに、地面に対して所定の角度と
なるようにしたローリング制御装置に関するもの
であり、対地作業機を別の作業機に交換してもそ
のまま姿勢制御ができるローリング制御装置を提
供せんとするものである。[Detailed description of the invention] [Industrial application field] This invention relates to a rolling control device that maintains the horizontal posture of a ground-based work machine constant and maintains a predetermined angle with respect to the ground. , it is an object of the present invention to provide a rolling control device that can maintain attitude control even if a ground-based work machine is replaced with another work machine.
［従来の技術］
従来、この種対地作業機の連結装置としては実
開昭59−47409号公報に示すような２点リンク式
の揺動支持構造が知られている。又、対地作業機
のローリング制御装置としては、特開昭52−
75805号公報或いは実開昭60−151311号公報記載
のものが知られている。[Prior Art] Conventionally, a two-point link type swing support structure as shown in Japanese Utility Model Application Laid-Open No. 59-47409 has been known as a connection device for this type of ground-based work machine. In addition, as a rolling control device for ground-based work equipment,
75805 and Utility Model Application Publication No. 151311/1983 are known.
［考案が解決しようとする課題］
しかしながら、前者の実開昭59−47409号公報
に記載されたものは、傾斜感知センサーが耕耘カ
バーの上に固設されたものであるから、対地作業
機を交換するたびに傾斜感知センサーを付け換え
なければならない不便さがある。[Problem to be solved by the invention] However, in the former Utility Model Application Publication No. 59-47409, since the inclination sensing sensor is fixed on the tillage cover, it is difficult to use the ground work machine. There is the inconvenience of having to replace the tilt sensor every time you replace it.
又、先願の公報として実開昭60−151311号公報
が存在しているが、この公報に記載された装置
は、対地作業機を水平に維持することはできて
も、２点リンク機構に装着される種々の対地作業
機を地面に対して常に任意の角度に維持させるこ
とはできない。このような場合、この公報に記載
された装置にあつては、作業者が牽引機から降り
て傾斜感知センサーの取り付け角度を変更しなけ
ればならない。そこで、傾斜角度の設定を迅速且
つ正確に行うことができ、構成を簡素化して装置
の低廉化を図るために解決すべき技術的課題が生
じてくるのであり、本考案はこの課題を解決する
ことを目的とする。 In addition, there is a prior publication of Japanese Utility Model Application No. 60-151311, but although the device described in this publication can maintain the ground work machine horizontally, it does not have a two-point linkage mechanism. It is not possible to always maintain the various ground-based working machines attached to the ground at arbitrary angles. In such a case, with the device described in this publication, the operator must get off the tractor and change the mounting angle of the tilt sensor. Therefore, a technical problem arises that must be solved in order to be able to quickly and accurately set the inclination angle, simplify the configuration, and reduce the cost of the device.This invention solves this problem. The purpose is to
［課題を解決するための手段］
この考案は上記目的を達成するために提案され
たものであり、対地作業機の左右の連結アーム
を、牽引機の作業機昇降機構へ、少なくとも左右
一方側が伸縮可能に構成されている左右夫々のリ
フトロツドを介して連結し、前後方向の回動中心
の廻りに回動できるように牽引機へ設けてあるブ
ラケツト等の作業機連結具のヒツチ部に左右の連
結アームのヒツチ部を連結し、対地作業機の左右
方向姿勢を、上記リフトロツドの伸縮動作によつ
て設定姿勢に制御するように構成し、対地作業機
の左右方向姿勢を検出するアナログ式の姿勢セン
サを上記ブラケツトの上部に設け、牽引機には対
地作業機の対地傾斜角度を設定する回動式ポテン
シヨメータからなる姿勢設定器を設け、前記姿勢
センサから出力されたアナログ信号を電圧信号と
して取り出し、これを姿勢設定器から出力されて
電圧に変換されたものと比較演算処理し、双方の
電圧信号が略一致するまでリフトロツドの伸縮動
作を行うような制御部を設けたことを特徴とする
対地作業機のローリング制御装置を提供するもの
である。[Means for solving the problem] This invention was proposed in order to achieve the above object, and the left and right connecting arms of the ground work machine are connected to the work machine lifting mechanism of the towing machine, so that at least one of the left and right sides is extendable and retractable. The left and right connections are connected via the left and right lift rods, which are constructed so that the left and right sides can be connected to the hit part of a work equipment connection device such as a bracket installed on the traction machine so that it can rotate around the center of rotation in the front and back direction. An analog posture sensor that connects the hit part of the arm and is configured to control the horizontal posture of the ground work machine to a set posture by the extension and contraction operation of the lift rod, and detects the horizontal posture of the ground work machine. is installed on the upper part of the above-mentioned bracket, and the towing machine is provided with an attitude setting device consisting of a rotary potentiometer for setting the inclination angle of the ground-to-ground work equipment, and the analog signal output from the above-mentioned attitude sensor is taken out as a voltage signal. , a controller is provided which compares and arithmetic-processes this with the voltage output from the attitude setting device and converts it into a voltage, and extends and retracts the lift rod until both voltage signals substantially match. The present invention provides a rolling control device for a work machine.
［作用］
姿勢センサの動作は電圧信号として出力され、
姿勢設定器の設定出力と前記姿勢センサの出力と
の双方の電圧信号が制御部へ送られる。制御部で
は夫々の電圧信号を比較演算し、双方の電圧信号
が略一致するまでリフトロツドの伸縮動作を行う
ように制御して、対地作業機の姿勢を姿勢設定器
の設定値に合致するように修正する。[Function] The operation of the posture sensor is output as a voltage signal,
Voltage signals of both the setting output of the attitude setting device and the output of the attitude sensor are sent to the control section. The control unit compares and calculates each voltage signal, and controls the lift rod to extend and retract until both voltage signals substantially match, so that the attitude of the ground work equipment matches the setting value of the attitude setting device. Fix it.
［実施例］
以下、本考案の一実施例を別紙添付図面に従つ
て詳述する。尚、説明の都合上、従来公知に属す
る技術事項も同時に説明する。第１図は要部縦断
側面視を、第２図は要部横断平面視を、第３図は
要部後面視を示したものであり、牽引機１のミツ
シヨンケース２から後方へPTO軸３を突出し、
取付体５の孔４をPTO軸３に外嵌してミツシヨ
ンケース２の後端部に合接し、左右の取付ボルト
６，６……及び後部の取付ボルト７，７……によ
つてこの取付体５をミツシヨンケース２に固定す
る。作業機連結用のブラケツト８には、左右側板
９，９の後部にヒツチ部１０，１０としてのヒツ
チピンを設定してあり、前部には左右側板９，９
にできるだけ接近するような大径で円柱孔状のジ
ヤーナル部１１を形成している。[Example] Hereinafter, an example of the present invention will be described in detail with reference to the attached drawings. For convenience of explanation, conventionally known technical matters will also be explained at the same time. Fig. 1 shows a longitudinal side view of the main part, Fig. 2 shows a cross-sectional plan view of the main part, and Fig. 3 shows a rear view of the main part. Highlight 3,
Fit the hole 4 of the mounting body 5 onto the PTO shaft 3 and connect it to the rear end of the transmission case 2. The mounting body 5 is fixed to the mission case 2. The bracket 8 for connecting the work machine has hitch pins as hitch parts 10, 10 set at the rear of the left and right side plates 9, 9, and left and right side plates 9, 9 at the front part.
A large-diameter, cylindrical hole-shaped journal portion 11 is formed so as to be as close as possible to the cylindrical hole.
そして、取付体５の後板１２に、塞ぎ板１３
と、円柱ボス状のジヤーナル部１４のある軸受体
１５とを取付部Ｂ，Ｂ……を用いて取付ける。こ
の取付けされた状態では、ブラケツト８のジヤー
ナル部１１が軸受体１５のジヤーナル部１４に嵌
合し、塞ぎ板１３と軸受体１５とによつてブラケ
ツト８のジヤーナル部１１が挟持される為、ブラ
ケツト８がジヤーナル部１１，１４の回動中心Ｃ
の廻りに自由に回動できるように形成される。対
地作業機１６の左右の連結アーム１７，１７のヒ
ツチ部１８，１８をヒツチ部１０，１０に嵌合し
て抜け止めピン１９，１９にて抜け止めを行い、
作業機昇降機構のリフトシリンダのリフトピスト
ンを出入制御して左右のリフトアーム２０，２０
を昇降回動させる。又、左右のリフトロツド２
１，２２にて夫々左右のリフトアーム２０，２０
と連結アーム１７，１７を連結し、左右一方のリ
フトロツド２１を、リフトロツドシリンダ２３と
そのピストン２３ａとからなる伸縮可能なものと
する。そして、対地作業機１６の左右方向傾斜、
即ち、左右方向姿勢を検出するための姿勢センサ
Ｓを、ブラケツト８の上部における左右方向中心
位置にボルト２４，２４にて取付け、姿勢センサ
Ｓによつて検出されたブラケツト８の左右方向姿
勢、即ち、対地作業機１６の左右方向姿勢が、制
御回路にて設定姿勢に一致するように、リフトロ
ツドシリンダ２３への圧力油の供給が制御される
ように構成している。 Then, a closing plate 13 is attached to the rear plate 12 of the mounting body 5.
and a bearing body 15 having a cylindrical boss-shaped journal part 14 are attached using attachment parts B, B, . . . . In this attached state, the journal portion 11 of the bracket 8 fits into the journal portion 14 of the bearing body 15, and the journal portion 11 of the bracket 8 is held between the closing plate 13 and the bearing body 15, so that the bracket 8 is the rotation center C of the journal parts 11 and 14
It is formed so that it can freely rotate around the The hitch portions 18, 18 of the left and right connecting arms 17, 17 of the ground work machine 16 are fitted into the hitch portions 10, 10, and the locking pins 19, 19 are used to prevent them from coming off.
The left and right lift arms 20, 20 are controlled to move in and out of the lift piston of the lift cylinder of the work equipment lifting mechanism.
Raise and lower and rotate. Also, the left and right lift rods 2
At 1 and 22, left and right lift arms 20 and 20, respectively.
and connecting arms 17, 17 are connected, and one of the left and right lift rods 21 is made extendable and retractable, consisting of a lift rod cylinder 23 and its piston 23a. Then, the horizontal tilt of the ground work machine 16,
That is, an attitude sensor S for detecting the lateral attitude is attached to the upper part of the bracket 8 at the center position in the lateral direction with bolts 24, 24, and the lateral attitude of the bracket 8 detected by the attitude sensor S, i.e. The supply of pressure oil to the lift rod cylinder 23 is controlled so that the horizontal orientation of the ground work equipment 16 coincides with the orientation set by the control circuit.
上記制御回路の一例として第４図に示したもの
は、姿勢センサＳの動作を電圧信号として出力
し、この出力電圧を増幅器A1を介して差動増幅
器A2に入力するとともに、対地作業機１６の左
右方向姿勢を設定するための例えば可動型ポテン
シヨメータの如きものからなる姿勢設定器１の動
作を電圧信号として出力し、この出力電圧を差動
増幅器A2に入力する。そして、姿勢センサＳか
らの電圧信号と姿勢設定器Ｉからの電圧信号とを
比較して、リフトロツドシリンダ２３を伸縮制御
すべく制御電磁弁２４を駆動するための制御信号
を発生するコンパレータA3，A4と、駆動用の増
幅器A5，A6とが設けられ、制御部Ｘを構成して
いる。尚、この制御回路は図示例以外の種々のも
のを用いることができる。 The control circuit shown in FIG. 4 as an example of the above control circuit outputs the operation of the attitude sensor S as a voltage signal, inputs this output voltage to the differential amplifier A 2 via the amplifier A 1, and also outputs the operation of the attitude sensor S as a voltage signal. The operation of the attitude setting device 1, which is made up of a movable potentiometer, for example, for setting the left-right attitude of the robot 16 is outputted as a voltage signal, and this output voltage is input to the differential amplifier A2 . A comparator A compares the voltage signal from the attitude sensor S with the voltage signal from the attitude setter I and generates a control signal for driving the control solenoid valve 24 to control the expansion and contraction of the lift rod cylinder 23. 3 and A4 , and drive amplifiers A5 and A6 , which constitute a control section X. Note that various types of control circuits other than the illustrated example can be used as this control circuit.
又、姿勢センサＳは、例えば重錘の回動動作を
回動型のポテンシヨメータの入力軸に伝えるもの
や、気泡の左右方向移動を、光電管にて検出する
ものなど、種々のものを使用できる。 In addition, various posture sensors S can be used, such as one that transmits the rotational movement of a weight to the input shaft of a rotary potentiometer, and one that detects the left-right movement of bubbles using a phototube. can.
又、ブラケツト８の回動部の構造は、図示例の
ほか、同様な機能を有している種々のものを用い
ることができる。 Further, the structure of the rotating portion of the bracket 8 may be of various types having similar functions other than the illustrated example.
［考案の効果］
この考案は上記実施例に記載したように、牽引
機側に設けたブラケツトの上部に姿勢センサを取
り付けてあるので、作業機の脱着時にユニバーサ
ルジヨイント等が接触して姿勢センサを破損させ
るような恐れがなく、対地作業機を交換したとき
も該センサを使用でき、調整作業等は不要とな
る。そして、姿勢センサにアナログ式センサを使
用しているので、従来のオン、オフ式の姿勢セン
サと比較して、対地作業機を水平に維持するだけ
でなく所定角度に傾斜させて作業することも可能
となり、斯る傾斜角度の設定も迅速且つ正確に行
うことができる。従つて、例えばロータリ耕耘装
置を用いた畦崩し作業等における作業性が向上す
る。[Effects of the invention] As described in the above embodiment, in this invention, the attitude sensor is attached to the upper part of the bracket provided on the towing machine side, so when the work equipment is attached or detached, the universal joint etc. comes into contact with the attitude sensor. There is no risk of damaging the ground work equipment, the sensor can be used even when the ground work equipment is replaced, and no adjustment work is required. Furthermore, since an analog type sensor is used for the attitude sensor, compared to conventional on/off type attitude sensors, the ground work equipment can not only be maintained horizontally, but also tilted at a predetermined angle. This makes it possible to set the inclination angle quickly and accurately. Therefore, the workability in, for example, ridge breaking work using a rotary tiller is improved.
又、姿勢設定器は回動式ポテンシヨメータを使
用しているので、市販の部品を使用することがで
き、部品単価が低廉となつてコストダウンに寄与
できるとともに、装置の構成が簡素化されて取り
扱いも極めて簡便となる。 In addition, since the attitude setting device uses a rotary potentiometer, commercially available parts can be used, which reduces the unit price of parts, contributing to cost reduction, and simplifies the configuration of the device. This makes handling extremely easy.
図はこの考案の一実施例を示したものであり、
第１図は要部縦断側面図、第２図は要部横断平面
図、第３図は要部背面図、第４図は制御回路図で
ある。
符号の説明、１……牽引機、８……ブラケツ
ト、１０，１８……ヒツチ部、１６……対地作業
機、１７……連結アーム、２１，２２……リフト
ロツド、Ｓ……姿勢センサ、Ｉ……姿勢設定器、
Ｘ……制御部。
The figure shows an example of this invention.
FIG. 1 is a longitudinal cross-sectional side view of the main part, FIG. 2 is a cross-sectional plan view of the main part, FIG. 3 is a rear view of the main part, and FIG. 4 is a control circuit diagram. Explanation of symbols, 1... Traction machine, 8... Bracket, 10, 18... Hit portion, 16... Ground work equipment, 17... Connection arm, 21, 22... Lift rod, S... Attitude sensor, I ...Attitude setting device,
X...Control unit.
Claims (1)
業機昇降機構へ、少なくとも左右一方側が伸縮可
能に構成されている左右夫々のリフトロツドを介
して連結し、前後方向の回動中心の廻りに回動で
きるように牽引機へ設けてあるブラケツト等の作
業機連結具のヒツチ部に左右の連結アームのヒツ
チ部を連結し、対地作業機の左右方向姿勢を、上
記リフトロツドの伸縮動作によつて設定姿勢に制
御するように構成し、対地作業機の左右方向姿勢
を検出するアナログ式の姿勢センサを上記ブラケ
ツトの上部に設け、牽引機には対地作業機の対地
傾斜角度を設定する回動式ポテンシヨメータから
なる姿勢設定器を設け、前記姿勢センサから出力
されたアナログ信号を電圧信号として取り出し、
これを姿勢設定器から出力されて電圧に変換され
たものと比較演算処理し、双方の電圧信号が略一
致するまでリフトロツドの伸縮動作を行うような
制御部を設けたことを特徴とする対地作業機のロ
ーリング制御装置。 The left and right connecting arms of the ground work equipment are connected to the work equipment lifting mechanism of the towing machine via the left and right lift rods, each of which is configured to be extendable and retractable on at least one of the left and right sides, and rotate around the center of rotation in the longitudinal direction. Connect the hit portions of the left and right connecting arms to the hit portions of the work equipment connectors, such as brackets, which are provided on the towing machine so that it can move, and set the horizontal posture of the ground work equipment by the telescopic movement of the lift rod. An analog posture sensor is installed on the top of the bracket to detect the lateral attitude of the ground work equipment, and the towing machine is equipped with a rotary potentiometer that sets the angle of inclination of the ground work equipment to the ground. A posture setting device consisting of a yometer is provided, and an analog signal output from the posture sensor is taken out as a voltage signal,
Ground work characterized by the provision of a control unit that compares and processes this with the voltage output from the attitude setting device and converts it into voltage, and extends and contracts the lift rod until both voltage signals substantially match. Machine rolling control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8528884U JPS612006U (en) | 1984-06-08 | 1984-06-08 | Rolling control device for ground-based work equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8528884U JPS612006U (en) | 1984-06-08 | 1984-06-08 | Rolling control device for ground-based work equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS612006U JPS612006U (en) | 1986-01-08 |
| JPH0543607Y2 true JPH0543607Y2 (en) | 1993-11-04 |
Family
ID=30635549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8528884U Granted JPS612006U (en) | 1984-06-08 | 1984-06-08 | Rolling control device for ground-based work equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS612006U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7252037B2 (en) | 2019-03-29 | 2023-04-04 | 株式会社キッツ | Hydrogen gas filling method and hydrogen station |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5275805A (en) * | 1975-12-22 | 1977-06-25 | Komatsu Mfg Co Ltd | Device for automatically controlling blade of bulldozer |
| JPS5947409B2 (en) * | 1981-07-01 | 1984-11-19 | 日立電線株式会社 | Continuous manufacturing equipment for twisted flat cables |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5947409U (en) * | 1982-09-20 | 1984-03-29 | ヤンマー農機株式会社 | Swing support structure for directly mounted rotary tilling equipment |
| JPS60151311U (en) * | 1984-03-19 | 1985-10-08 | ヤンマー農機株式会社 | Agricultural tractor work machine attitude control device |
-
1984
- 1984-06-08 JP JP8528884U patent/JPS612006U/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5275805A (en) * | 1975-12-22 | 1977-06-25 | Komatsu Mfg Co Ltd | Device for automatically controlling blade of bulldozer |
| JPS5947409B2 (en) * | 1981-07-01 | 1984-11-19 | 日立電線株式会社 | Continuous manufacturing equipment for twisted flat cables |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS612006U (en) | 1986-01-08 |
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